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新论文 · v1arXiv:2611.12383

PCTac: Mechanochromic Photonic-Crystal Tactile Sensor for Dexterous Manipulation

Ruilin Zhang, Xuanshuo Liu, Junzhe Dai, Kefei Wu, Xuhao Qin, Ziyuan Jiao, Wanlin Li, Yurui Qu 等 9 位作者

原文摘要

Modern visuotactile sensors primarily sense contact by imaging the deformation of a compliant interface. Using techniques such as photometric stereo, they can recover detailed contact geometry, often represented as surface normals or depth. However, force-related information typically still needs to be inferred indirectly through calibration, geometric reconstruction, or learned mappings. Mechanochromic photonic-crystal (PC) materials offer an alternative physical encoding mechanism: contact loading changes their periodic microstructure and spectral response, directly transforming local stress into a spatially resolved structural-color field. Despite this potential, PC materials have rarely been explored as visuotactile sensors for closed-loop robot learning. We present PCTac, an open-source mechanochromic PC fingertip that uses a dense hue field as its tactile observation. Loading characterization demonstrates a repeatable relationship between the applied normal load and the observed hue response. We further integrate this representation directly into a Diffusion Policy and evaluate it on three real-robot manipulation tasks. Across 90 physical rollouts, PCTac Hue achieves 68 successes (75.6\%), compared with 60 (66.7\%) for PCTac RGB, 57 (63.3\%) for Wedge RGB, and 29 (32.2\%) for vision-only. PCTac Hue also achieves the highest observed success rate on each evaluated task, including Perturbed Test-Tube Insertion, where it achieves 16/30 successes versus 13/30 for tactile RGB baselines and 1/30 for vision-only. These results demonstrate the potential of mechanochromic structural color as a compact, load-sensitive tactile representation for robot learning and closed-loop manipulation. Project page: https://bey0ndt1me.github.io/PCTac-page/.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.12468

DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training

Junyan Li, Ruizhi Li, Yu Liu, Xiangshuo Liu, Mingchao Sun, Hongyu Pan, Mu Xu, Lue Fan 等 9 位作者

原文摘要

We present DreamTrue, a multi-view, cross-embodiment robot world model for action-faithful and physically plausible video prediction. Training such a model on existing robot datasets faces two obstacles: imprecise calibration can impair action following, while limited coverage of unsuccessful interactions can bias predictions toward successful outcomes. To improve action following across embodiments, we render action trajectories into image-space conditions and introduce offline geometric calibration to align these conditions with the target videos. To broaden interaction coverage, we introduce counterfactual post-training, modifying recorded action trajectories and generating future videos under a wider range of actions and contact configurations. To provide feedback on these predictions without paired ground-truth futures, we construct a human-annotated video dataset covering robot, object, and interaction defects and use it to train an embodied video reward model. Its scores guide reinforcement-learning post-training toward more physically plausible interaction outcomes. On AgiBot, DreamTrue attains state-of-the-art action following, while reducing the human-assessed interaction defect rate from from 48.12% to 6.25%. Notably, our model ranks first in the world model track of the AgiBot World Challenge 2026. The project page can be found at https://brave-eai.github.io/DreamTrue.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06069

SynMOE: A Syntax-Aware MOE-Guided Approach for PEFT-Based Code Intelligence Learning

Shuo Liu, Hao Ning, Jacky Keung, Zhen Yang, Xiao Yu, Xing Hu, Yicheng Sun

原文摘要

Parameter-Efficient Fine-Tuning (PEFT) has emerged as an important approach for adapting Language Models (LMs) in downstream tasks. However, in the domain of code intelligence, the performance of most PEFT methods relatively drops compared to Full fine-Tuning (FT), hindering their broader applicability. One of the main reasons is that current PEFT methods are generally based on assumptions about the low-rank nature or sparsity of parameter updates, lacking explicit modeling of code-related information. To tackle this limitation, we propose SynMOE, a syntax-aware MOE-guided approach for PEFT on code intelligence learning. Specifically, SynMOE contains two stages: syntactic information extraction and syntax-aware MOE-guided adaptation. It first obtains the syntactic labels of source code from Abstract Syntax Trees (ASTs), and then aligns the labels with the input tokens of code LMs. In the second stage, syntactic labels are integrated into the MOE module, participating in the routing decision of MOE for a more powerful syntactic-aware token representation. We evaluate the effectiveness of the proposed approach by applying it to two typical PEFT methods, LoRA and $(IA)^3$, across three diverse code intelligence tasks. Experimental results show that SynMOE achieves consistent and significant improvements. Even compared to FT, SynMOE achieves comparable or superior performance while being more computationally efficient. In addition, we also conduct ablation studies, hyperparameter analysis, and evaluation in the low-resource scenario to provide a comprehensive investigation of the proposed approach.

cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.23565

DRO: A Python Library for Distributionally Robust Optimization in Machine Learning

Tianyu Wang, Jiashuo Liu, Henry Lam, Hongseok Namkoong, Jose Blanchet

原文摘要

We introduce dro, an open-source Python library for distributionally robust optimization (DRO) for regression and classification problems. The library implements 15 DRO formulations and 9 backbone models, enabling 85 distinct DRO methods. Furthermore, dro is compatible with both scikit-learn and PyTorch through a unified interface, and uses approximation techniques to reduce runtime for some computationally demanding formulations. Comprehensive documentation is available at https://python-dro.org.

cs.LG · cs.MS · math.NA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35398

Belief-Conditioned Multi-Agent Actor Critic for Decentralized LLM Collaboration

Tianle Chen, Shuo Liu, Christopher Amato

原文摘要

Recent work has explored optimizing LLM collaboration through Multi-Agent Reinforcement Learning (MARL), but many approaches still rely on predefined workflows, limiting efficiency and scalability. Decentralized LLM collaboration is challenging because agents execute independently with limited communication, share a joint objective, and must infer useful information from communication traces. In this paper, we propose BCMAAC, a Belief-Conditioned Multi-Agent Actor-Critic method that maintains beliefs over contextual information and uses them to facilitate training. Experiments on Minecraft game-playing, web searching and tool-using tasks show that BCMAAC improves task performance and collaborative behavior compared to naive actor-critic baselines. The improvements are particularly pronounced in multi-turn tasks with richer contextual information, where belief modeling provides a clear advantage.

cs.AI · cs.LG · cs.MA

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.873ACL Anthology · ACL 2026

ODL-TempLLM: Ontology-Guided and Description Logic-Reasoned Temporal Reasoning with LLMs

Jinshuo Liu Wuhan University, Cheng Bi Wuhan University, Meng Wang Wuhan University of Technology, Juan Deng Wuhan University, Donghong Ji Wuhan University, Jeff Z. Pan University of Edinburgh, University of Edinburgh

原文摘要

Temporal reasoning is crucial for large language models (LLMs) to understand event concurrency and complex temporal interactions in natural language. Recent approaches rely on the LLM to infer temporal relations between events and largely overlook the inherent structural nature of temporal relationships. In this work, we propose ODL-TempLLM (Ontology-Guided and Description Logic–Constrained Temporal Reasoning with LLMs), a novel paradigm for temporal reasoning with LLMs that shifts focus from internal inference to the explicit modeling of temporal structure. ODL-TempLLM leverages ontology learning to explicitly construct structured temporal knowledge, employs a symbolic reasoner to deductively reason about temporal relations and uses logic-constrained retrieval augmentation to obtain relevant facts.Experiments results evaluated across there datasets via various LLM backbones show that our method outperforms state-of-the-art methods by 2.07–31.83 F1 points and 1.00–30.73 EM points, exhibiting strong generalization and highlighting the potential of explicit temporal reasoning.

cs.CL

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