论文库

新论文 · v1arXiv:2611.07765

更新于 2026-11-05

BiGrounder: Bidirectional Training Unlocks the Potential of GUI Grounding

Dengyao Shi, Tianyu Fu, Fei Hu, Anyang Su, Hanning Wang, Shuo Wang, Minghui Wu, Chenxu Zhao 等 9 位作者

原文摘要

Graphical User Interface (GUI) grounding aims to map natural language instructions to precise operational coordinates, serving as a critical task for autonomous agent interaction. Current approaches formalize GUI grounding as predicting action-coordinate pairs from instructions, with end-to-end training supervised solely by final coordinates. Training datasets typically provide only a small number of descriptions per target coordinate, whereas real-world scenarios involve a much larger set of varied descriptions for the same target, which limits robustness to linguistic variation. While recent GUI grounding paradigms have begun employing reinforcement learning to enhance localization accuracy, models with limited exploratory capability before reinforcement yield constrained improvements even with identical training data during the reinforcement phase. To overcome these limitations, we propose a bidirectional reward paradigm that enables model self-reinforcement. During SFT, bidirectional training equips the model to generate action descriptions from target coordinates. During RL, the model samples semantically consistent instruction variations on-policy and grounds each variation back to its target. A cycle-consistency gate couples semantic quality to grounding success, turning the model's own instruction policy into a source of continually refreshed reinforcement trajectories. Our 4B-parameter model achieves competitive accuracy across five grounding benchmarks in our evaluation, indicating the effectiveness of the proposed training paradigm. https://github.com/Spell-shi/BiGrounder

cs.CV

新论文 · v1arXiv:2611.06084

更新于 2026-11-04

Shallow Encoding Emits Deep Memories

Mingyuan Ma, Yangmin Li, Harris Nover, Zheyu Fu, Po-Han Huang, Alex Settle, Ashwin Nanjappa

原文摘要

Hybrid language models interleave a few softmax-attention layers with many linear-attention or state-space layers, so every layer keeps a memory of earlier tokens: a key-value cache or a fixed-size recurrent state. Serving them spends more compute and high-bandwidth memory on these memories than the output requires. The prefill runs every layer for every prompt token, and every decode step loads and stores whole recurrent states, which on Qwen3.8-Flash-Next take as many bytes per request as the attention cache of thousands of tokens. We find two properties of trained hybrids that locate this excess. First, writes are easier than reads: writing a deep layer's memory of a token needs little of the deep computation that predicting the next token needs. Trained copies of the deep layers' write paths, which we call emitters, therefore write a prompt's deep memories from the residual stream of a shallower anchor layer, and all prompt tokens but the last run as few as 63% of the layers. Second, recurrent states have a state sink: most of their energy lies in a rank-one term along a fixed direction of each head, and the rest is a low-rank working memory. SEED builds on both: it makes the prefill shallow in depth and the decode state shallow in representation. Each recurrent state is stored as its sink plus low-rank factors, which the Gated DeltaNet, Kimi Delta Attention and Mamba-2 updates extend exactly; we prove that the open-loop error of the periodic compressions back to low rank is bounded independently of their number. SEED keeps the original weights frozen, compresses no attention cache, and runs all layers for every generated token. On six checkpoints of five production hybrids of 30B to over 300B parameters, it is nearly lossless on eleven official exams. Served with SGLang on NVIDIA GB300 GPUs on an agentic-coding trace, it raises the per-GPU throughput of Qwen3.8-Flash-Next 1.2-1.4x.

cs.LG · cs.DC

版本更新 · v2arXiv:2512.04308

更新于 2026-11-03

ResponsibleRobotBench: Benchmarking Risk-Aware Task-Level Decision Making for Robotic Manipulation with Large Multimodal Models

Lei Zhang, Ju Dong, Kaixin Bai, Minheng Ni, Yu Fu, Zoltan-Csaba Marton, Zhaopeng Chen, Jianwei Zhang

原文摘要

Safe task-level manipulation requires a planner to recognize hazards, select appropriate mitigation actions, and satisfy their execution prerequisites without abandoning the original goal. We introduce ResponsibleRobotBench, a benchmark of 23 manipulation task configurations with separately specified goals and safety conditions. It connects hazard-category predictions, planned actions, execution feedback, and terminal outcomes at the episode level. Across evaluations of five large multimodal models, terminal safety and safe task completion can diverge: defense prompts increase terminal safety for three tested models but affect safe success in different directions. Correct hazard-category predictions also fail to ensure executable mitigation. In a cutting task under the default configuration, GPT-4o mini identifies the human hazard in all 100 episodes but never requests assistance, and every episode ends unsafe. Offering a help action and actually requesting it lead to different comparisons: outcomes differ between action menus even for a model that never requests help, and repeated requests can leave execution failures unresolved. Imitation-learning evaluations and physical robot sequences illustrate the need to coordinate mitigation with goal actions. Together, these results motivate evaluating mitigation selection, action prerequisites, and recovery alongside hazard recognition and terminal outcomes. The appendix provides task definitions, checker conditions, and prompts. Project website: https://responsible-robot-benchmark.github.io/.

cs.RO

新论文 · v1arXiv:2611.04839

更新于 2026-11-03

Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight

Ju Dong, Xinyu Xiao, Yiming Zhou, Tianshuo Yang, Xuerong Liu, Lei Zhang, Jian Chen, Haocheng Zhao 等 15 位作者

原文摘要

Humanoid loco-manipulation requires coordinated body motion and hand interaction over time, and a plausible-looking command sequence can still drop a held object or leave an interaction incomplete. We present action-conditioned latent foresight, a latent world-action model (WAM) that evaluates proposed command sequences before execution. An action generator proposes joint motion-hand command sequences from vision, language, and the robot state. An action-conditioned endpoint predictor estimates the visual features each sequence prefix reaches and measures progress toward a demonstration-derived subgoal, while a joint temporal prior scores temporal consistency given the robot state and preceding commands. The robot executes the first commands of the best-scoring sequence and replans from the next observation. During training, action consistency regularization reconstructs the first demonstrated command from observed and predicted feature changes, encouraging the predictor to retain action-relevant information. On ten tasks in the humanoid loco-manipulation simulation benchmark SIMPLE, our method achieves 89.7% average success, compared with 73.7% for Psi-Zero and 82.0% for DiT4DiT. On seven real-robot tasks, it achieves 85.7% under standard conditions and 65.7% under unseen object configurations, while GR00T N1.7 achieves 70.0% and 48.6%, respectively. Project page: https://ju6276.github.io/Action-Grounded-Foresight/

cs.RO

版本更新 · v2arXiv:2606.03385

更新于 2026-10-27

Grasp-Then-Plan with Failure Attribution: A Closed Two-Stage Framework for Precise and Generalizable Robotic Manipulation

Jiahao Xu, Peiyuan Wang, Hanzhuo Zhang, Zihao Yu, Tianyu Fu, Hao Chen, Xuanhao Xiang, Zixuan Li 等 11 位作者

原文摘要

In robotic manipulation, the tight coupling between grasping and motion planning often obscures the true source of failure, leading to inefficient trial-and-error. To enable efficient long-horizon manipulation, we propose GTP-FA (Grasp-Then-Plan with Failure Attribution), a task-oriented two-stage 'grasp-then-plan' framework that generates grasp candidates and performs downstream motion planning conditioned on the selected grasp. Given a failed manipulation trajectory, we learn a failure attribution model that generalizes to unseen grasps and produces a stable distribution over failure modes for diagnosis-guided optimization. Based on these attribution results, we then optimize both modules in a diagnosis-driven manner: on the grasping side, we inject task-level priors and risk penalties into grasp candidate scoring and optimization to suppress unstable or task-incompatible grasps; on the planning side, we target high-risk initial states through data collection and fine-tuning to address genuine planning bottlenecks. We evaluate the proposed framework in both simulation and real-robot experiments, and show that GTP-FA improves the corresponding base learners across RL, IL, diffusion-policy, and VLA-based settings, achieving substantially higher overall task success rates.

cs.RO · cs.AI

版本更新 · v2arXiv:2605.15464

更新于 2026-10-27

Where and What to Reward? Understanding Generalization Between Verifiable and Open-Ended Domains in Reinforcement Learning

Shangjian Yin, Yu Fu, Yue Dong, Zhouxing Shi

原文摘要

Reinforcement learning with verifiable rewards (RLVR) is widely used to improve the reasoning capability of language models, since model-generated answers can be easily verified by a rule-based verifier. In contrast, reinforcement learning from human feedback (RLHF) is mainly used to optimize open-ended conversation with a learned reward model, because such responses are not easy to verify. RLVR and RLHF are usually trained separately with their own domain data and training protocols. How gains transfer between these domains is unclear, partly because comparisons change both where a model is trained (the prompts) and what is rewarded (by a verifier or a reward model). We separate the two in a controlled study of RL on multiple base models that fixes the optimizer and the number of training prompts, and varies only the source domain of the prompts (math, multi-domain, chat, or mixtures) and the reward. We find that RLHF on open-ended prompts substantially improves conversational ability and also brings large gains in reasoning and coding, whereas RLVR improves reasoning but its gains in open-ended conversation plateau far below those of RLHF, suggesting that RL on open-ended prompts with a reward model can serve as an effective approach for generalizing across domains.

cs.LG · cs.AI · cs.CL

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-industry.7ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

TeachMaster: Generative Teaching via Code

Yuheng Wang, Runde Yang, Lin Wu, Jie Zhang, Jingru Fan, Tianle Zhou, Ruoyu Fu, Huatao Li 等 12 位作者

原文摘要

The scalability of high-quality online education is hindered by the high costs and slow cycles of manual content creation.Despite advancements in video generation, current approaches often fail to ensure pedagogical structure and precise control due to their pixel-level, black-box nature.In this paper, we propose Generative Teaching, a novel paradigm shifting educators from manual creators to high-level directors who focus on pedagogical intents while agents handle the execution. To realize this vision, we introduce TeachMaster, a multi-agent framework that leverages code as an intermediate semantic medium. Unlike traditional video generation methods, TeachMaster orchestrates a collaborative team of agents, spanning planning, design, and rendering, to automate the production of interpretable, editable, and curriculum-ready educational videos. Experiments validate that TeachMaster significantly boosts production efficiency without compromising structural coherence or visual fidelity, slashing production costs to only 0.3% of traditional online course videos and providing a robust solution for scalable education.

cs.CL · cs.MA

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1287ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

MathCanvas: Intrinsic Visual Chain-of-Thought for Multimodal Mathematical Reasoning

Weikang Shi, Aldrich Yu Information Engineering, Chinese University of Hong Kong, Rongyao Fang The Chinese University of Hong Kong, Houxing Ren Beijing University of Aeronautics and Astronautics, Ke Wang The Chinese University of Hong Kong, Aojun Zhou, Changyao Tian, Xinyu Fu Huawei Technologies Ltd. 等 14 位作者

原文摘要

While Large Language Models (LLMs) have excelled in textual reasoning, they struggle with mathematical domains like geometry that intrinsically rely on visual aids. Existing approaches to Visual Chain-of-Thought (VCoT) are often limited by rigid external tools or fail to generate the high-fidelity, strategically-timed diagrams necessary for complex problem-solving. To bridge this gap, we introduce MathCanvas, a comprehensive framework designed to endow unified Large Multimodal Models (LMMs) with intrinsic VCoT capabilities for mathematics. Our approach consists of two phases. First, a Visual Manipulation stage pre-trains the model on a novel 15.2M-pair corpus, comprising 10M caption-to-diagram pairs (MathCanvas-Imagen) and 5.2M step-by-step editing trajectories (MathCanvas-Edit), to master diagram generation and editing. Second, a Strategic Visual-Aided Reasoning stage fine-tunes the model on MathCanvas-Instruct, a new 219K-example dataset of interleaved visual-textual reasoning paths, teaching it when and how to leverage visual aids. To facilitate rigorous evaluation, we introduce MathCanvas-Bench, a challenging benchmark with 3K problems that require models to produce interleaved visual-textual solutions. Our model, BAGEL-Canvas, trained under this framework, achieves an 86% relative improvement over strong LMM baselines on MathCanvas-Bench, demonstrating excellent generalization to other public math benchmarks. Our work provides a complete toolkit—framework, datasets, and benchmark—to unlock complex, human-like visual reasoning in LMMs.

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.1542ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

Anchoring the Cache: Mitigating Contextual Hallucination in KV-Compressed Long-Context Summarization

Yu Fu University of California, Riverside, Chen Luo Amazon, Josef Valvoda Google, Xin Zhang, Xuejing Lei Amazon, Xiao Pan, Hui Liu Amazon, Yue Dong University of California, Riverside

原文摘要

Key-Value (KV) cache compression techniques have improved the efficiency of long-context summarization in Large Language Models (LLMs), but their impact on model hallucination remains underexplored. In this paper, we present the first systematic study of how KV cache compression affects hallucination in long-context summarization, demonstrating that aggressive compression can increase hallucination scores by up to 3.36× compared to the baseline. To mitigate this issue, we propose HalluKV, a decoding-phase strategy that selectively removes generated KV pairs from retrieval heads responsible for retrieving critical information from source context, thereby anchoring their attention on the preserved source information. Our approach maintains computational efficiency while significantly reducing hallucination across multiple models and datasets, achieving up to 5.48 average point reductions on Llama-3-8B-Instruct, enabling more trustworthy long-context summarization.

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.320ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

SeLaR: Selective Latent Reasoning in Large Language Models

Renyu Fu, Guibo Luo Peking University

原文摘要

Chain-of-Thought (CoT) has become a cornerstone of reasoning in large language models, yet its effectiveness is constrained by the limited expressiveness of discrete token sampling. Recent latent reasoning approaches attempt to alleviate this limitation by replacing discrete tokens with soft embeddings (probability-weighted mixtures of token embeddings) or hidden states, but they commonly suffer from two issues: (1) global activation injects perturbations into high-confidence steps, impairing reasoning stability; and (2) soft embeddings quickly collapse toward the highest-probability token, limiting exploration of alternative trajectories. To address these challenges, we propose SeLaR (Selective Latent Reasoning), a lightweight and training-free framework. SeLaR introduces an entropy-gated mechanism that activates soft embeddings only at low-confidence steps, while preserving discrete decoding at high-confidence steps. Additionally, we propose an entropy-aware contrastive regularization that pushes soft embeddings away from the highest-probability token’s direction, encouraging sustained exploration of multiple latent reasoning paths. Experiments on five reasoning benchmarks demonstrate that SeLaR consistently outperforms standard CoT and state-of-the-art training-free methods.

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.994ACL Anthology · ACL 2026

来源日期 2026-07-01（仅到月份）

d-TreeRPO: Towards More Reliable Policy Optimization for Diffusion Language Models

Leyi Pan Tsinghua University, Shuchang Tao Alibaba Group, Yunpeng Zhai Alibaba Group, Zheyu Fu, Liancheng Fang University of Illinois at Chicago, Minghua He Peking University, Lingzhe Zhang, Zhaoyang Liu 等 11 位作者

原文摘要

Reinforcement learning (RL) is pivotal for enhancing the reasoning capabilities of diffusion large language models (dLLMs). However, existing dLLM policy optimization methods suffer from two critical reliability bottlenecks: (1) reward sparsity, arising from coarse or unverifiable signals that impede accurate advantage calculation; and (2) their probability estimates do not account for the gap to the unbiased expectation over all decoding orders, which are intractable to compute. To mitigate these issues, we propose d-TreeRPO, a reliable RL framework for dLLMs that leverages tree-structured rollouts and bottom-up advantage computation based on verifiable outcome rewards to provide fine-grained and verifiable step-wise reward signals. Furthermore, we provide a theoretical proof demonstrating that increasing prediction confidence effectively minimizes the gap between unbiased expected prediction probabilities and its single-step forward pass estimate. Guided by this analysis, we introduce a time-scheduled self-distillation loss during training that enhances prediction confidence in later training stages, thereby enabling more accurate probability estimation and better performance. Experiments demonstrate that d-TreeRPO outperforms existing baselines and achieves significant improvements across multiple reasoning benchmarks. Specifically, it achieves +86.2% on Sudoku, +51.6% on Countdown, +4.5% on GSM8K, and +5.3% on Math500 compared to the base model.

cs.CL

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