Year: 2026
Type: preprint
Abstract: Decision models offer fast choices over sup- plied alternatives, while general-purpose large language models interpret open-ended tasks through flexible generation and reasoning at the cost of sequential decoding. Many work- loads expect a generative backend to determine what can be done and therefore provide no well-defined candidate list. We bridge this in- terface gap with a small candidate formalizer trained on offline teacher-generated lists. The formalizer constructs explicit, validated alter- natives from task context, and a frozen deci- sion model selects an entry. A motivating com- parison with official TypeSafe Jev-1.13.0 on 200 CALVIN-D test episodes reports 11% suc- cess with generic motions versus 46.5% with DeepSeek V4 Flash pose candidates. Sepa- rately, a six-arm privileged-state evaluation on 1,011 CALVIN-D validation annotations finds that a locally deployed decision model can achieve at most 52.6% task success rate with the fine-tuned formalizer, compared with 11.8% without it, and the end-to-end latency is kept to 2.09 s, whereas Qwen3.5-27B is 3.67 s with the exact experiment setting.
Source: arXiv (Cornell University)
Authors: Pei, Chengxuan, Wang, Ziyao, Mei, Teng, Li, Zhe
Institutions: Chinese University of Hong Kong, The University of Tokyo
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7224102430