B. Guo

Xueyao Zhang, Chenyang Yan, Bo Yang et al.

In underwater covert cooperative missions, autonomous underwater vehicles (AUVs) often cannot rely on active sonar to continuously obtain complete information, since active sensing and frequent communications increase the risk of exposure. As a result, AUVs primarily rely on passive observation, an approach that yields incomplete local perception and limited task efficiency. Although underwater acoustic communications can mitigate this limitation through information sharing, they are simultaneously constrained by long delays, severe interference, low reliability, and the risk of covert exposure. Existing communications-oriented multi-agent reinforcement learning (MARL) studies often model communication as an ideal information flow, whereas traditional communication optimization primarily focuses on link-level performance. However, both are insufficient to characterize the actual contribution of perceptual information to cooperative tasks under realistic conditions of covert physical communications. This paper proposes a Sensed Information Value Realization Multi-Agent Reinforcement Learning (SVR-MARL) framework that leverages practical information to characterize the utility of information for cooperative tasks and learns distributed cooperative policies under realistic communication and covert constraints. Through a case study of covert multi-AUV cooperative localization and tracking, the potential of the proposed framework to improve collaborative task efficiency while reducing unnecessary communication and exposure risks is demonstrated.

Minghui Ma, Bin Guo, Han Wang et al.

Social influence dialogue changes user behavior by altering internal cognitive states. The central evaluation question is whether the user's beliefs, desires, intentions, and emotions measurably change over the course of conversation, a process-oriented criterion that neither surface-level text metrics (BLEU/ROUGE) nor single-score LLM judgments can capture. We propose the \textbf{Cog}nitive \textbf{W}orld \textbf{M}odel \textbf{(CogWM)}, an LLM-based user model that reframes multi-turn dialogue evaluation from ``what did the user say'' to ``how did the user's internal cognitive state evolves.'' CogWM jointly predicts BDI/E cognitive states and user utterances and serves as both a user simulator and an evaluation platform, using a three-tier evaluation framework that covers turn-level fidelity, trajectory-level state dynamics, and task-level composite scoring. Trained via our \textbf{S}ummarize-\textbf{a}nd-\textbf{A}llocate \textbf{(SaA)} annotation pipeline on 150,454 user-turn samples across four social influence scenarios, CogWM achieves 77.6\% emotion accuracy (2.1$\times$ over GPT-5.5). In 3600 multi-agent discrimination trials, it distinguishes six commercial agents by their cognitive influence, with Llama-4-Scout ranking first (CTS +0.233). CogWM moves social influence dialogue evaluation from terminal judgment to process tracking. We have released our code\footnote{\scriptsize Code: https://github.com/lucianma05-create/CogWM} and models\footnote{Model: https://www.modelscope.cn/models/LucianMa/CogWM-14B}.

Xingyuming Liu, Ruichun Ma, Heyu Guo et al.

Humans naturally leverage diverse sensing modalities to interact with the physical world, while most Vision-Language-Action (VLA) models for robotics rely solely on RGB observations. This limits their ability to perceive physical properties that are difficult or impossible to infer from RGB cameras, such as temperature, sound, or radar response. We present MuseVLA, an adaptive multimodal sensing VLA model that integrates novel sensors as on-demand tools for robotic manipulation. Given a task instruction and visual context, MuseVLA first generates a sensor token and target description that select the sensing modality to invoke and what to attend to, analogous to a tool call with arguments. It then converts the selected sensor measurement into a grounded sensor image, a unified intermediate representation that encodes heterogeneous readings for multimodal fusion and action generation. This design decouples sensor-specific processing from the VLA backbone, enabling efficient integration of diverse modalities. To reduce the need for expensive multisensory robot datasets, we further introduce a data synthesis pipeline that augments existing RGB video datasets with grounded sensor images, enabling generalization to unseen sensor-guided tasks. We evaluate MuseVLA on a real-world robot across challenging dexterous hand manipulation tasks that require multimodal sensing inputs, including temperature-guided pick-and-place, audio-driven object search, and radar-assisted hidden object retrieval. MuseVLA achieves 80.6% success rate on average, outperforming RGB-only and multisensory VLA baselines significantly, and exhibits strong zero-shot capabilities on unseen tasks.

Xuanzhi Feng, Zhengyang Li, Zeyu Liu et al.

Reinforcement Learning with Verifiable Rewards (RLVR) has significantly advanced Large Language Model (LLM) reasoning; however, it faces a fundamental optimization instability: uniform token updates precipitate entropy collapse, leading to premature convergence to suboptimal strategies, whereas excessive Shannon Entropy maximization can cause entropy explosion, driving blind exploration toward incoherent reasoning chains. To resolve this dichotomy, we introduce the Independent Combinatorial Tokens (ICT) framework, which shifts the optimization focus from scalar uncertainty to the distributional properties of token logits. By leveraging the Jensen-Shannon (JS) divergence between token logits distributions, ICT identifies tokens with distinctive distributional patterns as critical branching points for guiding effective exploration in LLM reasoning. Our theoretical analysis, grounded in both Shannon and second-order Rényi entropy, proves that selectively updating on these tokens regulates policy concentration: it reduces the overall distribution uncertainty measured by Shannon entropy, while controlling probability concentration captured by second-order Rényi entropy. This dual effect prevents over-concentrated token generation from weakening exploration and effectively stabilizes the training landscape. Empirical results demonstrate that updating only the top 10% of unique tokens on Qwen2.5 (0.5B/1.5B/7B) models yields an average pass@4 improvement of 4.58%, with a maximum gain of 14.9%, over GRPO, 20-Entropy, and STAPO baselines across seven benchmarks spanning math, commonsense, and Olympiad-level problems.