What is worse, training a policy across multiple terrains with different gaits poses further challenges, leading I. INTRODUCTION to model divergence. Robots are often required to traverse diverse terrains and In this work, we enable a quadruped robot to traverse demonstrate various skills [1], [2]. Recent advancements in various terrains--including bars, pits, stairs, slopes, and baffles--while reinforcement learning (RL) algorithms and physics-based also supporting gait switching between bipedal simulators have enabled RL-based approaches to become the and quadrupedal modes, using only one policy.

Multimodal Audio-Language Models (ALMs) can understand and reason over both audio and text. Typically, reasoning performance correlates with model size, with the best results achieved by models exceeding 8 billion parameters. However, no prior work has explored enabling small audio-language models to perform reasoning tasks, despite the potential applications for edge devices. To address this gap, we introduce Mellow, a small Audio-Language Model specifically designed for reasoning. Mellow achieves state-of-the-art performance among existing small audio-language models and surpasses several larger models in reasoning capabilities. For instance, Mellow scores 52.11 on MMAU, comparable to SoTA Qwen2 Audio (which scores 52.5) while using 50 times fewer parameters and being trained on 60 times less data (audio hrs). To train Mellow, we introduce ReasonAQA, a dataset designed to enhance audio-grounded reasoning in models. It consists of a mixture of existing datasets (30% of the data) and synthetically generated data (70%). The synthetic dataset is derived from audio captioning datasets, where Large Language Models (LLMs) generate detailed and multiple-choice questions focusing on audio events, objects, acoustic scenes, signal properties, semantics, and listener emotions. To evaluate Mellow's reasoning ability, we benchmark it on a diverse set of tasks, assessing on both in-distribution and out-of-distribution data, including audio understanding, deductive reasoning, and comparative reasoning. Finally, we conduct extensive ablation studies to explore the impact of projection layer choices, synthetic data generation methods, and language model pretraining on reasoning performance. Our training dataset, findings, and baseline pave the way for developing small ALMs capable of reasoning.

There exist applications of reinforcement learning like medicine where policies need to be ''interpretable'' by humans. User studies have shown that some policy classes might be more interpretable than others. However, it is costly to conduct human studies of policy interpretability. Furthermore, there is no clear definition of policy interpretabiliy, i.e., no clear metrics for interpretability and thus claims depend on the chosen definition. We tackle the problem of empirically evaluating policies interpretability without humans. Despite this lack of clear definition, researchers agree on the notions of ''simulatability'': policy interpretability should relate to how humans understand policy actions given states. To advance research in interpretable reinforcement learning, we contribute a new methodology to evaluate policy interpretability. This new methodology relies on proxies for simulatability that we use to conduct a large-scale empirical evaluation of policy interpretability. We use imitation learning to compute baseline policies by distilling expert neural networks into small programs. We then show that using our methodology to evaluate the baselines interpretability leads to similar conclusions as user studies. We show that increasing interpretability does not necessarily reduce performances and can sometimes increase them. We also show that there is no policy class that better trades off interpretability and performance across tasks making it necessary for researcher to have methodologies for comparing policies interpretability.

In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics. With the rapid advancement of reinforcement learning, substantial progress has been made in the walking control of humanoid robots. However, existing methods still face challenges when dealing with complex environments and irregular terrains. In the field of perceptive locomotion, existing approaches are generally divided into two-stage methods and end-to-end methods. Two-stage methods first train a teacher policy in a simulated environment and then use distillation techniques, such as DAgger, to transfer the privileged information learned as latent features or actions to the student policy. End-to-end methods, on the other hand, forgo the learning of privileged information and directly learn policies from a partially observable Markov decision process (POMDP) through reinforcement learning. However, due to the lack of supervision from a teacher policy, end-to-end methods often face difficulties in training and exhibit unstable performance in real-world applications. This paper proposes an innovative two-stage perceptive locomotion framework that combines the advantages of teacher policies learned in a fully observable Markov decision process (MDP) to regularize and supervise the student policy. At the same time, it leverages the characteristics of reinforcement learning to ensure that the student policy can continue to learn in a POMDP, thereby enhancing the model's upper bound. Our experimental results demonstrate that our two-stage training framework achieves higher training efficiency and stability in simulated environments, while also exhibiting better robustness and generalization capabilities in real-world applications.

Code optimization is the process of enhancing code efficiency, while preserving its intended functionality. This process often requires a deep understanding of the code execution behavior at run-time to identify and address inefficiencies effectively. Recent studies have shown that language models can play a significant role in automating code optimization. However, these models may have insufficient knowledge of how code execute at run-time. To address this limitation, researchers have developed strategies that integrate code execution information into language models. These strategies have shown promise, enhancing the effectiveness of language models in various software engineering tasks. However, despite the close relationship between code execution behavior and efficiency, the specific impact of these strategies on code optimization remains largely unexplored. This study investigates how incorporating code execution information into language models affects their ability to optimize code. Specifically, we apply three different training strategies to incorporate four code execution aspects -- line executions, line coverage, branch coverage, and variable states -- into CodeT5+, a well-known language model for code. Our results indicate that execution-aware models provide limited benefits compared to the standard CodeT5+ model in optimizing code.

We present EgoBlind, the first egocentric VideoQA dataset collected from blind individuals to evaluate the assistive capabilities of contemporary multimodal large language models (MLLMs). EgoBlind comprises 1,210 videos that record the daily lives of real blind users from a first-person perspective. It also features 4,927 questions directly posed or generated and verified by blind individuals to reflect their needs for visual assistance under various scenarios. We provide each question with an average of 3 reference answers to alleviate subjective evaluation. Using EgoBlind, we comprehensively evaluate 15 leading MLLMs and find that all models struggle, with the best performers achieving accuracy around 56\%, far behind human performance of 87.4\%. To guide future advancements, we identify and summarize major limitations of existing MLLMs in egocentric visual assistance for the blind and provide heuristic suggestions for improvement. With these efforts, we hope EgoBlind can serve as a valuable foundation for developing more effective AI assistants to enhance the independence of the blind individuals' lives.

The primary challenge in continuous sign language recognition (CSLR) mainly stems from the presence of multi-orientational and long-term motions. However, current research overlooks these crucial aspects, significantly impacting accuracy. To tackle these issues, we propose a novel CSLR framework: Orientation-aware Long-term Motion Decoupling (OLMD), which efficiently aggregates long-term motions and decouples multi-orientational signals into easily interpretable components. Specifically, our innovative Long-term Motion Aggregation (LMA) module filters out static redundancy while adaptively capturing abundant features of long-term motions. We further enhance orientation awareness by decoupling complex movements into horizontal and vertical components, allowing for motion purification in both orientations. Additionally, two coupling mechanisms are proposed: stage and cross-stage coupling, which together enrich multi-scale features and improve the generalization capabilities of the model. Experimentally, OLMD shows SOTA performance on three large-scale datasets: PHOENIX14, PHOENIX14-T, and CSL-Daily. Notably, we improved the word error rate (WER) on PHOENIX14 by an absolute 1.6% compared to the previous SOTA

Recent advances in LLM-based role-playing language agents (RPLAs) have attracted broad attention in various applications. While chain-of-thought reasoning has shown importance in many tasks for LLMs, the internal thinking processes of RPLAs remain unexplored. Understanding characters' inner thoughts is crucial for developing advanced RPLAs. In this paper, we introduce ROLETHINK, a novel benchmark constructed from literature for evaluating character thought generation. We propose the task of inner thought reasoning, which includes two sets: the gold set that compares generated thoughts with original character monologues, and the silver set that uses expert synthesized character analyses as references. To address this challenge, we propose MIRROR, a chain-of-thought approach that generates character thoughts by retrieving memories, predicting character reactions, and synthesizing motivations. Through extensive experiments, we demonstrate the importance of inner thought reasoning for RPLAs, and MIRROR consistently outperforms existing methods. Resources are available at https://github.com/airaer1998/RPA_Thought.

Accurate quantification of both aleatoric and epistemic uncertainties is essential when deploying Graph Neural Networks (GNNs) in high-stakes applications such as drug discovery and financial fraud detection, where reliable predictions are critical. Although Evidential Deep Learning (EDL) efficiently quantifies uncertainty using a Dirichlet distribution over predictive probabilities, existing EDL-based GNN (EGNN) models require modifications to the network architecture and retraining, failing to take advantage of pre-trained models. We propose a plug-and-play framework for uncertainty quantification in GNNs that works with pre-trained models without the need for retraining. Our Evidential Probing Network (EPN) uses a lightweight Multi-Layer-Perceptron (MLP) head to extract evidence from learned representations, allowing efficient integration with various GNN architectures. We further introduce evidence-based regularization techniques, referred to as EPN-reg, to enhance the estimation of epistemic uncertainty with theoretical justifications. Extensive experiments demonstrate that the proposed EPN-reg achieves state-of-the-art performance in accurate and efficient uncertainty quantification, making it suitable for real-world deployment.

Wireless signal recognition (WSR) is a crucial technique for intelligent communications and spectrum sharing in the next six-generation (6G) wireless communication networks. It can be utilized to enhance network performance and efficiency, improve quality of service (QoS), and improve network security and reliability. Additionally, WSR can be applied for military applications such as signal interception, signal race, and signal abduction. In the past decades, great efforts have been made for the research of WSR. Earlier works mainly focus on model-based methods, including likelihood-based (LB) and feature-based (FB) methods, which have taken the leading position for many years. With the emergence of artificial intelligence (AI), intelligent methods including machine learning-based (ML-based) and deep learning-based (DL-based) methods have been developed to extract the features of the received signals and perform the classification. In this work, we provide a comprehensive review of WSR from the view of applications, main tasks, recent advances, datasets and evaluation metrics, challenges, and future directions. Specifically, intelligent WSR methods are introduced from the perspective of model, data, learning and implementation. Moreover, we analyze the challenges for WSR from the view of complex, dynamic, and open 6G wireless environments and discuss the future directions for WSR. This survey is expected to provide a comprehensive overview of the state-of-the-art WSR techniques and inspire new research directions for WSR in 6G networks.