UniIntervene: Agentic Intervention for Efficient Real-World Reinforcement Learning

Human-in-the-loop reinforcement learning (HiL-RL) has emerged as an effective paradigm for real-world robotic manipulation, enabling online policy improvement with human guidance. However, current HiL-RL frameworks remain intervention-intensive, relying on frequent human corrections to redirect the policy out of unproductive exploration, which incurs high labor cost and limits real-world scalability. To address this, we propose UniIntervene, an agentic intervention model that detects unproductive exploration and autonomously recovers the policy toward high-value states, taking over the bulk of interventions from human operators. Specifically, UniIntervene first performs future-conditioned action-value estimation, predicting the latent consequence of the current action and evaluating its induced value, which provides a more stable progress signal. Building on this, a temporal value-risk critic aggregates recent value dynamics and triggers intervention when the estimated value exhibits sustained stagnation or degradation. When intervention is required, UniIntervene retrieves a high-value recovery target from a memory of past intervention episodes and produces executable corrective actions through a goal-conditioned recovery policy. In this way, UniIntervene turns intervention from passive human correction into a value-aware recovery process for efficient real-world RL. Extensive experiments on diverse real-world manipulation tasks demonstrate that UniIntervene improves the average success rate by 8.6% while reducing human interventions by 57% relative to state-of-the-art HiL-RL baselines.

iMaC: Translating Actions into Motion and Contact Images for Embodied World Models

Embodied world models have emerged as a pivotal paradigm for visual robotic decision-making and interactive environment simulation. However, conventional embodied frameworks rely on low-dimensional structured action vectors (e.g., joint angles and end-effector poses), which suffer from limited expressive capacity, poor generalization across diverse embodiments, and unnatural dynamic modeling for complex physical interactions. To address these limitations, this paper proposesiMac (Image as Action Control), a novel unified control paradigm that treats raw visual images as native action representations for embodied world models. Departing from traditional explicit kinematic action encoding, iMac formulates continuous visual manipulation as image-based action tokens, which inherently encapsulate spatial motion intentions, interactive geometric constraints and subtle physical dynamics. We construct a dual-branch embodied architecture consisting of an image-action encoder and a dynamic world predictor: the encoder compresses target-driven visual images into compact action embeddings, while the predictor learns environment transition rules conditioned on image actions to achieve high-fidelity future state prediction and closed-loop embodied control. Extensive experiments are conducted on public embodied manipulation benchmarks and real-world robotic scenarios. The results demonstrate that iMac outperforms vector-based action control baselines in prediction accuracy, task success rate and cross-scene generalization ability. Moreover, our image-action design eliminates the reliance on manually defined action spaces, realizing flexible and universal control for heterogeneous embodied agents. This work provides an innovative visual-action perspective for embodied world models, offering a simple yet effective paradigm for scalable robotic perception and manipulation.

Tool-Aware Optimization with Entropy Guidance for Efficient Agentic Reinforcement Learning

Agentic reinforcement learning (RL) equips large language models (LLMs) with tool-use capabilities that substantially improve reasoning on complex tasks. However, integrating external tools often destabilizes training: over-reliance on tools can induce input distribution shift, while overly conservative tool use limits effective exploration. To address this issue, we propose a unified framework TAO-RL that couples tool-aware trajectory filtering with entropy-guided exploration for efficient policy optimization. Specifically, at the data level, TAO-RL filters rollout trajectories along two criteria: discarding those where all tool invocations fail to execute, and removing those where all rollouts are either correct or incorrect, as both cases yield degenerate advantage estimates that contribute no discriminative learning signal. This joint filtering retains data that are both tool-capable and informative, establishing a high-quality training distribution. At the algorithmic level, we introduce a tool-aware entropy-guided bonus that reshapes the advantage function at post-tool-call tokens, encouraging the policy to explore more diverse reasoning paths at critical decision points. These two components are mutually reinforcing: trajectory filtering establishes a clean and informative training foundation, while entropy-guided exploration drives stronger reasoning behaviors at critical tool-interaction junctures. Extensive experiments on 7 challenging reasoning benchmarks across 3 model scales demonstrate the superiority of TAO-RL over existing methods.

Preference-Calibrated Human-in-the-Loop Reinforcement Learning for Robotic Manipulation

Human-in-the-loop reinforcement learning (HIL-RL) improves sample efficiency in real-robot manipulation through online human intervention. However, successful trajectories may include suboptimal actions that deviate from the desired task-execution path and force human intervention. Existing HIL-RL methods typically apply the consistent credit assignment principle to all transitions, uniformly propagating discounted terminal rewards through suboptimal segments, ignoring the actual contribution of each transition to task success. This overestimates Q-values for critic learning and indirectly misguides actor updates toward suboptimal behavior patterns. To this end, we propose PACT, a Preference-calibrated Actor-Critic Training framework that leverages the implicit preference signals induced by intervention to perform credit reassignment on identified suboptimal segments while directly guiding policy training for unbiased critic-actor learning. Specifically, we first design a progress model that learns from human demonstration and identifies suboptimal segments for credit correction. Then, from the human action and resampled policy action at the intervention state, we build preference pairs to define a counterfactual advantage that penalizes Bellman targets of the identified suboptimal segment, enabling directional credit calibration. Moreover, we directly align the policy with human corrective actions in the bounded mean space, providing an additional signal beyond critic-guided updates. Across five real-robot manipulation tasks, PACT improves the average success rate by 24.5% and achieves 1.3 times faster convergence, thereby improving both RL sample efficiency and performance. Code is available at https://anonymous.4open.science/r/HILRL-A1X-BC05.

DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation

Mobile manipulation is a fundamental capability that enables robots to interact in expansive environments such as homes and factories. Most existing approaches follow a two-stage paradigm, where the robot first navigates to a docking point and then performs fixed-base manipulation using powerful visuomotor policies. However, real-world mobile manipulation often suffers from the view generalization problem due to shifts of docking points. To address this issue, we propose a novel low-cost demonstration generation framework named DockAnywhere, which improves viewpoint generalization under docking variability by lifting a single demonstration to diverse feasible docking configurations. Specifically, DockAnywhere lifts a trajectory to any feasible docking points by decoupling docking-dependent base motions from contact-rich manipulation skills that remain invariant across viewpoints. Feasible docking proposals are sampled under feasibility constraints, and corresponding trajectories are generated via structure-preserving augmentation. Visual observations are synthesized in 3D space by representing the robot and objects as point clouds and applying point-level spatial editing to ensure the consistency of observation and action across viewpoints. Extensive experiments on ManiSkill and real-world platforms demonstrate that DockAnywhere substantially improves policy success rates and easily generalizes to novel viewpoints from unseen docking points during training, significantly enhancing the generalization capability of mobile manipulation policy in real-world deployment.

From Prediction to Justification: Aligning Sentiment Reasoning with Human Rationale via Reinforcement Learning

While Aspect-based Sentiment Analysis (ABSA) systems have achieved high accuracy in identifying sentiment polarities, they often operate as "black boxes," lacking the explicit reasoning capabilities characteristic of human affective cognition. Humans do not merely categorize sentiment; they construct causal explanations for their judgments. To bridge this gap, we propose ABSA-R1, a large language model framework designed to mimic this ``reason-before-predict" cognitive process. By leveraging reinforcement learning (RL), ABSA-R1 learns to articulate the why behind the what, generating natural language justifications that ground its sentiment predictions. We introduce a Cognition-Aligned Reward Model (formerly sentiment-aware reward model) that enforces consistency between the generated reasoning path and the final emotional label. Furthermore, inspired by metacognitive monitoring, we implement a performance-driven rejection sampling strategy that selectively targets hard cases where the model's internal reasoning is uncertain or inconsistent. Experimental results on four benchmarks demonstrate that equipping models with this explicit reasoning capability not only enhances interpretability but also yields superior performance in sentiment classification and triplet extraction compared to non-reasoning baselines.

Towards Scalable Lightweight GUI Agents via Multi-role Orchestration

Autonomous Graphical User Interface (GUI) agents powered by Multimodal Large Language Models (MLLMs) enable digital automation on end-user devices. While scaling both parameters and data has yielded substantial gains, advanced methods still suffer from prohibitive deployment costs on resource-constrained devices. When facing complex in-the-wild scenarios, lightweight GUI agents are bottlenecked by limited capacity and poor task scalability under end-to-end episodic learning, impeding adaptation to multi-agent systems (MAS), while training multiple skill-specific experts remains costly. Can we strike an effective trade-off in this cost-scalability dilemma, enabling lightweight MLLMs to participate in realistic GUI workflows? To address these challenges, we propose the LAMO framework, which endows a lightweight MLLM with GUI-specific knowledge and task scalability, allowing multi-role orchestration to expand its capability boundary for GUI automation. LAMO combines role-oriented data synthesis with a two-stage training recipe: (i) supervised fine-tuning with Perplexity-Weighted Cross-Entropy optimization for knowledge distillation and visual perception enhancement, and (ii) reinforcement learning for role-oriented cooperative exploration. With LAMO, we develop a task-scalable native GUI agent, LAMO-3B, supporting monolithic execution and MAS-style orchestration. When paired with advanced planners as a plug-and-play policy executor, LAMO-3B can continuously benefit from planner advances, enabling a higher performance ceiling. Extensive static and online evaluations validate the effectiveness of our design.

SIMART: Decomposing Monolithic Meshes into Sim-ready Articulated Assets via MLLM

High-quality articulated 3D assets are indispensable for embodied AI and physical simulation, yet 3D generation still focuses on static meshes, leaving a gap in "sim-ready" interactive objects. Most recent articulated object creation methods rely on multi-stage pipelines that accumulate errors across decoupled modules. Alternatively, unified MLLMs offer a single-stage path to joint static asset understanding and sim-ready asset generation. However dense voxel-based 3D tokenization yields long 3D token sequences and high memory overhead, limiting scalability to complex articulated objects. To address this, we propose SIMART, a unified MLLM framework that jointly performs part-level decomposition and kinematic prediction. By introducing a Sparse 3D VQ-VAE, SIMART reduces token counts by 70% vs. dense voxel tokens, enabling high-fidelity multi-part assemblies. SIMART achieves state-of-the-art performance on PartNet-Mobility and in-the-wild AIGC datasets, and enables physics-based robotic simulation.

UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Pair

Perceiving and reconstructing objects from images are critical for real-to-sim transfer tasks, which are widely used in the robotics community. Existing methods rely on multiple submodules such as detection, segmentation, shape reconstruction, and pose estimation to complete the pipeline. However, such modular pipelines suffer from inefficiency and cumulative error, as each stage operates on only partial or locally refined information while discarding global context. To address these limitations, we propose UniPR, the first end-to-end object-level real-to-sim perception and reconstruction framework. Operating directly on a single stereo image pair, UniPR leverages geometric constraints to resolve the scale ambiguity. We introduce Pose-Aware Shape Representation to eliminate the need for per-category canonical definitions and to bridge the gap between reconstruction and pose estimation tasks. Furthermore, we construct a large-vocabulary stereo dataset, LVS6D, comprising over 6,300 objects, to facilitate large-scale research in this area. Extensive experiments demonstrate that UniPR reconstructs all objects in a scene in parallel within a single forward pass, achieving significant efficiency gains and preserves true physical proportions across diverse object types, highlighting its potential for practical robotic applications.

RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation

Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial robotic manipulation, promising to free human workers from repetitive, dangerous daily labor. To benchmark and advance this capability, we introduce the Robotic Collaborative Assembly Assistance (RoCo) Challenge with a dataset towards simulation and real-world assembly manipulation. Set against the backdrop of human-centered manufacturing, this challenge focuses on a high-precision planetary gearbox assembly task, a demanding yet highly representative operation in modern industry. Built upon a self-developed data collection, training, and evaluation system in Isaac Sim, and utilizing a dual-arm robot for real-world deployment, the challenge operates in two phases. The Simulation Round defines fine-grained task phases for step-wise scoring to handle the long-horizon nature of the assembly. The Real-World Round mirrors this evaluation with physical gearbox components and high-quality teleoperated datasets. The core tasks require assembling an epicyclic gearbox from scratch, including mounting three planet gears, a sun gear, and a ring gear. Attracting over 60 teams and 170+ participants from more than 10 countries, the challenge yielded highly effective solutions, most notably ARC-VLA and RoboCola. Results demonstrate that a dual-model framework for long-horizon multi-task learning is highly effective, and the strategic utilization of recovery-from-failure curriculum data is a critical insight for successful deployment. This report outlines the competition setup, evaluation approach, key findings, and future directions for industrial EAI. Our dataset, CAD files, code, and evaluation results can be found at: https://rocochallenge.github.io/RoCo2026/.