Zero-Shot
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TGrasp6D: Task-Informed Vision-Language Priors and Pose Refinement enable Zero-Shot Task-Oriented 6DoF Grasping
2026-10-14 20:31:36Manav Kulshrestha, Apoorva Vashisth, Damon Conover, Aniket BeraAbstract
Task-Oriented Grasping (TOG) has emerged as an important skill for purposeful robotic manipulation. Given the task of using a knife to "slice bread," a robot must choose to grasp from the handle, whereas for "hand[ing] the knife over," it is preferable for the handle to remain unobstructed for safe handoff. Current approaches for TOG either focus on 2D planar grasping, remain limited by their reliance on task-agnostic grasp generators, or are constrained by reliance on finite, manually-annotated, task-specific grasp datasets that cannot cover all possible grasp-task pairs. To that end, we present TGrasp6D, a vision-language based approach for generating task-oriented 6DoF grasps in a zero-shot manner. Given a task and a single RGB-D image of an associated object, TGrasp6D reasons about the appropriate semantic affordance for the given task and object geometry to produce an initial task- informed prior. This generated prior is further refined via 6DoF pose optimization for collision avoidance while preserving task consistency. Our approach achieves state-of-the-art success rate of 94% on the TaskGrasp dataset, with the best baseline at 74%. We also deploy our approach on a Franka Research 3 robot to demonstrate zero-shot generalization to real world objects
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URL
https://arxiv.org/abs/2610.20901
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Neither True nor False: Do LLMs Represent Truth-Value Gaps in Plural Predication?
2026-10-14 20:31:01Duaa Nakshbandi, Zhiyu An, Yiping Li, Sachin Giri, Wan DuAbstract
Large Language Models (LLMs) are increasingly being used to summarize and verify claims in critical sources that inform consequential decisions. Such claims are full of plural definites. If three of five patients improved after taking drug A, the claim the patients improved after drug A is not true, since two did not, yet its negation, the patients didn't improve after drug A, is not true either, since three did. In formal semantics, this truth-value gap is known as the Homogeneity Gap: both the plural definite and its negation are neither true nor false when the property holds for only a fraction of the plural referent. A model that cannot represent this gap turns mixed evidence into a clean verdict, an error that can be costly in high-stakes use. We introduce HomogeneityNLI, a diagnostic dataset of 1,000 minimal pair items crossing determiner, polarity, and group composition across ten logical conditions. Evaluating seven open-weight models, we uncover a pervasive Bivalence Bias: models assign plural definites their homogeneous truth conditions. In the zero-shot setting, no model recognizes the gap for both polarities in more than 15% of scenarios, and negated definites are judged False in 84% of cases. Explicit linguistic rules, chain-of-thought, and enumeration prompts produce unstable, model-specific effects that often entrench the bias. Our findings indicate that current open-weight LLMs acquire the truth conditions of plural predication but not its trivalent logic, and cannot yet be trusted to summarize or verify claims whose evidence is mixed.
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https://arxiv.org/abs/2610.14438
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SHRED: Self-Play for Heterogeneous Road-Users without Expert Demonstrations
2026-10-14 19:56:13Wei-Jer Chang, Zhouchonghao Wu, Akshay Rangesh, Weixin Li, Masayoshi Tomizuka, Wei ZhanAbstract
Realistic traffic simulation and autonomous planning both depend on modeling interactions among heterogeneous road users whose dynamics, constraints, and behaviors differ fundamentally. Existing approaches predominantly learn realistic interaction behavior from large-scale human driving demonstrations. In this work, we ask whether such behavior can instead emerge purely through self-play. We present SHRED, a framework that jointly trains vehicles, pedestrians, and cyclists through large-scale heterogeneous self-play from random initialization, without demonstrations or logged-trajectory replay. SHRED combines type-specific dynamics and objectives with procedural scenario generation and per-agent randomization, allowing diverse behaviors to emerge through closed-loop interaction. On the Waymo Open Sim Agents Challenge (WOSAC), SHRED jointly controls all three road-user types and outperforms both the closest demonstration-free self-play baseline and prior self-play methods that use demonstration-trained reference policies. Policies trained only on nuPlan map geometry retain comparable realism under zero-shot evaluation on Waymo. For planning, SHRED outperforms all compared planners on the interaction-heavy InterPlan benchmark. Controlled ablations show that heterogeneity in self-play improves both traffic realism and planning performance, with particularly large planning gains in interaction-heavy scenarios. Together, these results establish heterogeneous procedural self-play as a scalable, demonstration-free paradigm for learning realistic and interactive traffic behavior.
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URL
https://arxiv.org/abs/2610.20866
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Zero-Shot Spoken Language Understanding with SLAM-ASR: What Do Monolingual ASR-Trained Linear Projectors Enable?
2026-10-14 19:28:20Edwin Arkel Rios, Sneh Sourabh, Jocelyn Zaruma, Girish Ewoorkar, Julian Mack, Bo-Cheng LaiAbstract
The SLAM-ASR framework connects the features of a frozen speech encoder as input to a frozen LLM decoder to enable speech transcription. In this work we ask whether this training-on speech transcription-provides the LLM with the capability to also perform spoken language understanding (SLU) tasks, by training monolingual projectors on 11 languages. When prompted to answer a yes/no question about the input speech, the mean instruction following rate (IFR) is 49.8%. When not following the instruction, these models default back to transcription. The transcription quality-measured by the character error rate (CER)-is not sufficient to predict IFR. Remarkably, when the model is instructed to answer the topic question as a single digit option, the mean IFR rises to 81.3%. Our models score a mean 23.2% topic balanced accuracy (BAcc) against 14.3% chance. However, the same decoder scores a mean 71.5% BAcc when using reference transcripts as text input. This indicates a failure of the projector to transfer information for the SLU tasks.
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URL
https://arxiv.org/abs/2610.20844
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Verdict: Encode Once, Decide Many
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Automating organizational work means answering many small typed questions about one piece of state (does this email need a reply, how urgent is it, who owns it) with probabilities good enough to act on without a human. The open typed-decision model we compare against, like a standard cross-encoder, answers each question with a separate pass over the input. We present Verdict-MQ, an open encoder that reads a case once and answers all of its questions: given identical retained state tokens after truncation (verified on every reported case), a structured attention mask makes the state encoding independent of the questions, keeps questions from influencing each other, and makes option order irrelevant by construction. On the typed-decisions benchmark, a 395M Verdict-MQ matches the soft gold labels significantly better than the released 421M Laya specialist on all five fresh seeds (KL 0.080 vs 0.117, Brier 0.045 vs 0.061), an advantage that survives per-system temperature scaling; its higher accuracy (0.801 vs 0.767) lies past the benchmark's own saturation point, so we read that margin as closer agreement with the benchmark's labelling teacher. On RACE, BoolQ and MultiRC, against a matched fine-tuned baseline it wins on MultiRC and loses on RACE and on BoolQ, where its training is unstable; we measure zero-shot references ourselves, including a closed general system (Jev) that beats every fine-tuned encoder. A controlled comparison measures what the shared state costs: giving each question its own question-aware copy of the state gains 0.9-3.5 points on RACE and MultiRC at 1.4-2.5x the per-case latency, and nothing measurable on typed decisions, with the invariance guarantees unchanged.
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URL
https://arxiv.org/abs/2610.20778
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Evaluating LLMs as Agentic Workflow Executors in Real-World Customer Support Skills
2026-10-14 16:00:21Md Tahmid Rahman Laskar, Gundeep Singh, Xue-Yong Fu, Karol Chang, Kevin Sanders, Shi Zong, Tania Habib, Julien Bouvier Tremblay, Shayna Gardiner, Harsh Saini, Matthias Lee, Elena Khasanova, Quinten McNamara, Shashi Bhushan TNAbstract
Enterprise customer-support agents increasingly rely on Large Language Models (LLMs) to execute bounded, tool-using workflows. We study this problem through the lens of Skill LLMs: specialized executors that operate within a selected skill context and must complete a narrow, stateful workflow under policy and tool constraints. We present a benchmark construction pipeline that mines recurrent workflows from real-world transcripts, converts them into structured skill descriptions, maps them to tool requirements, simulates environment state with Model Context Protocol (MCP)-compatible mocks, and generates multi-turn tool-using dialogues. Using this benchmark, we conduct a large-scale zero-shot evaluation of 17 language models spanning closed model families and deployment-oriented open-weight models from 1.7B to 14B parameters, each judged independently by five strong LLM judges, plus a deterministic rule-based evaluator that checks tool coverage, hallucinated tool use, and unsupported claims. We find a consistent ranking in which GPT-5.4 leads by a wide margin and QWEN3.5-9B is the strongest open-weight model (below 20B), outperforming several closed baselines under every judge. We also find that judge choice is not a negligible methodological detail: pairwise judge agreement on the pass/fail verdict averages Kappa=0.524 across 10 judge pairs. These results suggest that comprehensive zero-shot evaluation of skill execution requires judge reliability as carefully as model capability.
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URL
https://arxiv.org/abs/2610.14346
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HM3D-M3: A Benchmark for Multi-Agent, Multi-Modal, Multi-Object Goal Navigation
2026-10-14 12:44:42Hongyu Ding, Kanyu Xu, Mingjia Chen, Zixuan Chen, Jieqi Shi, Jing Huo, Yifan Zhang, Yang GaoAbstract
Rapid progress in AI agents and robotics makes it a matter of the near future that humans are served by a team of robots. Such a team will receive several goals at once, each specified in whatever form is convenient for the human, such as a category name, a photo, or a spoken description. Existing benchmarks study multi-agent, multi-modal, and multi-object goal navigation in isolation, and a benchmark that places all three in one episode is missing. To fill this gap, we introduce HM3D-M3. A team of K agents starts at distributed locations in a photorealistic indoor scene and searches for an unordered set of M object goals, each given as an open-vocabulary category, an instance image, or an instance description. HM3D-M3 provides 1,000 validation episodes over 3,926 goals from 379 open-vocabulary categories, 100K observation-assignment training samples, and two team-level metrics, goal-level SR and makespan-normalized SPL. We further contribute two baselines. HiGA is a trained hierarchical goal assigner on top of a frozen open-vocabulary navigation policy, and LaViRA-M3 is a training-free team of VLM agents with shared mapping and progress analysis. Adapted multi-robot and zero-shot methods reach 16--27% SR, while our baselines reach 38--41% with complementary strengths and distinct failure modes. Furthermore, we deploy LaViRA-M3 on a heterogeneous three-robot team. Project page: this https URL
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URL
https://arxiv.org/abs/2610.20121
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OpenDepth: Repurposing Image Editing Priors for Robust Open-World Monocular Depth Estimation
2026-10-14 12:26:42Mengke Zhang, Tianyi Yang, Xinzhuo Li, Anlong MingAbstract
Recently, the integration of generative priors has revolutionized Monocular Depth Estimation (MDE), achieving state-of-the-art (SOTA) performance with remarkably high data efficiency. However, although methods based on Text-to-Image (T2I) models excel in general scenes, their efficacy degrades sharply when confronted with open-world environmental perturbations, such as illumination variations and adverse weather. Since T2I priors are optimized for semantic synthesis rather than preserving pixel-level structure, they struggle to decouple geometry from appearance under severe visual shifts, easily triggering structural hallucinations. Therefore, our core insight is to model open-world depth estimation as consistent geometric inference across multi-style images, fully leveraging the powerful structure-preserving editing priors of Image-to-Image (I2I) models. Based on this, we propose OpenDepth, a robust open-world MDE framework that introduces "Intra-Domain Awareness" -- the capability to map diverse stylistic inputs sharing identical geometry into a unified latent space. To achieve this, we first align shallow features within the Diffusion Transformer (DiT) to anchor degraded observations to unified geometric representations. Additionally, we introduce a joint RGB latent reconstruction task, requiring the model to recover clean RGB information from degraded inputs. This multi-stage strategy effectively decouples environmental style interference, compelling the model to focus strictly on underlying geometric recovery. Extensive evaluations show that OpenDepth sets new SOTA records for robust zero-shot depth estimation across standard and extreme weather benchmarks, demonstrating exceptional structural integrity and adaptability.
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URL
https://arxiv.org/abs/2610.17610
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A Strong Harness Narrows the Model Gap: A Comparative Evaluation for Legislative Document-to-XML Conversion
2026-10-14 11:15:25Palvika Bansal, Rittika Jindal, Ruichong WangAbstract
Legal-content reproduction requires matching the source exactly in section hierarchy, verbatim text, citations, and amendment spans; a dropped citation or mislabeled amendment carries into the products lawyers rely on. We report an industrial pipeline converting U.S. state legislation into strict, schema-constrained XML, and hypothesize that its accuracy comes from harness engineering, the deterministic tooling built around a model, more than the model itself. Our controlled ablation crosses three harnesses (zero-shot, a single tool-using agent, and a decomposed multi-agent pipeline) with three Claude models on 153 gold bills from two jurisdictions. The harness narrows the model gap: the weakest model in the full pipeline beats the strongest model alone (0.948 versus 0.806, paired bootstrap p less than 0.001). Because the two agentic harnesses share identical tools, their gap comes from orchestration: decomposition plus the persisted state and per-agent context it brings. Across four scored dimensions, the model spread at zero-shot (0.68 to 0.81) narrows to 0.95 at the full pipeline; the residual sits almost entirely in citation normalization, where the canonical identifier is retrieved from an external authority rather than generated from the weights, so a deterministic lookup tool supplies the exactness that a larger model does not.
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URL
https://arxiv.org/abs/2610.19999
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Long-Prompt Zero-Shot TTS: Benchmarking Prosody Reproduction Beyond Voice Cloning
2026-10-14 08:23:44Dekun Chen, Renjie Xu, Yingda Shen, Qinke Ni, Zhizheng WuAbstract
Zero-shot text-to-speech (TTS) typically conditions on a short speech prompt, which conveys timbre but provides only limited evidence of a speaker's prosodic patterns. We formulate Long-Prompt Zero-Shot TTS, a task that uses long speech prompts at inference time to reproduce speaker-specific prosody without target-speaker fine-tuning. We introduce LP-TTS-Bench, a bilingual benchmark of 37 speakers with 63.95 prompt hours and 2,728 held-out test utterances. Beyond intelligibility and timbre similarity, LP-TTS-Bench evaluates timing, prominence, intonation, and model-based prosody metrics, enabling multidimensional evaluation of prosody reproduction. As a reference system, we develop LPTTS, whose hierarchical Long-Prompt Encoder compresses long speech prompts into a fixed number of continuous prosody vectors. Experiments show improvements in several prosodic dimensions over a short-prompt baseline, with overall gains as prompt duration increases up to approximately 10 minutes and saturation at longer durations.
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URL
https://arxiv.org/abs/2610.19774
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Physics-Shaped, Not Physical: Auditing Physics-Guided Underwater Image Restoration
2026-10-14 08:17:56Mochamad Rizal Fauzan, Irgi SuryaAbstract
Physics-guided networks for underwater image restoration predict transmission and backscatter and invert the image-formation model, yet rarely test whether this physics does any work. We audit one representative design, PhysGuide-Net, with four controlled experiments: five-seed ablations on UIEB with zero-shot evaluation on the complete LSUI (4279 pairs) and AUIED3K (3000 pairs) sets; a data-efficiency study with a capacity-matched control that removes the formation model; and a validation of the predicted maps against measured range on Sea-thru. With all 800 training images the physics module gives no zero-shot gain (mean PSNR differences of at most 0.16 dB; all 95% intervals include zero) at 3.4x the FLOPs. With 80 images it helps more (+0.65 dB on UIEB, +1.48 dB on AUIED3K; seed-to-seed s.d. on AUIED3K from 1.3 to 0.5 dB), although not individually significant after correction, and the control does not reproduce this (0.8-1.0 dB lower). Yet the predicted transmission does not behave like a physical quantity: its correlation with range is no stronger than for the range map of a different image (pooled difference +0.02, versus -0.06 for the dark-channel prior), and a Beer-Lambert fit explains 0.4% of its variance. The effect of the module also changes sign with degradation severity between datasets. The benefit thus comes from a physics-shaped inductive bias, not from physics. We further show that single-run ablations can reverse sign and document implementation defects that invalidate loss ablations.
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URL
https://arxiv.org/abs/2610.19763
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Discriminative Score Function: Turning Pretrained Models into Functional Generative Priors
2026-10-14 08:04:30Junhoo Lee, Hyeonjin Kim, Sangbum Han, Nojun KwakAbstract
Discriminative models are trained with task-specific objectives such as classification, detection, or representation learning, yet their practical utility depends on generalizing beyond the training task to unseen samples from the same domain. This suggests that a discriminative model may retain an implicit trace of the data manifold beyond its task labels. We ask whether this trace can be exposed as a generative signal without task-specific guidance. We introduce the Discriminative Score Function (DSF), which extracts an image-space generative field from the loss-gradient geometry of a pretrained discriminative model. DSF provides a training-free update rule that moves images toward model-consistent visual regions without retraining or task-specific targets. We apply DSF to diverse pretrained discriminative models, including ResNet classifiers, DETR detectors, and DINOv2 ViT encoders. DSF generates unconditional images from noise and supports conditional guidance, editing, inpainting, and explanation through the same field. DSF-generated samples also provide effective zero-shot quantization calibration when real images or labels are unavailable, preserving feature geometry better than data-free calibration baselines. These results show that discriminative training leaves a generative functional signal for synthesis and calibration. Project page: this https URL.
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URL
https://arxiv.org/abs/2610.19743
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Back-Translation Still Matters: Leveraging Monolingual Data for Low-Resource Machine Translation with LLMs
2026-10-14 07:55:24Divyanshu Bathla, Parag Singla, Jitin SinglaAbstract
Pre-trained Large Language Model (LLMs) are effective on many tasks in zero-shot and few-shot settings. For machine translation of low-resource languages, the obvious options are few-shot prompting and fine-tuning on a small parallel set. We ask: what if moderate amounts of low-resource monolingual data are also available? We argue that, rather than continued pretraining, a more effective use of this data is the pre-LLM era technique of back-translation (BT). The current fine-tuned LLM translates monolingual sentences in each language, and the resulting pairs train it in the reverse direction. Updates on the parallel set are interleaved for stable learning. With 1K parallel pairs on Odia and Swahili, BT beats continued pretraining into the low-resource language by 7.7 to 16.4 XCOMET-XXL points in domain. With beam-decoded intermediate translations, it also beats a model with 10 time more parallel data. In-context examples retrieved from the parallel data further improve BT. We also analyze the source, quality and amount of monolingual text. Across five low-resource languages, with Hindi as a high-resource control, and two 3B backbones, BT improves translation into the low-resource language by 16 to 173% XCOMET-XXL over parallel-only fine-tuning. Blind human evaluation on Odia and Sanskrit agrees with the automatic metrics.
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URL
https://arxiv.org/abs/2610.18818
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Uncertainty-Driven Self-Play for Robust Multi-Agent Driving Policies
2026-10-14 07:40:27Sajad Marvi, Julian Schmidt, Alessandro Canevaro, Julian Jordan, Abhinav ValadaAbstract
Learning robust driving policies that generalize beyond their training domain remains a central challenge in motion planning. We propose an uncertainty-driven self-play scheme, in which half of the agents are rewarded for increasing their neighbors' epistemic uncertainty, while the other half learn to drive safely as the exploring agents continuously seek out their weaknesses. Epistemic uncertainty indicates where the policy is least confident and serves as an automatic proxy for scenario difficulty. Exploring agents use this signal to seek out hard cases, generating a challenging curriculum without manual scenario design. The resulting policy outperforms standard self-play, achieving best-in-class zero-shot transfer to nuplan Val14 (99.12% vs. 97.97%) and Argoverse 2 (82.39% vs. 78.03%) without fine-tuning, while also improving performance over standard self-play on Waymo. Our diversity-driven approach achieves 85% higher LSTM hidden-state coverage than the baseline, indicating a much richer set of behaviors. Further analysis shows that epistemic uncertainty serves as a calibrated difficulty detector, with highest-uncertain agents exhibiting 14.8 times the combined failure rate across collision, off-road, and DNF, of lowest-uncertain agents, enabling automatic prioritization of challenging scenarios without ground-truth labels.
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URL
https://arxiv.org/abs/2610.19714
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CORE: Contrast-and-Reflect for Self-Supervised Prompt Optimization in Anomaly Synthesis
2026-10-14 05:33:36Haoxiang Rao, Fang Zhao, Zhao Wang, Weijia Li, Chenyang Si, Caifeng ShanAbstract
Industrial anomaly detection (AD) is bottlenecked by the scarcity of anomalous samples, making high-fidelity anomaly synthesis crucial for improving downstream performance. However, existing methods either rely on scarce real anomaly references or auxiliary data, while lacking complex reasoning and iterative optimization capabilities for generating realistic defects in open-set scenarios. To address these challenges, we propose CORE, a cost-efficient and training-free prompt optimization framework based on Large Multimodal Models (LMMs), which unifies zero-shot and one-shot anomaly synthesis. CORE first introduces an Anomaly Context Grounding module to transform sparse user context into defect-aware generation context, which is subsequently instantiated as structured anomaly prompts that disentangle normal-region preservation from anomaly-specific variation, enabling controllable and faithful defect generation. Furthermore, CORE autonomously refines prompts through a self-supervised contrast-and-reflect mechanism. This design empowers general-purpose LMMs to synthesize realistic anomalies under both zero-shot and one-shot settings without task-specific training. Extensive experiments on MVTec-AD and VisA demonstrate that CORE synthesizes realistic and diverse anomalies, yielding superior improvements in downstream AD performance. Furthermore, its model-agnostic and plug-and-play paradigm enables effortless integration with diverse LMMs, facilitating adaptation to unseen open-set scenarios.
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URL
https://arxiv.org/abs/2610.19610
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Revise-TTS: A Non-Masking Refinement Framework for Masked Diffusion Models in Text-to-Speech
2026-10-14 03:19:03Wanli Sun, Dan Su, Anton RagniAbstract
Text-to-speech (TTS) based on masked diffusion models (MDMs) achieves competitive zero-shot speech synthesis performance. Unlike autoregressive (AR) models, MDMs define a corruption process that maps clean speech-token sequences to masked maps and learn a reverse denoising process to recover the reference tokens. However, MDMs commit to intermediate predictions that cannot be revised in subsequent inference steps. Consequently, prediction errors accumulate and propagate, degrading synthesized speech quality. We present Revise-TTS, a single-stage framework that applies hierarchical binary quantization (HBQ) and generative refinement networks (GRN) to zero-shot speech generation. First, we replace finite scalar quantization (FSQ) with HBQ to introduce a scalable binary representation for speech tokens with an explicit coarse-to-fine structure. Second, GRN is trained to reconstruct the token sequence from a mixture of ground-truth and random tokens. During inference, iterative refinement enables self-correction by randomly discarding a small proportion of previously predicted tokens with new predictions. Experiments and ablation studies demonstrate that Revise-TTS achieves competitive zero-shot speech synthesis performance using HBQ. It can further be extended to any MDM-based TTS task as an alternative training and inference method.
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URL
https://arxiv.org/abs/2610.19499
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Data-free Multistep Diffusion Distillation
2026-10-13 23:32:12Ngoc Duy Tran, Kien Do, Duc Thanh Nguyen, Truyen TranAbstract
One-step diffusion distillation achieves strong performance on small datasets but remains insufficient for high-resolution or complex text-to-image settings. Extending to multistep distillation often requires training data, suffers from early-step degradation, inconsistent outputs across sampling budgets, and incurs high computational cost. We identify that these limitations stem from simultaneous training, where a single adapted network approximates multiple score functions of different student distributions at once, causing biased distribution matching and unstable optimization. Therefore, we propose Progressive Multistep Data-free Distillation (PMDD), which assigns a dedicated adapted network per student distribution while avoiding the memory overhead of maintaining multiple adapted networks. Combined with a stage-wise unforget loss to preserve earlier-step generations, PMDD reduces optimization bias in the student, provides faster convergence, and a single unified model that supports multiple inference budgets. Extensive experiments show that PMDD matches or outperforms data-free few-step baselines at every multistep budget, reaches FID 1.99 on ImageNet 64x64 in two steps, below its 512-NFE teacher (2.32), and achieves FID 7.76 on zero-shot COCO 512x512, while requiring 4-5x less training compute than data-free DMDv2 to support three inference budgets.
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URL
https://arxiv.org/abs/2610.19305
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NEPSEE: A Double-Annotated Benchmark for Nepali Sentiment Analysis
2026-10-13 20:54:04Gaurab Baral, Mimansak Nepal, Grishma BasnetAbstract
Many sentiment datasets use one annotator for each item, so the test labels show the conventions of that person. We build a Nepali benchmark from two annotators who labelled the same sentences blind. They labelled 5,614 sentences from tweets of Nepali public figures on a five-point scale. We keep only the 3,189 sentences where both give the same polarity. On the three-class benchmark, NepBERTa with a fixed tokenizer gets a macro-F1 of 0.877 and IndicBERTv2 0.867. Three commercial large language models (LLMs) get 0.882 to 0.896 zero-shot, and these differences are not significant. On the five-point scale, 766 sentences have two adjacent labels, for example Pos and SPos. We accept both labels and train on both. On this task, Claude Opus 5.5 beats the best encoders by 0.10 to 0.12 macro-F1. A tokenizer audit adds a second result. The default tokenizers of three Nepali BERT models delete the non-spacing Devanagari vowel signs and the virama. When we restore the marks, macro-F1 increases by 0.084 for NepBERTa but decreases by 0.095 for a model pretrained on stripped text.
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URL
https://arxiv.org/abs/2610.19190
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Post-Training, Finetuning, and Steering:A Field Guide for Curating Training Data
2026-10-13 20:10:34Maria Attarian, Yifan Ruan, Claas Voelcker, Chenyang Cao, Amy Zhang, Peter Stone, Nicholas Rhinehart, Igor GilitschenskiAbstract
While Vision-Language-Action models have enabled impressive cross-task transfer in zero-shot settings, \emph{adaptation} methods are often necessary to achieve consistent performance on novel tasks. However, even though a wealth of methods for adaptation have been proposed, it is unclear how to choose the best method based on available trajectories. We close this gap by studying the impact of the adaptation method under a variety of common data scenarios: on- and off-policy data, offline vs online adaptation, and whether the data contains optimal or suboptimal trajectories. Our evaluation spans simulated tasks in the LIBERO suite and real tasks on a Franka platform. In the offline data regime, critic-based steering approaches outperform supervised finetuning when failure data is available. However, offline RL techniques for training critic functions fail to outperform simpler Monte-Carlo-based approaches. Finally, in the online setting, critic-based steering is significantly more sample efficient compared to policy-gradient-based finetuning methods, but has a lower performance ceiling than full finetuning.
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https://arxiv.org/abs/2610.19143
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Collective Learning for Unified Robotic Manipulation via Predictive Dynamics Adaptation
2026-10-13 20:09:00Shaocheng Liu, Yuan Meng, Zhenshan Bing, Alois KnollAbstract
Learning a collective policy for state-based Cartesian manipulation across diverse robotic embodiments presents a fundamental challenge due to embodiment-dependent transition dynamics. Collective learning aggregates multi-robot experience to discover shared task structure, yet naive aggregation can average incompatible action modes when different embodiments realize the same Cartesian command through different transition behavior. This leads to strategy ambiguity and performance collapse on dynamically outlying embodiments. To address this, we propose PACE, a two-stage collective learning framework that separates shared task-space intent from embodiment-dependent transition dynamics. The first stage employs a representation layer pre-trained on offline trajectories to extract task-level context from collective data. The second stage introduces a decision layer equipped with a predictive dynamics adapter. By forcing the latent state to predict future transitions, this adapter acts as a latent regularizer that grounds the policy in the transition behavior of the executing robot while preserving real-time inference without online planning. Evaluations across simulated embodiments demonstrate that our method prevents performance collapse on distinct robots. It achieves over 93\% overall success and 89\% on dynamically out-of-distribution zero-shot simulated robots, outperforming the Transformer behavior cloning (82\%) and diffusion policy baselines (66\%). Physical KUKA deployment further validates the feasibility of the full state-based pipeline under zero-shot sim-to-real transfer.
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URL
https://arxiv.org/abs/2610.19141
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