#01Jul 22, 2026
cs.RO
Closing the Lab-to-Store Gap: A Data-Efficient Post-Training and Experience-Driven Learning VLA Framework for Retail Humanoids
Roger Sala Sisó, Tiago Silvério, Jakob Sand and 1 more
Closing the gap between benchmark performance and reliable real-world operation remains a central challenge for Vision-Language-Action (VLA) humanoid robots, which must handle execution errors, distribution shifts, and environmental variability. This paper presents DEED (Data-Efficient Post-Training and Experience-Driven Learning), a systems-level approach evaluated on a supermarket chip-restocking task using a Unitree G1-Edu humanoid robot and the GR00T N1.6 foundation model. DEED comprises three key components: (1) a data-efficient post-training pipeline with control-frequency alignment, data curation, task-relevant visual highlighting, and reduced VLA dependence; (2) a real-world study of experience-driven refinement, adapted from RECAP via a text-based advantage prefix and a vision-language value function; and (3) a latent-space analysis tool for studying in- and out-of-distribution behavior. Our results suggest that bridging the lab-to-store gap is primarily a systems integration challenge rather than an architectural one: careful data design and targeted post-training can transform a policy that fails under naive fine-tuning into a competent real-world system using only a single GPU.
#02Jul 22, 2026
cs.CL
Notes to Self: Can LLMs Benefit from Experiential Abstractions?
Chang Liu, Xinyu Li, Artur Dubrawski
Humans distill experience into reusable abstractions, e.g., strategies and cautionary reminders, and apply them to gradually solve problems more effectively. We study whether Large Language Models (LLMs) can similarly benefit from such experiential abstractions. From LLMs' solution traces on the MATH training set, a stronger teacher or the LLMs themselves extract natural-language abstractions into a retrievable library. We explore two usage modes: (1) inference-time retrieval and (2) reinforcement learning (RL) with abstraction-augmented training prompts. Experiential abstractions improve LLM performance on mathematical and logical reasoning benchmarks. Self-extracted abstractions match teacher-extracted ones, and our abstraction usage framework can transfer to other datasets and models. These findings suggest LLMs can extract and apply experiential abstractions much as humans leverage distilled experience.
#03Jul 22, 2026
cs.LG
Online Variance Reduction for Domain Adaptation on Streaming Data
Andrea Napoli
This paper studies the problem of stochastic variance reduction (SVR) for the maximum mean discrepancy (MMD) and correlation alignment (CORAL) loss functions. Although various offline SVR algorithms for these losses have been proposed, these are incompatible with online, distributed, or incremental learning settings. This paper presents Adaptive vaRiance Reduction via Online reWeighting (ARROW), the first online SVR algorithm for the MMD and CORAL for streamed data. The method maintains moving average references of the alignment statistics, and adaptively reweights incoming minibatches so that the minibatch and reference statistics are aligned. Further, we propose a relaxed reweighting scheme so that the ensuing weight-optimisation problem is tractable. In experiments and simulations, we show that ARROW performs competitively with offline algorithms in terms of runtime, degree of variance reduction achieved, and target domain accuracy.
#04Jul 22, 2026
cs.AI
SoftReason: A Fully Differentiable Neuro-Soft-Symbolic Deductive Reasoning Architecture over High-Dimensional Perceptual Data
Wael AbdAlmageed
In many reasoning problems, the premises are not observed as discrete symbols, but must be inferred from high-dimensional inputs. Further, the predicate vocabulary, argument structure, and trusted evidence are supplied by a Knowledge Graph (KG), or rule definitions. Classical neuro-symbolic pipelines have a discrete interface between perception and deduction. We present a neuro-soft-symbolic architecture for differentiable deductive reasoning over latent perceptual facts and knowledge-provided predicates. SoftReason removes the gradient gap by representing the deductive state as a local soft interpretation tensor over candidate constants and predicates. Perception proposes probabilistic base facts, KG triples enter as high-confidence soft evidence, and every query anchor, predicate choice, and closure update remains differentiable. Our core innovation is a learned differentiable lift of the immediate-consequence operator. It uses predicate-definition embeddings and latent composition channels to form soft body-predicate mixtures, aggregate over all possible witnesses, propose query-conditioned head facts, and update the interpretation through a monotone probabilistic OR. We instantiate the framework on Knowledge-aware Visual Question Answering (KVQA), and demonstrates how SoftReason supports end-to-end perceptual grounding, KG evidence injection, and differentiable deductive closure in one trainable architecture.
#05Jul 22, 2026
cs.SE
Don't Trust the Label: License Laundering in AI Supply Chains
James Jewitt, Hao Li, Gopi Krishnan Rajbahadur and 2 more
AI artifacts move through a multi-platform supply chain, spanning datasets and models on Hugging Face and applications on GitHub. While each artifact carries a license whose obligations should propagate through redistribution, no study has yet measured whether those obligations survive the chain or are stripped and replaced as artifacts move downstream. We trace 232,270 dataset$\rightarrow$model$\rightarrow$application chains and quantify two forms of license laundering: when artifacts with no declared license acquire definitive labels downstream, and when one declared license category replaces another during redistribution. We find that 62.3% of chains pass through at least one artifact with no declared license (concentrated in a small set of foundational datasets), and that every obligation-bearing license category falls below 7% end-to-end survival while the Permissive category reaches 95.1%. Based on these findings, we provide actionable recommendations for practitioners, model publishers, rights holders, and platform owners.