Reinforcement learning for multi-turn search reasoning typically relies on terminal outcome rewards, which cannot distinguish useful, redundant, and harmful intermediate interactions. We propose LOTAPO , a self-generated process-supervision method based on backward leave-one-turn attribution. For each search turn, LOTAPO replaces the turn and its retrieval observation with a fixed [DELETE] placeholder and measures the resulting change in the current policy's mean log-likelihood of the gold answer. This Answer-Likelihood Gain estimates the turn's contribution while preserving all downstream interactions, allowing early evidence to be evaluated in the complete reasoning context. LOTAPO further applies sign-consistency gating, retaining only normalized process advantages whose directions agree with their raw attribution scores. The method requires no additional reward model, teacher, verifier, or LLM-as-a-Judge. Across seven knowledge-intensive question-answering datasets with local retrieval, LOTAPO achieves an average exact-match score of 0.326, outperforming the strongest step-reward baseline, IGPO, by 0.053. Ablations show complementary benefits from backward attribution and sign-consistency gating, demonstrating that policy-derived retrospective attribution can provide effective process supervision for multi-turn search agents.
Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera configurations, and low-level action spaces. Existing paradigms typically address this mismatch through explicit action retargeting, human-to-robot video synthesis, or dataset-specific adaptation branches, fundamentally hindering the joint learning of a unified policy. We introduce UCAG-P, a camera-centric unified action formulation that structurally aligns heterogeneous embodied datasets into a shared geometric action space. Rather than treating robot-specific commands as the shared policy target, UCAG-P represents manipulation through camera-observable anchor motion in image and camera-frame coordinates, treating robot arms, humanoids, and human hands as different embodiments of a common action schema. A geometry-conditioned action translator combines predicted motion with target-embodiment kinematics to produce executable controls. The resulting decoupled architecture allows a shared VLA policy to learn transferable manipulation geometry while retaining embodiment-specific controllability. UCAG-P is trained on 4.03K hours of robot and simulation data and 2.34K hours of human demonstrations. A single checkpoint reaches 98.3% on LIBERO, 88.7% and 89.2% on RoboTwin Easy and Hard, 82.0% zero-shot on LIBERO-Plus, and 62.0% on RoboCasa GR-1, without benchmark-specific fine-tuning.
Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al.· 0 citations
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