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Hang Cheng

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#artificial intelligence Preprint Sep 2026

Reason What Matters: Retrieval-Grounded Reasoning for Universal Multimodal Embeddings

Universal multimodal embedding (UME) learns unified representations across modalities, enabling a single model to support diverse retrieval tasks. Recent methods use Chain-of-Thought (CoT) reasoning to better interpret multimodal inputs before generating embeddings for complex retrieval tasks and further optimize this reasoning process through GRPO with retrieval-based rewards. However, two limitations hinder corpus-scale deployment. GRPO assigns all CoT tokens the same advantage, without identifying input-supported claims or evidence that distinguishes the positive from negatives. Moreover, generating a complete CoT before each embedding introduces substantial latency, even when a partial trace already provides sufficient retrieval evidence. To address these limitations, we propose Reason What Matters (ReWAM), a retrieval-grounded reasoning framework that uses retrieval feedback to guide both credit assignment and reasoning computation. Specifically, we introduce Retrieval-aware Self-Distillation (RASD), which constructs privileged guidance from input-supported evidence that distinguishes the positive item from retrieved hard negatives. An on-policy self-teacher uses this guidance to refine trajectory-level feedback into token-specific supervision for retrieval-relevant reasoning. We further develop Retrieval-adaptive Inference (RAI), which uses a retrieval confidence head to estimate the remaining retrieval utility of a partial CoT. It stops unproductive traces early and accelerates useful continuations with speculative decoding. Extensive experiments on MMEB-V2 and MRMR demonstrate that ReWAM achieves state-of-the-art retrieval performance while delivering up to 5x the inference throughput of competitive explicit-CoT UME methods. These results bridge the gap between retrieval quality and inference efficiency, making reasoning-enhanced UME practical for large-scale deployment.

Mingzhou Jiang, Pei-Xi Wu, Hang Cheng et al. · 0 citations
Preprint Sep 2026

WISE: World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models

Post-training VLA policies typically rely on supervised fine-tuning with costly expert demonstrations or reinforcement learning with expensive and potentially unstable real-world exploration. World models offer a promising alternative by evaluating candidate behaviors through imagined futures, yet effective post-training requires more than accurate prediction: imagination must be scheduled where it is useful, bounded within reliable horizons, and translated into trustworthy policy supervision. In robotic manipulation, the value of imagination varies substantially across execution stages, while extended rollouts can accumulate prediction errors and introduce unreliable learning signals. We introduce WISE (World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models), a unified framework that coordinates when and how world-model imagination is used during policy refinement. WISE selectively invokes imagination at interaction-relevant states, performs bounded multi-view rollouts, evaluates candidate futures using progress and completion signals, and uses their relative outcomes to refine actions generated from real interaction contexts. Extensive experiments with both $\pi_0$ and $\pi_{0.5}$ demonstrate consistent improvements across diverse manipulation tasks while reducing GPU computation time by approximately 80% compared with full imagination. Real-world evaluations further show substantial gains in robustness and generalization under diverse real-world distribution shifts.

Chen-Hao Zhang, Han-Yu Zhao, Hang Cheng et al. · 0 citations

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