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IJCAI 2026

Spatially Generalizable Mobile Manipulation via Adaptive Experience Selection and Dynamic Imagination

Ping Zhong, Liangbai Liu, Bolei Chen, Tao Wu, Jiazhi Xia, Chaoxu Mu, Jianxin Wang

Mobile Manipulation (MM) involves long-horizon decision-making over multi-stage compositions of heterogeneous skills, such as navigation and picking up objects. Despite recent progress, existing MM methods still face two key limitations: (i) low sample efficiency, due to ineffective use of redundant data generated during long-term MM interactions; and (ii) poor spatial generalization, as policies trained on specific tasks struggle to transfer to new spatial layouts without additional training. In this paper, we address these challenges through Adaptive Experience Selection (AES) and model-based dynamic imagination. In particular, AES makes MM agents pay more attention to critical experience fragments in long trajectories that affect task success, improving skill chain learning and mitigating skill forgetting. Based on AES, a Recurrent State-Space Model (RSSM) is introduced for Model-Predictive Forward Planning (MPFP) by capturing the coupled dynamics between the mobile base and the manipulator and imagining the dynamics of future manipulations. RSSM-based MPFP can reinforce MM skill learning on the current task while enabling effective generalization to new spatial layouts. Comparative studies across different experimental configurations demonstrate that our method significantly outperforms existing MM policies. Real-world experiments further validate the feasibility and practicality of our method. The source code is available at https://csu-hero-lab.github.io/SG-MM Web.

IJCAI 2026

AHead-VLN: A Hierarchical Reasoning Framework Guided by Foresight for Human-Aware Navigation

Junyi Zhang, Ziwen Luo, Yinzhe Zhou, Xinghe Chu, Zhaoming Lu

In human-aware vision-and-language navigation (HA-VLN), agents need to follow instructions while navigating safely among people in crowded environments. Existing methods often struggle to effectively transform forward-looking risk prediction into decision-making basis, resulting in intelligent agents being prone to collisions in crowded scenarios and taking overly cautious actions, thereby reducing navigation efficiency. Moreover, it is difficult for high-level decisions based on social norms to be stably implemented in dynamic crowd scenarios, which can easily lead to behavioral jitter and planning deviation. In this work, we propose the AHead-VLN, a navigation framework that incorporates forward-looking risk information in the reasoning process. Specifically, we designed the path risk association (PRA) module, which compiles future risks into structured risk events aligned with each candidate path, making risk information decision-ready for the large language model (LLM) reasoning. To balance executability and decision stability, we have further designed the hierarchical LLM planner (HLP) with two specialized components. The ``Brain'' LLM makes route choices based on instructions and risks, while the ``Cerebellum'' LLM prepares executable action scripts for candidate routes and retrieves the appropriate script for execution. Experiments on the HA-VLN benchmark show that AHead-VLN improves success while enhancing safety compared to strong baselines.

IJCAI 2026

S²-VLA: State-Space Guided Vision-Language-Action Models for Long-Horizon Manipulation

Zhipeng Xie, Zongyi Han, Xiangyi Wei, Shiliang Sun, Yang Li, Jing Zhao

Vision-Language-Action (VLA) models have demonstrated strong capabilities in robotic manipulation, but their performance degrades significantly in long-horizon tasks due to cumulative error propagation. This limitation largely arises from static feature fusion mechanisms that rely on fixed weights to combine visual, language, and action representations, preventing the model from adapting to different phases of task execution. To address this limitation, we propose S²-VLA, a framework that introduces a State-Space Guided Adaptive Attention (SSGAA) mechanism. SSGAA maintains a belief state that tracks task progression and generates dynamic gating weights to adaptively fuse information from three complementary sources visual features for spatial perception, task intents for high-level task planning, and temporal action sequences for execution consistency. This adaptive fusion allows the model to shift its focus throughout task execution, aligning with the evolving requirements of different task stages. Despite its compact 2B parameter size, S²-VLA consistently outperforms larger 7B-scale models and achieves state-of-the-art performance on long-horizon manipulation benchmarks, including LIBERO and SimplerEnv. highlighting the importance of adaptive feature fusion for long-horizon robotic manipulation.

IJCAI 2026

Walking on Ice: Adaptive Gait Control of Humanoid Robots Based on Visual Prediction and Proprioceptive Estimation for Variable Friction Environments

Yixuan Shen, Rongqiang Zhao, Ruonan Li, Jie Liu

Humanoid robots have been increasingly deployed in real-world environments such as intelligent manufacturing, healthcare, and agriculture, from indoor spaces to outdoor terrains where friction conditions vary significantly. However, existing approaches such as domain randomization or employing estimation struggle to handle low-friction gait control and fail to address variable friction conditions, making it difficult to ensure control robustness. To address these challenges, we propose Walking on Ice (WoI), a friction-aware locomotion framework that combines proactive prediction with reactive adaptation for varying surface friction. We introduce a VLM-based friction predictor that enables the policy to take anticipatory actions before friction changing, thereby addressing variable-friction scenarios. Additionally, we design a friction estimator combined with a joint history encoder that perceives proprioceptive states to handle low-friction surfaces. Experimental results demonstrate that WoI improves success rate by 8.5% and reduces slip rate by 5.15% over the state-of-the-art method Denoising World Model Learning (DWL). Particularly, in extreme cases, WoI achieves 98.3% success rate with 51.0% higher survival rate, 3.20% lower slip rate, and 46.5% lower stuck rate than DWL, demonstrating stable and efficient gait adaptation. Our work provides a robust and efficient gait control framework for stable locomotion in real-world scenarios with dynamic friction conditions.

IJCAI 2026

Obstacle Avoidance and Trajectory Tracking of Redundant Manipulators with Unknown Physical Parameters Under Multiple Constraints

LEI JIA, Hui Deng

Redundant manipulators are broadly used in safety tasks that require precise execution. However, some actual factors, such as assembly defects and mechanical wear, inevitably introduce uncertainties in their physical parameters. Due to the insufficient excitation, existing methods fail to achieve high-accuracy physical parameter identification, which seriously affects the accurate operation of multiple safety tasks. Considering that quadratic programming (QP) can integrate desired behaviors with constraints into a unified optimization framework and can be solved online in real time, this paper formulates the collision-free trajectory tracking of redundant manipulators with uncertain structure as a QP problem, which describes the trajectory tracking, obstacle avoidance and joint motion limits simultaneously. To tackle the above issues, we first develop an online physical parameters identification method called regularization and zeroing neural dynamics (RZND) by using the state information of the manipulator, which realizes highly accurate physical parameters identification and real-time Jacobian matrix updates. On the basis of this, a multi-task quadruple projection neural network (MT-QPNN) solver is proposed by applying projection operators to handle the joint constraints, and further the trajectory tracking and obstacle avoidance tasks of the redundant manipulator are well achieved. Relative experiments verify that the presented RZND method and MT-QPNN solver can accurately identify physical parameters and enable collision-free tracking with superior performance.

IJCAI 2026

Missingness-MDPs: Bridging the Theory of Missing Data and POMDPs

Joshua Wendland, Markel Zubia, Roman Andriushchenko, Maris F. L. Galesloot, Milan Češka, Henrik von Kleist, Thiago D. Simão, Maximilian Weininger, Nils Jansen

We introduce missingness-MDPs (miss-MDPs), a novel subclass of partially observable Markov decision processes (POMDPs) that incorporates the theory of missing data. A miss-MDP is a POMDP whose observation function is a missingness function, specifying the probability that individual state features are missing (i.e., unobserved) at a time step. The literature distinguishes three canonical missingness types: (1) missing completely at random (MCAR), (2) missing at random (MAR), and (3) missing not at random (MNAR). The problem is to compute near-optimal policies for a miss-MDP with an unknown missingness function, given a dataset of action-observation histories. Achieving such optimality guarantees for policies requires learning the missingness function from data, which is infeasible for general POMDPs. To overcome this challenge, we exploit the structural properties of different missingness types to derive probably approximately correct (PAC) algorithms for learning the missingness function. These algorithms yield an approximate but fully specified miss-MDP that we solve using off-the-shelf planning methods. We prove that, with high probability, the resulting policies are ε-optimal in the true miss-MDP. Empirical results confirm the theory and demonstrate superior performance of our approach over two model-free methods.

IJCAI 2026

A Unified Knowledge Embedded Reinforcement Learning-based Framework for Generalized Capacitated Vehicle Routing Problems

Wen Wang, Xiangchen Wu, Liang Wang, Hao Hu, Xianping Tao

The Capacitated Vehicle Routing Problem (CVRP) is a fundamental NP-hard problem with broad applications in logistics and transportation. Real-world CVRPs often involve diverse objectives and complex constraints, such as time windows or backhaul requirements, motivating the development of a unified solution framework. Recent reinforcement learning (RL) approaches have shown promise in combinatorial optimization, yet they rely on end-to-end learning and lack explicit problem-solving knowledge, limiting solution quality. In this paper, we propose a knowledge-embedded framework inspired by the Route-First Cluster-Second heuristics. It incorporates knowledge at two levels: (1) decomposing CVRPs into the route-first and cluster-second subproblems, and (2) leveraging dynamic programming to solve the second subproblem, whose results guide the RL-based constructive solver to solve the first problem. To mitigate partial observability caused by problem decomposition, we introduce a unified history-enhanced context processing module. Extensive experiments show that this framework achieves superior solution quality compared with state-of-the-art learning-based methods, with a smaller gap to classical heuristics, demonstrating strong generalization across diverse CVRP variants.

IJCAI 2026

Online Goal Recognition Using Path Signature and Dynamic Time Warping

Douglas Tesch, Nathan Gavenski, Leonardo Rosa Amado, Odinaldo Rodrigues, Felipe Meneguzzi

Online goal recognition in continuous domains poses two central challenges: efficiently encoding large trajectories and effectively comparing them. Recent work addresses these challenges by using custom state-space representations and metrics to compare observations against hypotheses. However, these approaches often overlook well-established encoding techniques used in other domains that offer substantial advantages. This paper introduces a novel method for online goal recognition that leverages path signatures, a compact, expressive representation of rough path theory that captures key semantic features of trajectories in an efficient way, enabling more meaningful comparisons between them. Experiments show that our method consistently outperforms the state of the art in predictive accuracy and online planning efficiency, while remaining competitive offline.

IJCAI 2026

Platform-Aware Mission Planning with Task-Level Contracts

Stefan Panjkovic, Alessandro Cimatti, Inigo Incer, Andrea Micheli, Stefano Tonetta

Automated temporal planning is used to synthesize courses of action for a deterministic abstraction of a system; the produced plans are often modeled as schedules of tasks to be executed on the real system under control. A key problem with adopting this architecture is how to ensure the plan is executable and goal-reaching on the real system, which can be arbitrarily complex and possibly non-deterministic. In this paper, we propose a framework to exploit task-level contracts, expressed as assumptions and guarantees at the beginning and end of tasks, to automatically synthesize plans that are guaranteed to be correct on any system satisfying the contracts. Our framework combines a temporal planner to generate candidate plans and a contract reasoner to instantiate and verify the contracts associated with the plan. If the plan is found invalid, we refine the planning problem until a valid plan is found. We present an experimental evaluation on a realistic case-study and on several synthetic problems, showing the applicability of the approach.

IJCAI 2026

Are White Knights Worth the Trouble? Reconciling POCL and Partial-Order Plans for Plan Optimization

Harrison Oates, Pascal Bercher

Partial order causal link (POCL) planning offers rich structural representations for plan optimization. However, under the classical threat definition, POCL plans form a strict subset of valid partial-order (PO) plans. This gap limits existing POCL optimization techniques to a restricted subspace of PO solutions. We revisit 'white knight' threat semantics, which permit a causal link to persist across a threat provided the deleted condition is re-established by an intermediate producer. We prove that under this definition, the POCL and PO solution spaces become equivalent. By extending a MaxSAT-based optimization framework, we demonstrate that white knights are theoretically necessary for completeness and practically advantageous: they yield plans with significantly fewer ordering constraints in domains with complex causal interference while maintaining computational tractability on standard benchmarks.

IJCAI 2026

Robust Scheduling Against Machine Failures

Zhenwei Liu, Guochuan Zhang, Yifan Zhao

We study a robust scheduling problem on identical machines in which machines may fail after the initial assignment. The goal is to compute an initial schedule together with a recovery strategy that minimizes the post-failure makespan, under the constraint that jobs on available machines cannot be moved. We consider two failure models: a strong adversary, which selects the failed machines, and a weak adversary, which selects only the number of failures. For up to k failures, we give algorithms with robustness ratios 1.618 for the strong adversary and 1.5 for the weak adversary. For the single-failure case, k = 1, we obtain best possible ratios 1.387 and 1.281, respectively, matching our lower bounds.

IJCAI 2026

Learning with Foresight: Enhancing Neural Routing Policy via Multi-Node Lookahead Prediction

Xia Jiang, Yaoxin Wu, Yew Soon Ong, Yingqian Zhang

Neural policies have shown promise in solving vehicle routing problems due to their reduced reliance on handcrafted heuristics. However, current training paradigms suffer from a fundamental limitation: they primarily focus on next-node prediction for solution construction, resulting in myopic decision-making that undermines long-horizon planning capacity. To this end, we introduce Multi-node Lookahead Prediction (MnLP), a novel training strategy that extends the supervised learning paradigm to predict multiple future nodes simultaneously. We incorporate causal and discardable MnLP modules that operate exclusively during training, facilitating models to anticipate multi-step decisions while preserving inference-time efficiency. By incorporating multi-depth auxiliary supervision into the loss function, MnLP equips neural policies with the ability of long-range contextual understanding. Experimentally, MnLP outperforms existing training methods, improving the generalization capability of neural policies across various problem sizes, distributions, and real-world benchmarks. Moreover, MnLP can be seamlessly integrated into diverse neural architectures without introducing additional inference overhead.

IJCAI 2026

Preference-Guided Multi-Policy Optimization for Flexible Job Shop Scheduling

Inguk Choi, Woo-Jin Shin, Sang-Hyun Cho, Hyun-Jung Kim

Under the shift toward Industry 4.0, mass-customized manufacturing systems have introduced complex scheduling problems, such as the Flexible Job Shop Scheduling Problem (FJSSP). Recent Deep Reinforcement Learning (DRL)-based heuristics have shown promise, yet existing methods often suffer from two key limitations: they typically rely on single-policy optimization, which limits exploration, and on imprecise reward functions, which fail to accurately reflect decision quality. To address these challenges simultaneously, we propose PGMPO (Preference-Guided Multi-Policy Optimization), a novel learning framework consisting of (1) a simple but effective multi-policy modeling approach that allows a single network to represent multiple decision-makers, and (2) a preference-driven model optimization method that effectively guides policies to learn diverse and specialized problem-solving strategies without the need for explicit reward functions. Experimental results demonstrate that PGMPO substantially boosts the performance of existing neural solvers across several benchmarks.

IJCAI 2026

Harmonizing Real-Time Constraints and Long-Horizon Reasoning: An Asynchronous Agentic Framework for Dynamic Scheduling

Shijie Cao, Yuan Yuan, Jing Liu

The Dynamic Flexible Job Shop Scheduling Problem (DFJSP) necessitates a trade-off between instant reaction to stochastic disturbances and global optimization of production goals. Conventional priority rules are insufficiently flexible to handle complex disruptions, whereas learning-based approaches often compromise interpretability or fail to generalize across problem scales. Although Large Language Models (LLMs) offer advanced reasoning capabilities to bridge this gap, their substantial inference latency is incompatible with the millisecond-level decision cycles of industrial control systems. To resolve this conflict, we introduce RACE-Sched, an asynchronous agent-based framework that decouples policy execution from logical reasoning via a dual-stream architecture. The Reactive Stream executes low-latency symbolic heuristics to enable real-time dispatching, while the parallel Deliberative Stream leverages an LLM to synthesize, validate, and evolve these rules. Candidate rules undergo rigorous testing in a sandbox and are deployed via atomic updates, ensuring safety without blocking the control loop. Additionally, a semantic rule repository indexes validated heuristics for retrieval-based initialization which enhances transferability across problem scales. Extensive evaluations on GEN-Bench, MK-Bench, and JMS-Bench demonstrate that RACE-Sched outperforms leading Deep Reinforcement Learning and other LLM-based baselines. This approach harmonizes real-time constraints with long-horizon reasoning to achieve superior solution quality and robust adaptation to dynamic events.

IJCAI 2026

Fin-PRM: A Domain-Specialized Process Reward Model for Financial Reasoning in Large Language Models

Jie Zhu, Yuanchen Zhou, Shuo Jiang, Junhui Li, Lifan Guo, Feng Chen, Chi Zhang

Process Reward Models (PRMs) supervise intermediate reasoning steps in large language models (LLMs), but existing PRMs are mainly trained on general-domain data and struggle with the structured, symbolic, and fact-sensitive nature of financial reasoning. Financial tasks require not only correct final answers but also verifiable intermediate steps grounded in domain knowledge. In this paper, we propose Fin-PRM, a domain-specialized, trajectory-aware PRM for financial reasoning that jointly models step-level correctness and trajectory-level coherence, producing binary supervision signals for both local and global reasoning quality. To support reliable supervision, we construct a high-quality financial reasoning dataset of 3K trajectories, where step- and trajectory-level labels are automatically derived from multi-source reward signals, including Monte Carlo rollouts, LLM-based evaluation, and explicit financial knowledge verification. Fin-PRM defines a unified ranking score that integrates step- and trajectory-level rewards, enabling consistent use across multiple settings. We evaluate Fin-PRM in three scenarios: (1) offline trajectory selection for supervised fine-tuning, (2) reward-guided Best-of-N inference for test-time scaling, and (3) process-aware reward shaping for reinforcement learning. Experiments on financial reasoning benchmarks, including CFLUE and FinQA, show that Fin-PRM consistently outperforms general-purpose PRMs and strong baselines. Our project resources will be available at https://github.com/aliyun/qwen-dianjin.

IJCAI 2026

Benchmarking Real-Time Question Answering via Executable Code Workflows

Wenjie Zhou, Yuan Gao, Xin Zhou, Hao Fu, Zhongjian Miao, Wei Chen, Bo Chen, Xiaobing Zhao

Retrieving real time information is a fundamental capability for agents with search capabilities in real world applications. However, existing benchmarks are predominantly static and therefore fail to capture the temporal dynamics of information and the continuously evolving nature of real world knowledge. To address this limitation, we propose RT-QA, a dynamic evaluation framework that leverages executable code workflows to retrieve current answers at evaluation time. Specifically, we construct an agent based pipeline that autonomously generates code for web crawling and DOM based answer extraction to produce real time ground truth. To ensure robust evaluation over time, the pipeline further incorporates a repair mechanism to adapt to changes in web page structures. RT-QA spans 12 domains, such as Finance and Sports, with 320 Chinese questions categorized into three difficulty levels. Extensive evaluations of advanced models, such as GPT-5.2 and GLM-4.7, reveal significant limitations in real time adaptability: even the best models achieve only 46% accuracy. Our analysis highlights two primary failure modes: (1) Lazy Retrieval, where agents rely on search snippets instead of deeply scanning specific websites for information, accounting for 20% of failures; and (2) Temporal Confusion, a cognitive error where agents retrieve a historical date, for example an event in 2024, and fail to anchor again to the current time, 2026, for subsequent reasoning. These findings suggest that future agents require not just better retrieval strategies, but robust temporal state management.

IJCAI 2026

RM-Distiller: Exploiting Generative LLM for Reward Model Distillation

Hongli Zhou, Hui Huang, Wei Liu, Chenglong Wang, Xingyuan Bu, Lvyuan Han, Fuhai Song, Muyun Yang, Wenhao Jiang, Hailong Cao, Tiejun Zhao

Reward models (RMs) play a pivotal role in aligning large language models (LLMs) with human preferences. Due to the difficulty of obtaining high-quality human preference annotations, distilling preferences from generative LLMs has emerged as a standard practice. However, existing approaches predominantly treat teacher models as simple binary annotators, failing to fully exploit the rich knowledge and capabilities for RM distillation. To address this, we propose RM-Distiller, a framework designed to systematically exploit the multifaceted capabilities of teacher LLMs: (1) Refinement capability, which synthesizes highly correlated response pairs to create fine-grained and contrastive signals. (2) Scoring capability, which guides the RM in capturing precise preference strength via a margin-aware optimization objective. (3) Generation capability, which incorporates the teacher's generative distribution to regularize the RM to preserve its fundamental linguistic knowledge. Extensive experiments demonstrate that RM-Distiller significantly outperforms traditional distillation methods both on RM benchmarks and reinforcement learning-based alignment, proving that exploiting multifaceted teacher capabilities is critical for effective reward modeling. To the best of our knowledge, this is the first systematic research on RM distillation from generative LLMs.

IJCAI 2026

Semi-supervised Clustering via Adversarially Enhanced Intent Propagation

Wentao Zhong, Ruina Bai, Jingjing Xue, Ying Nie, Ruizhang Huang

Semi-supervised clustering (SSC) enables personalized clustering under limited user supervision. Given the sparsity of initial user intents, constraint propagation has been proposed as a powerful approach to explore and generate new performance-enhancing constraints. However, existing methods struggle to handle a large number of ``gray samples'' that deviate from initial supervision signals and exhibit ambiguous semantics with indistinct boundaries. Compared with ``distinct samples'' that closely match the supervision, gray samples typically contain richer latent semantics, and accurately identifying their relational types can significantly improve clustering performance. To address this challenge, we propose Adversarially Enhanced Propagation-driven Intent-aware Clustering (AEPIC). Specifically, we design an Adversarially Enhanced Constraint Propagation (AECP) mechanism that leverages global adversarial learning over dual relational links to identify gray samples and expand them into meaningful pseudo-user intents. In addition, an intent-aware regularization strategy integrates these pseudo-user intents into representation learning and clustering optimization, further improving clustering performance. Experiments on 5 benchmark datasets demonstrate that, under sparse supervision, AEPIC consistently outperforms state-of-the-art semi-supervised clustering methods.

IJCAI 2026

Text-Graph Synergy: A Bidirectional Verification and Completion Framework for RAG

Jiarui Zhong, Hong Cai Chen

Retrieval-Augmented Generation (RAG) has become a core paradigm for enhancing factual grounding and multi-hop reasoning in Large Language Models (LLMs). Traditional text-based RAG often retrieves logically irrelevant pseudo-evidence, while graph-based RAG is frequently hindered by search-time pruning, which may discard potentially valid reasoning paths. Existing hybrid approaches primarily adopt simple evidence concatenation or unidirectional enhancement, which fails to address the fundamental "Information Island" problem caused by asymmetric reasoning flows between unstructured text and structured graphs. We propose TGS-RAG, a unified framework for Text-Graph Synergistic enhancement. TGS-RAG introduces a bidirectional mechanism: (i) a Graph-to-Text channel that employs a Global Voting strategy from visited graph nodes to re-rank and refine textual evidence, filtering out semantic noise; and (ii) a Text-to-Graph channel that utilizes the Memory-based Orphan Entity Bridging algorithm. This algorithm utilizes textual cues to proactively resurrect valid but previously pruned reasoning paths from the search history without additional database overhead. Experimental results on multiple multi-hop reasoning benchmarks demonstrate that TGS-RAG significantly outperforms state-of-the-art baselines, achieving a superior balance between retrieval precision and computational efficiency.

IJCAI 2026

Rethinking Thinking Steps in Overthinking: Towards More Effective Reasoning

Dezhi Zhao, Xin Liu, Xiaocheng Feng, Hui Wang, Bing Qin

Understanding overthinking in large reasoning models (LRMs) is crucial for interpretability as well as reasoning efficiency and effectiveness. However, existing approaches primarily adopt coarse-grained reasoning strategies, such as truncating Chains-of-Thought or switching reasoning modes, which reduce verbosity but are insufficient to actively guide reasoning toward more effective trajectories. To address these issues, we propose a training-free, interpretable framework that selects thinking words via attention heads to guide LRMs toward more effective reasoning. Specifically, we categorize thinking steps into effective and redundant states, identify the attention head that best discriminates between them as the Thinking Partition Head to construct an Effective Thinking Representation Space, and compute the Information Gain Ratio (IGR) between candidate thinking words and this space to select the word that steers reasoning toward a more effective direction. Extensive experiments on mathematical and scientific reasoning benchmarks, including AIME24, AMC23, MATH-500, GSM8K, and GPQA-D, show that our method consistently outperforms the strong baseline DEER, achieving average improvements of 1.2–1.3% in accuracy and 2.5–4.5% in compression rate. Compared to vanilla baselines, our approach yields larger gains of 2.6–6.3% in accuracy while reducing token usage by 22–43%.

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