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arXiv 最近完成扫描:2026-11-15 03:37 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

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版本更新 · v4arXiv:2604.08410

BLaFA: Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping in Tool Use

Fan Yang, Wenrui Chen, Guorun Yan, Ruize Liao, Wanjun Jia, Dongsheng Luo, Jianwen Hu, Jiacheng Lin 等 11 位作者

原文摘要

In industrial assembly, equipment maintenance, and everyday tool-use scenarios, robots need not only to grasp objects stably but also to establish task-appropriate contact configurations according to task intentions and tool functionality. However, existing methods lack explicit mappings from open-vocabulary instructions to 3D functional contact structures and dexterous grasp configurations, limiting robots' adaptability to diverse tools and functional tasks. To address this limitation, we propose BLaFA (Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping), a structured framework for language-driven functional dexterous grasping. First, a Knowledge-guided Language Parsing (KLP) module leverages structured knowledge to transform natural-language instructions into semantic sextuples of manipulation constraints. Second, a 3D Gaussian Splatting based hierarchical semantic representation and a Triangular Functional Point Localization (TriLocation) module are developed to localize 3D functional contact keypoints under task-tool topology constraints. Finally, a 3D Keypoint Grasp Matrix Transformation (KGT3D+) module maps the localized keypoints and semantic constraints to executable wrist poses and finger-level joint and force commands. Evaluations on 100 open-vocabulary language instructions, 14 task-tool combinations covering four functional intents, and real-world robotic experiments in representative scenes demonstrate that BLaFA can effectively translate natural-language instructions into task-aligned 3D functional contact structures and corresponding dexterous grasps, thereby enabling language-driven robotic tool use across diverse tasks. The source code will be made publicly available. Code will be publicly available at https://github.com/PopeyePxx/BLaFA.

cs.CV · cs.RO

新论文 · v1arXiv:2611.13726

Weighted-AoI-Driven UAV Trajectory and Reporting for Dynamic CKM Tracking

Zeyu Zhao, Yueling Che, Sheng Luo

原文摘要

Existing channel knowledge map (CKM) construction assumes quasi-static environments, failing when channels rapidly decorrelate. This paper investigates continuous online dynamic CKM tracking over an airborne 2D plane via a UAV fleet. We formulate a long-term error minimization problem under UAV mobility and reporting constraints. This problem, however, is intractable with unobservable errors for unmeasured cells. To tackle this, we propose a metric-driven scheduling approach featuring the Weighted-Age of Information (W-AoI). W-AoI evaluates cells by combining exact temporal staleness with spatial uncertainty predicted by a 2D U-Net. We prove that top-$K$ W-AoI selection maximizes the one-slot error reduction bound. Guided by this guarantee, we develop a lightweight greedy trajectory policy incorporating continuous along-path sensing. Simulations demonstrate our method reduces steady-state error by 3.8 dB$^2$ and 4.8 dB$^2$ over AoI-only and FIFO baselines, closely approaching an idealized oracle.

cs.LG

新论文 · v1arXiv:2610.40409

从自身错误中检索:面向多跳检索增强生成的自策略嵌入模型训练

Retrieving from Your Own Mistakes: On-Policy Training of Embedding Models for Multi-Hop Retrieval-Augmented Generation

Chenjie Qiu, Zixuan Zeng, Shaobin Shi, Bingfeng Chen, Dongsheng Luo, Boyan Xu

AI 速读 基于摘要

提出自策略状态训练方法,让链式嵌入检索器在自身产生的错误状态上训练,从而更完整地检索多跳证据。

cs.AI

查看原文摘要

Complex questions in retrieval-augmented generation require evidence spread over several documents, and an answer is reliable only when the retriever finds all of it. Chain embedding retrievers collect such evidence step by step, re-encoding the question together with the passages retrieved so far, and we find that they are already strong: trained only on gold histories, a small chain embedding retriever that calls no language model outperforms graph-based systems and is competitive with a search agent. This training, however, leaves a gap. At test time the retriever conditions on its own retrievals, which soon contain mistakes: by the third step, about half or more of the states it visits hold a wrong passage, and these passages lower its chance of retrieving a missing gold passage well beyond what the difficulty of the states explains. We propose on-policy state training, which trains the encoder on the states it reaches itself. At every epoch the current encoder retrieves chains for the training questions; each state it visits, including those built on its own mistakes, is labeled with the earliest gold passage still missing while the other missing gold passages are masked, so that no correct continuation is penalized; and the encoder is updated contrastively on these states mixed with teacher-forced ones, so that its training distribution follows it as it learns. The resulting retriever retrieves complete evidence more often than teacher-forced training and the systems we compare, and it transfers without further training to harder long-chain variants of HotpotQA and 2WikiMultiHopQA that we construct. On the same states, it recovers from its own mistakes far more often, and controlled comparisons attribute the gain to training on the states the encoder currently reaches.

版本更新 · v3arXiv:2605.09383

Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level

Yueqi Zhu, Yan Pan, Chufan Rui, Jiasheng Luo, Bo Zhou

原文摘要

In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on probabilistic navigation systems for robots usually perform offline accuracy evaluations using limited datasets and assume that the results can be applied to unknown real-world environments. As a result, current autonomous mobile robots often lack protection levels for online safety assessment. To fill this gap, we propose a safety-critical LiDAR-inertial odometry (LIO) that provides deterministic protection levels based on a novel on-manifold set-membership filter. By adopting the unknown but bounded assumption, we derive a neat closed-form relationship between point cloud noise and the uncertainty of the estimation from the iterative closest point algorithm. Using this relationship, we design an on-manifold ellipsoidal set-membership filter (OM-ESMF) and implement it within the LIO system. Leveraging the properties of the set-membership filter, our system offers the feasible sets of the estimated locations as the deterministic protection levels, serving as safety references for the robots' downstream autonomous operations. The experimental results show that our system can provide effective deterministic online safety references for diverse robots in various environments.

cs.RO

版本更新 · v2arXiv:2610.24816

First-Order LoRA Training with Phone NPUs

Xu Zheng, Wei Cheng, Zhuomin Chen, Dongkuan Xu, Mo Sha, Jingchao Ni, Dongsheng Luo

原文摘要

On-device fine-tuning lets a large language model (LLM) learn from its user's private data without uploading it. Low-rank adaptation (LoRA) reduces the trainable parameters, but each first-order training step still multiplies by the frozen base-model weights during the forward pass, activation recomputation, and input-gradient computation. A phone's neural processing unit (NPU) already holds these weights for inference; using it for training also requires computing input gradients, which its inference interface does not support. We present a system that runs all three frozen-weight products on the NPU while keeping the training graph, adapters, and optimizer on the CPU. Its input-gradient kernels reuse the resident weight tiles and the forward dequantizer, avoiding a transposed weight copy and ensuring forward and backward use the same effective weights. To preserve usable gradients, the system selects precision by gradient sensitivity and applies a per-row range guard for half-precision (FP16) outputs. Its runtime fuses the remaining CPU operators and overlaps NPU execution with adapter computation, while resumable execution and thermal pacing let training proceed as a background job. We evaluate it on two Qualcomm Snapdragon platforms using four LLMs from the Qwen and Llama families. Our workloads cover nightly personalization with labels supplied on the phone and the public LaMP-2 benchmark; comparisons include an optimized CPU trainer, a phone-GPU trainer, forward-only training, and GPU-trained references.

cs.LG · cs.AI

版本更新 · v2arXiv:2610.08533

Beyond Perturbation Magnitude: Direction-Dependent Responses in Multimodal Geometric Representations

Yongsheng Luo, Wengan He, Yu Li, Rouying Wu, Wei Lv

原文摘要

Geometric alignment scores based on Gram determinants provide a compact way to model higher-order consistency among modalities, yet how such scores respond to modality degradation is poorly understood. This paper asks whether the response of a multimodal geometric score is determined primarily by the magnitude of the perturbation-induced displacement. Using frozen cohorts from MSR-VTT (N=878) and DiDeMo (N=980), we apply controlled video blur and audio noise and analyze the response in the relational geometry on which the score is defined. Displacement magnitude explains at most 15% of the out-of-sample variance in the absolute response, and magnitude-matched pairs respond systematically differently, so scalar magnitude does not organize the response. The closed-form first-order expansion of the Gramian volume yields the Directional Geometric Response (DGR): the projection of the displacement onto the local volume gradient, which jointly captures the clean operating point, displacement magnitude, and displacement direction. The absolute first-order DGR term explains the observed response with out-of-sample R^2 of 0.838-0.969, matched-magnitude ranking accuracies of 0.864-0.963, and response-sign accuracies of 0.909-0.989, whereas the tested direction-free alternatives remain weak or unstable under the corresponding evaluation protocols. A pre-specified gain-normalization candidate, V/(g_V+eps), fails its predictability and clean-order gates. DGR uses the observed degraded-state displacement and is therefore an explanatory quantity, not a deployment-time predictor: geometric response depends on where the representation operates, how far degradation moves the relational geometry, and in which direction it moves.

cs.CV · cs.LG · cs.SD

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.402ACL Anthology · ACL 2026

QBridge: Bridging Natural Language and SQL via Gold Query Rewriting with Agentic Refinement

Zhensheng Luo Zhejiang University, Sai Wu Zhejiang University, Yuan Qiu, Chang Yao Zhejiang University, Gang Chen College of Computer Science and Technology, Zhejiang University, Xiu Tang Zhejiang University

原文摘要

Natural language to SQL (NL2SQL) provides an intuitive interface for querying structured data, yet real user questions are often noisy, ambiguous, and weakly grounded to database semantics.As a result, token-level schema linking and single-pass SQL decoding can be brittle: small misunderstandings in language or schema grounding may propagate into incorrect generation.We present QBridge, an agentic, feedback-driven NL2SQL framework based on a Refined Gold Query Paradigm, which bridges natural language and SQL via Gold Query—a structured, SQL-aligned intermediate representation.A core insight of QBridge is Distilled Back-Translation (DBT) for SL-independent rewriting.DBT converts SQL-grounded supervision into execution-verified Gold-Query-style rewrites from a teacher model, and distills a lightweight, plug-and-play rewriter that generates schema-aware rewrites without requiring explicit schema linking at inference.QBridge then (i) verifies and conservatively refines the rewrite into a high-fidelity Refined Gold Query, and (ii) refines the generated SQL with dual feedback from execution validity and semantic consistency, enabling interpretable self-correction while remaining compatible with diverse SQL backbones.Extensive experiments on Spider, BIRD, and three robustness variants demonstrate that QBridge consistently improves zero-shot NL2SQL, outperforming strong prompting and agentic baselines while showing strong robustness and generalization. Code and data are available at https://github.com/WannaBSteve/QBridge.

cs.CL · cs.AI

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