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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

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2606.24548

Are Text-to-Image Models Inductivist Turkeys? A Counterfactual Benchmark for Causal Reasoning

Jiayi Lei, Yuandong Pu, Xingyu Han, Rongpeng Zhu, Jing Xu, Jinyao Wang, Zijian Zhou, Bin Fu 等 11 位作者

原文摘要

Text-to-image (T2I) generation models have achieved remarkable progress in producing visually realistic images from natural language prompts. Yet it remains unclear whether their success reflects genuine causal understanding or sophisticated pattern matching over visual-textual correlations. Inspired by Russell's inductivist turkey, we introduce Counterfactual-World (CF-World), a counterfactual benchmark designed to investigate whether text-to-image models can generate images under rules that systematically contradict real-world priors. CF-World organizes each scenario into three progressive levels: factual generation under ordinary world knowledge, explicit counterfactual generation with direct visual instructions, and implicit counterfactual generation requiring causal deduction from altered rules. We evaluate open-source and closed-source text-to-image models using CF-Eval, a scoring pipeline based on vision-language models. We report the scores at each prompt level as the primary results and use Prior Resistance Rate (PRR) and Reasoning Retention Rate (RRR) as auxiliary descriptive indicators. All evaluated models score lower on counterfactual prompts than on factual prompts. Diagnostic experiments reveal difficulties in following altered rules and recombining rarely co-occurring visual attributes. The gains from rephrasing object and attribute names are consistent with a role for learned visual priors in counterfactual generation. Our benchmark and evaluation code are publicly available at https://jylei16.github.io/CF-World.github.io/.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2601.21343

Self-Improving Training & Thinking

Ellen Xiaoqing Tan, Jack Lanchantin, Zichun Yu, Polina Kirichenko, Shehzaad Dhuliawala, Danwei Li, Thao Nguyen, Jing Xu 等 14 位作者

原文摘要

Large language models are classically trained in stages: pretraining on raw text followed by post-training for instruction following and reasoning. However, this separation creates a fundamental limitation: many desirable behaviors such as safety, factuality, overall generation quality, and reasoning ability are only added at a late stage, even though the patterns learned earlier strongly shape a model's capabilities. To tackle this issue, we introduce a new way to pretrain and mid-train models that incorporates these behaviors earlier. We utilize an existing strong, post-trained model to both rewrite data and to judge policy model rollouts, thus introducing thinking and reinforcement earlier in training. We further improve reasoning at all stages by introducing the concept of self-improving post-thinking: improving the model's reasoning and self-judging ability by reasoning after generation. In our experiments, we show these approaches can give strong gains across multiple axes.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11554

Kimodo-Policy: Learning Kinematic Action Models for Humanoid Loco-Manipulation

Yunheng Wang, Jiaxi Zhang, Wei Lu, Yuetong Fang, Taowen Wang, Yixiao Feng, Shuning Zhang, Junzhe Xu 等 15 位作者

原文摘要

Humanoid loco-manipulation requires continuous coordination of high-dimensional whole-body motion to realize task objectives. While vision-language-action models and world action models transfer semantic and visual-dynamics priors to robot control, these priors do not necessarily capture the structure of robot motion. We introduce Kinematic Action Models (KAMs), a paradigm that treats whole-body motion as a direct pretraining target and uses a pretrained motion generator as the primary action-generation backbone. KAMs ground learned temporal and cross-body coordination priors through task conditioning, visual observations, and execution feedback. We present Kimodo-Policy as an initial instantiation, combining a frozen Kimodo text-to-motion backbone with lightweight ControlNet-based visual conditioning. A root-body-hand hierarchy coordinates locomotion and manipulation, while motion-history conditioning and repeated action-chunk prediction bridge motion synthesis and closed-loop control. Following large-scale loco-manipulation pretraining, the policy achieves the highest overall success among compared policies on multi-task HumanoidArena (72.14%), competitive performance on SIMPLE, and 60% mean success across eight real-world tasks, with 678M parameters (92M trainable). Ablations support the contribution of the pretrained motion backbone. Together, these results provide initial evidence for motion generation as a complementary foundation for humanoid action learning.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11500

ForeAct: Geometry-Guided Action Learning from World Representations

Wei Lu, Jiaxi Zhang, Yunheng Wang, Taowen Wang, Yuetong Fang, Zhenhui Zhang, Shuning Zhang, Zizhao Yuan 等 11 位作者

原文摘要

Robotic manipulation requires representations that capture both scene geometry and its evolution during interaction. Existing approaches have largely treated these two aspects separately. World action models capture such dynamics by coupling action prediction with future video generation, but their reliance on iterative diffusion or rectified-flow inference leads to high computational cost, while their representations lack explicit spatial structure. Explicitly modeling scene geometry typically requires auxiliary modules that increase both parameter count and computational cost. Conversely, geometry-centric policies primarily recover observed spatial structure and often lack explicit supervision for anticipating future geometric changes during interaction. To address these limitations, we introduce ForeAct, which repurposes a pretrained video world model as a single-pass representation backbone for low-latency control. ForeAct directly processes the clean latent of the current observation in one forward pass, eliminating future-frame synthesis and iterative denoising while retaining the backbone's pretrained spatiotemporal priors. Rather than introducing a separate geometry backbone, ForeAct uses learnable tokens supervised by next-frame relative depth to shape the shared video representation through bidirectional self-attention. This compact interface turns the spatial knowledge already encoded in the backbone into a future-aware representation for action generation, with little parameter overhead. The lightweight geometry readout is used only during training and removed at deployment, enabling low-latency, geometry-aware control without depth input or an external geometry backbone. Without additional large-scale pretraining, ForeAct achieves 96.6% average success on LIBERO, 63.5% on SimplerEnv-Bridge, and a 74.4% success rate across 90 real-world rollouts.

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2510.24282

TsetlinKWS: A 65nm 16.58uW, 0.63mm2 State-Driven Convolutional Tsetlin Machine-Based Accelerator For Keyword Spotting

Baizhou Lin, Yuetong Fang, Renjing Xu, Rishad Shafik, Jagmohan Chauhan

原文摘要

The Tsetlin Machine (TM) has recently attracted attention as a low-power alternative to neural networks due to its simple and interpretable inference mechanisms. However, its performance on speech-related tasks remains limited. This paper proposes TsetlinKWS, the first algorithm-hardware co-design framework for the Convolutional Tsetlin Machine (CTM) on the 12-keyword spotting task. Firstly, we introduce a novel Mel-Frequency Spectral Coefficient and Spectral Flux (MFSC-SF) feature extraction scheme together with spectral convolution, achieving a record-high accuracy of 87.35% for TM-based models on the 12-keyword spotting task. Secondly, we develop an Optimized Grouped Block-Compressed Sparse Row (OG-BCSR) algorithm that delivers a remarkable 9.84$\times$ reduction in model size, significantly improving the storage efficiency of CTMs. Finally, we propose a state-driven architecture tailored for CTMs, which simultaneously exploits data reuse and sparsity to attain high energy efficiency. The full system is evaluated in 65 nm process technology, consuming 16.58 $μ$W at 0.7 V with a compact 0.63 mm$^2$ core area. TsetlinKWS demonstrates a Power-Performance-Area (PPA) product of 60.2 and requires only 907k logic operations per inference, corresponding to 1.4$\times$ and 10$\times$ reductions, respectively, compared with state-of-the-art KWS accelerators. These results position the CTM as a highly efficient candidate for ultra-low-power speech applications.

cs.SD · cs.AR · eess.AS

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08939

RevoSim: Scalable Multimodal Tactile Simulation for Dexterous Manipulation

Ke Zhang, Lixin Xu, Ziyi Wang, Xiyue Dong, Jie Tan, Lianghu Shao, Xianpeng Wang, Chuanyu Li 等 9 位作者

原文摘要

We present RevoSim, a scalable and high-fidelity multimodal tactile simulator for the BrainCo Revo3 hand that jointly models 285 piezoresistive taxels and five visuotactile fingertips. RevoSim efficiently generates synchronized pressure, depth, RGB, and marker-displacement observations; on a single RTX 5090, its depth-conditioned marker-displacement configuration supports up to 4,096 parallel environments. We train in-hand manipulation and grasping policies entirely in simulation, establishing a foundation for future sim-to-real transfer. Project page: https://braincotech.github.io/RevoSim-web/.

cs.RO

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arXiv ↗PDF ↗
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

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36825

HC2Robot: Hyper-Connection Transformers with Predicted Foresight for Multi-Terrain Humanoid Parkour

Wenhao Xu, Yanheng Mai, Yifei Fu, Nan Zheng, Yanbo Zhou, Zirui Huang, Mingsheng Ling, Xinjue Wang 等 9 位作者

原文摘要

Humanoid parkour requires robots to reason about future footholds and whole-body motions over highly discontinuous terrain. We revisit the information asymmetry in asymmetric actor-critic learning for perceptive humanoid locomotion: the critic exploits privileged simulator signals during training, whereas the deployable actor operates solely from onboard perception. We argue that the key is not exposing privileged information to the actor, but learning a deployable approximation of it to narrow the information gap between training and deployment. We present HC2Robot, a deployable perceptive humanoid parkour framework consisting of a Predicted Foresight Module (PFM) and a Hyper-Connection (HC) Transformer. PFM predicts from deployable observations the policy-conditioned timing, location, and support quality of each foot's next touchdown event, converting privileged supervision into a deployable latent representation that provides the actor with predicted touchdown information without privileged runtime sensing. The HC Transformer further enhances temporal reasoning through learnable multi-stream routing, while a future motion prediction head provides short-horizon motion priors for regularization. Across stairs, gaps, high platforms, and slopes, HC2Robot achieves a mean simulated traversal success rate of 97.60% and consistently higher safe foothold rates than strong perceptive locomotion baselines, supporting improved traversal performance and geometric foothold support under deployable sensing.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36507

GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers

Liang Li, Guoyao Zhang, Xingyu Chen, Sikai Wu, Qianyang Wu, Yuhang Lin, Renjing Xu, Mingliang Zhou 等 9 位作者

原文摘要

Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation, and VLA control. However, trained primarily on flat-ground motion, BFMs lack an explicit mechanism to adapt foot placement, swing clearance, and contact timing to local terrain. Many terrain-aware BFM approaches address this limitation by retraining or fine-tuning the tracker together with perception, incurring substantial data and computation costs while coupling ordinary tracking to the perception pathway. To bridge this gap, we propose GRAFT, a geometry-aware residual adaptation framework for frozen behavior trackers. GRAFT preserves the BFM parameters and motion-reference interface, while a lightweight adapter adds terrain-conditioned corrections only to lower-body execution targets. The adapter is trained with task and foot-geometry rewards, regularized to suppress unnecessary corrections on flat ground, and distilled from privileged terrain observations to onboard depth. Because the frozen BFM already provides whole-body reference tracking and nominal locomotion, GRAFT reduces terrain learning to a focused execution-adaptation problem. We instantiate the framework on four frozen trackers and evaluate stairs, gaps, and platforms in simulation. We further validate it through real-world deployment on a Unitree G1, where the adapted SONIC tracker traverses terrain with onboard depth and unmodified references.

cs.RO

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1368ACL Anthology · ACL 2026

Learning from Near-Misses: Error-Aware Contrastive Few-Shot Learning for NL2Formula

Zhihao Shuai, Yiyun Chen The Hong Kong University of Science and Technology, Maolin Ma, Yutong Chen, Hanjia Qiu, Jing Xu The Hong Kong University of Science and Technology (Guanzhou), Ziye Chen, Weikai Yang Hong Kong University of Science and Technology (Guangzhou)

原文摘要

Natural Language to Excel Formula (NL2Formula) translates user intent into executable spreadsheet formulas. However, current models often produce near-miss outputs—formulas that parse correctly yet fail at execution due to an incorrect function, operator, or reference. Through a systematic error analysis, we find that these errors repeatedly arise from a small set of structural decision points, motivating the need for typed error supervision rather than general error signals. To this end, we introduce an abstract syntax tree (AST)-based error taxonomy that organizes common error modes by the kind of decision that goes wrong in the parse tree. Building on this taxonomy, we propose Error-Aware Contrastive Few-Shot Learning (ECFL), an error-aware framework that unifies training and inference around typed error supervision. During offline training, ECFL mines near-miss errors, assigns error types under the taxonomy, and builds error-aware contrastive demonstrations for fine-tuning. During online inference, a lightweight predictor estimates likely error types and triggers targeted retrieval of contrastive demonstrations to guide single-pass decoding. Experiments show ECFL improves Exact Match (EM) by 6.4 points over supervised fine-tuning (SFT) and matches self-consistency (SC@5) accuracy at substantially lower inference cost.

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.1863ACL Anthology · ACL 2026

On-the-Fly VLA Adaptation via Test-Time Reinforcement Learning

Changyu Liu, Yiyang Liu University of Missouri - Kansas City, Taowen Wang The Hong Kong University of Science and Technology, Qiao Zhuang University of Missouri - Kansas City, James Chenhao Liang U. S. Naval Research Laboratory, Wenhao Yang Lamar University, Renjing Xu The Hong Kong University of Science and Technology (Guangzhou), Qifan Wang Meta AI 等 10 位作者

原文摘要

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular, they are primarily trained via supervised fine-tuning or training-time reinforcement learning, requiring explicit fine-tuning phases, human interventions, or controlled data collection. Consequently, existing methods remain unsuitable for challenging simulated- or physical-world deployments, where robots must respond autonomously and flexibly to evolving environments. To address this limitation, we introduce a Test-Time Reinforcement Learning for VLAs (TT-VLA), a framework that enables on-the-fly policy adaptation during inference. TT-VLA formulates a dense reward mechanism that leverages step-by-step task-progress signals to refine action policies during test time while preserving the SFT/RL-trained priors, making it an effective supplement to current VLA models. Empirical results show that our approach enhances overall adaptability, stability, and task success in dynamic, previously unseen scenarios under simulated and real-world settings. We believe TT-VLA offers a principled step toward self-improving, deployment-ready VLAs.

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