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Add to EdgeMotionGRPO: Overcoming Low Intra-Group Diversity in GRPO-Based Egocentric Motion Recovery
May 07, 2026
This paper studies full-body 3D human motion recovery from head-mounted device signals. Existing diffusion-based methods often rely on global distribution matching, leading to local joint reconstruction errors. We propose MotionGRPO, a novel framework leveraging reinforcement learning post-training to inject fine-grained guidance into the diffusion process. Technically, we model diffusion sampling as a Markov decision process optimized via Group Relative Policy Optimization (GRPO). To this end, we introduce a hybrid reward mechanism that combines a learned conditioned perceptual model for global visual plausibility and explicit constraints for local joint precision. Our key technical insight is that policy optimization in diffusion-based recovery suffers from vanishing gradients due to limited intra-group sample diversity. To address this, we further introduce a noise-injection strategy that explicitly increases sample variance and stabilizes learning. Extensive experiments demonstrate that MotionGRPO achieves state-of-the-art performance with superior visual fidelity
MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generation
May 07, 2026Generating realistic 3D Human-Object Interactions (HOI) is a fundamental task for applications ranging from embodied AI to virtual content creation, which requires harmonizing high-level semantic intent with strict low-level physical constraints. Existing methods excel at semantic alignment, however, they struggle to maintain precise object contact. We reveal a key finding termed \textit{Geometric Forgetting}: as diffusion model depth increases, semantic feature tend to overshadow object geometry feature, causing the model to lose its perception to object geometry. To address this, we propose MaMi-HOI, a hierarchical framework reconciling \textbf{Ma}cro-level kinematic fluidity with \textbf{Mi}cro-level spatial precision. First, to counteract geometric forgetting, we introduce the Geometry-Aware Proximity Adapter (GAPA), which explicitly re-injects dense object details to perform residual snapping corrections for precise contact. Nevertheless, such aggressive local enforcement can disrupt global dynamics, leading to robotic stiffness. In response, we introduce the Kinematic Harmony Adapter (KHA), which proactively aligns whole-body posture with spatial objectives, ensuring the skeleton actively accommodates constraints without compromising naturalness. Extensive experiments validate that MaMi-HOI simultaneously achieves natural motion and precise contact. Crucially, it extends generation capabilities to long-term tasks with complex trajectories, effectively bridging the gap between global navigation and high-fidelity manipulation in 3D scenes. Code is available at https://github.com/DON738110198/MaMi-HOI.git
Efficient Serving for Dynamic Agent Workflows with Prediction-based KV-Cache Management
May 07, 2026LLM-based workflows compose specialized agents to execute complex tasks, and these agents usually share substantial context, allowing KV-Cache reuse to save computation. Existing approaches either manage KV-Cache at agent level and fail to exploit the reuse opportunities within workflows, or manage cache at the workflow level but assume that each workflow calls a static sequence of agents. However, practical workflows are typically dynamic, where the sequence of invoked agents and thus induced cache reuse opportunities depend on the context of each task. To serve such dynamic workflows efficiently, we build a system dubbed PBKV (\textbf{P}rediction-\textbf{B}ased \textbf{KV}-Cache Management). For each workflow, PBKV predicts the agent invocations in several future steps by fusing the guidance from historical workflows and context of the target workflow. Based on the predictions, PBKV estimates the reuse potential of cache entries and keeps the high-potential entries in GPU memory. To be robust to prediction errors, PBKV utilizes the predictions conservatively during both cache eviction and prefetching. Experiments on three workflow benchmarks show that PBKV achieves up to $1.85\times$ speedup over LRU on dynamic workflows, and up to $1.26\times$ speedup over the SOTA baseline KVFlow on the static workflow.
Optimal Transport for LLM Reward Modeling from Noisy Preference
May 07, 2026Reward models are fundamental to Reinforcement Learning from Human Feedback (RLHF), yet real-world datasets are inevitably corrupted by noisy preference. Conventional training objectives tend to overfit these errors, while existing denoising approaches often rely on homogeneous noise assumptions that fail to capture the complexity of linguistic preferences. To handle these challenges, we propose SelectiveRM, a framework grounded in optimal transport. We first devise a Joint Consistency Discrepancy to align the distribution of model predictions with preference data. Furthermore, to address the limitation of strict mass conservation which compels the model to fit outliers, we incorporate a Mass Relaxation mechanism via partial transport. This enables the autonomous exclusion of samples with noisy preference that contradict semantic consistency. Theoretically, we demonstrate that SelectiveRM optimizes a tighter upper bound on the unobserved clean risk. Extensive experiments validate that our approach significantly outperforms state-of-the-art baselines across diverse benchmarks.
MooD: An Efficient VA-Driven Affective Image Editing Framework via Fine-Grained Semantic Control
May 04, 2026Affective image editing (AIE) aims to edit visual content to evoke target emotions. However, existing methods often overlook inference efficiency and predominantly depend on discrete emotion representations, which to some extent limits their practical applicability and makes it challenging to capture complex and subtle human emotions. To tackle these gaps, we propose MooD, the first framework that directly leverages continuous Valence-Arousal (VA) values for fine-grained and efficient AIE. Specifically, we first introduce a VA-Aware retrieval strategy to bridge vague affective values and concrete visual semantics. Building upon this, MooD integrates visual transfer and semantic guidance to achieve controllable AIE. Furthermore, we construct AffectSet, a VA-annotated dataset to support model optimization and evaluation. Extensive qualitative and quantitative experimental results demonstrate that our MooD achieves superior performance in both affective controllability and visual fidelity while maintaining high efficiency. A series of ablation studies further reveal the crucial factors of our design. Our code and data will be made publicly open soon.
From Insight to Action: A Novel Framework for Interpretability-Guided Data Selection in Large Language Models
Apr 28, 2026While mechanistic interpretability tools like Sparse Autoencoders (SAEs) can uncover meaningful features within Large Language Models (LLMs), a critical gap remains in transforming these insights into practical actions for model optimization. We bridge this gap with the hypothesis that data selection guided by a model's internal task features is a effective training strategy. Inspired by this, we propose Interpretability-Guided Data Selection (IGDS), a framework that first identifies these causal task features through frequency recall and interventional filtering, then selects ``Feature-Resonant Data'' that maximally activates task features for fine-tuning. We validate IGDS on mathematical reasoning, summarization, and translation tasks within Gemma-2, LLaMA-3.1, and Qwen3 models. Our experiments demonstrate exceptional data efficiency: on the Math task, IGDS surpasses full-dataset fine-tuning by a remarkable 17.4% on Gemma-2-2B while using only 50% of the data, and outperforms established baselines focused on data quality and diversity. Analysis confirms a strong positive correlation between feature amplification and task performance improvement. IGDS thus provides a direct and effective framework to enhance LLMs by leveraging their internal mechanisms, validating our core hypothesis.
Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Apr 26, 2026Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled framework for constrained optimal control, guaranteeing safety beyond its finite planning horizon remains a fundamental challenge. In this work, we augment MPC with a safety value function-based terminal constraint that enforces membership in a control-invariant safe set at the end of each planning horizon. This formulation enables real-time synthesis of trajectories that are both high-performing and provably safe. We show that, under an exact safety value function and a feasible initialization, the proposed MPC scheme is recursively feasible, thereby ensuring persistent safety. In contrast to traditional terminal set constructions that rely on local linearizations or conservative approximations, our approach incorporates a reachability-based safety value function for terminal constraints, yielding less conservative and more expressive safety guarantees. We validate the proposed framework through simulation and hardware experiments on a Flexiv Rizon 10s manipulator. Results demonstrate improved constraint satisfaction and robustness compared to standard state-constrained MPC and reactive safety filtering, while maintaining competitive task performance. The full implementation and experiments are available on the project website.
A Unified Fractional Regularization Framework for Sparse Recovery
Apr 25, 2026We propose a unified fractional regularization framework for sparse signal recovery based on the $\ell_1/\ell_p^q$ model. Our main theoretical contribution is the characterization of the equivalence between the first-order stationary points of the $\ell_1/\ell_p^q$ formulation and the subtractive $\ell_1 - α\ell_p$ model, providing a unified perspective on these nonconvex regularizers. In addition, we establish a new sufficient recovery condition under the Restricted Isometry Property (RIP), showing that the framework's robustness even under high-coherence sensing matrices. To solve the resulting problem, we develop a majorization-minimization (MM) algorithm and prove its convergence via the Kurdyka-Lojasiewicz (KL) property. Numerical experiments on different sensing matrices and MRI reconstruction demonstrate that the proposed approach consistently outperforms existing methods.
STAND: Semantic Anchoring Constraint with Dual-Granularity Disambiguation for Remote Sensing Image Change Captioning
Apr 25, 2026Remote sensing image change captioning (RSICC) aims to describe the difference between two remote sensing images. While recent methods have explored video modeling, they largely overlook the inherent ambiguities in viewpoint, scale, and prior knowledge, lacking effective constraints on the encoder. In this paper, we present STAND, a Semantic Anchoring Constraint with Dual-Granularity Disambiguation for RSICC, to progressively resolve these ambiguities. Specifically, to establish a reliable feature foundation, we first introduce an interpretable constraint to regularize temporal representations. Operating on these purified features, a dual-granularity disambiguation module resolves spatial uncertainties by coupling macro-level global context aggregation for viewpoint confusion with micro-level frequency-refocused attention for small-object scale enhancement. Ultimately, to translate these visually disambiguated features into precise text, a semantic concept anchoring module leverages language categorical priors to tackle knowledge ambiguity during decoding. Extensive experiments verify the superiority of STAND and its effectiveness in addressing ambiguities.
SOLAR-RL: Semi-Online Long-horizon Assignment Reinforcement Learning
Apr 24, 2026As Multimodal Large Language Models (MLLMs) mature, GUI agents are evolving from static interactions to complex navigation. While Reinforcement Learning (RL) has emerged as a promising paradigm for training MLLM agents on dynamic GUI tasks, its effective application faces a dilemma. Standard Offline RL often relies on static step-level data, neglecting global trajectory semantics such as task completion and execution quality. Conversely, Online RL captures the long-term dynamics but suffers from high interaction costs and potential environmental instability. To bridge this gap, we propose SOLAR-RL (Semi-Online Long-horizon Assignment Reinforcement Learning). Instead of relying solely on expensive online interactions, our framework integrates global trajectory insights directly into the offline learning process. Specifically, we reconstruct diverse rollout candidates from static data, detect the first failure point using per-step validity signals, and retroactively assign dense step-level rewards with target-aligned shaping to reflect trajectory-level execution quality, effectively simulating online feedback without interaction costs. Extensive experiments demonstrate that SOLAR-RL significantly improves long-horizon task completion rates and robustness compared to strong baselines, offering a sample-efficient solution for autonomous GUI navigation.