Coordinating from Memory: Graph-Structured Experience Reuse for Multi-Agent Adaptation in Dynamic Manufacturing

Dynamic manufacturing environments require multi-agent systems to coordinate effectively under frequent operational disturbances such as machine failures, urgent job arrivals, and processing time variations. Existing multi-agent reinforcement learning approaches treat each disturbance episode independently, discarding valuable coordination experience that could accelerate future adaptation. In this paper, we propose a Graph-Structured Experiential Memory (GSEM) framework for multi-agent coordination in dynamic manufacturing. The framework encodes historical coordination episodes as heterogeneous relational graphs that capture task dependencies, machine states, and inter-agent collaboration patterns. When a new disturbance occurs, a graph neural network-based retrieval mechanism identifies structurally similar past episodes, enabling experience-guided policy adaptation rather than learning from scratch. Experiments on dynamic flexible job-shop scheduling benchmarks with three disturbance types show that GSEM reduces makespan by 4.1%-10.0% and adaptation time by 33%-38% compared to the strongest memory-augmented baseline, with the advantage increasing under higher disturbance frequency. Ablation studies and cross-disturbance transfer experiments further validate the necessity of graph-structured encoding and similarity-based retrieval and demonstrate the cross-disturbance generalizability of learned coordination patterns.

Maximizing Human Efficiency in Large-Scale Robot Post-Training via VLAC-Cut Guided Pipeline

When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post training are required because a single round of data cannot resolve all issues, making continuous iterations necessary to progressively address the weaknesses exposed in previous rounds. In this report, we aim to maximize human efficiency during post-training, defined as the policy improvement and task throughput achieved per unit of human labor and time. We propose a human-efficient post-training pipeline that enables a small number of human operators to supervise multiple robots. The pipeline is built around a specialized division of labor: a trained Teleoperator focuses on high-value remote interventions and recovery demonstrations, while a Floor Operator monitors multiple robots, triggers takeovers, and performs physical resets. This role specialization reduces task switching, lowers operator training costs, and allows limited human labor to supervise more robot interaction across a larger fleet. To improve data utilization efficiency, we introduce VLAC-CUT as an automatic rollout curation tool. It segments autonomous robot trajectories into progress-making, idle, failure-inducing, and recovery portions, preserving useful segments while filtering harmful or uninformative ones. The curated rollout data are combined with Human-in-the-Loop data for the next post-training round. We validate the proposed pipeline on four real-world manipulation tasks. Across iterative post-training rounds, the final policies achieve 80\%--95\% success rates and improve task throughput by 1.7$\times$--4.2$\times$ over the base model. Under the same human-intervention budget, VLAC-CUT guided rollout reuse outperforms HITL-only training in both success rate and throughput.

The Signal-Coverage Matrix: Stratifying Type and Semantic Errors in Statement Autoformalization

Headline type-correctness (TC\%) of LLM autoformalization has climbed from $\sim$53\% to $\sim$76\% in two years, yet this scalar conceals which errors each method resolves. We propose a signal-coverage matrix that crosses the Lean elaborator (pass/fail) with a semantic-equivalence judgment (equivalent/not), sorting every output into one of four cells: true success (TS), type-only (TO), semantic-only (SO), or both fail (BF). On ProofNet\# and MiniF2F-test with DeepSeek V4-Pro across Vanilla, Lean-Retry, Sample-Filter, and Stratified Autoformalization (SAF): (1) the +34 to +36 TS gain across the three elab-feedback methods is $\sim$64\% type-stratum recovery, with SO flat on net (87.5\% of original semantic errors rescued, 8 newly created). (2) The TO-to-TS rate is 23/61 for each method (Wilson 95\% CI [26.6\%, 50.3\%]), and this stratum-level recovery rate predicts $Δ$TS on held-out methods to within 2/186 and renders $Δ$TC linear in the Vanilla elab-fail rate across six (model, dataset) cells ($R^2=0.96$). (3) The two judges disagree by 26 to 37 pp on elab-feedback outputs (vs. 7 pp on Vanilla), with 30 to 56\% of symbolic-judge false negatives traceable to elaborator-forced rewrites. The persistent residual reduces to two gold-formalization errors. TC\% gains should be credited by which cell moved, not by the scalar alone.

Robust Self-Training with Closed-loop Label Correction for Learning from Noisy Labels

Training deep neural networks with noisy labels remains a significant challenge, often leading to degraded performance. Existing methods for handling label noise typically rely on either transition matrix, noise detection, or meta-learning techniques, but they often exhibit low utilization efficiency of noisy samples and incur high computational costs. In this paper, we propose a self-training label correction framework using decoupled bilevel optimization, where a classifier and neural correction function co-evolve. Leveraging a small clean dataset, our method employs noisy posterior simulation and intermediate features to transfer ground-truth knowledge, forming a closed-loop feedback system that prevents error amplification. Theoretical guarantees underpin the stability of our approach, and extensive experiments on benchmark datasets like CIFAR and Clothing1M confirm state-of-the-art performance with reduced training time, highlighting its practical applicability for learning from noisy labels.