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Vision-Language-Action (VLA) models enable end-to-end robot control, but inference is increasingly expensive. Each decision processes hundreds of visual tokens, often across multiple cameras, leading to substantial computation while allowing irrelevant background content to distract action prediction under distribution shift. We argue that these issues stem from two complementary forms of redundancy: many visual tokens are spatially irrelevant, while attention over the remaining tokens is often misallocated. Based on this observation, we propose T3R, a Training-Free Two-Stage Token Refinement framework. In the first stage, segmentation-guided token pruning removes irrelevant visual patches to reduce computation and eliminate distracting context. In the second stage, saliency-guided attention biasing reallocates attention toward action-critical visual regions and language instructions within the retained tokens. Together, pruning produces a cleaner candidate set, while attention biasing further emphasizes the most decision-relevant evidence, yielding a better accuracy-efficiency frontier than either stage alone. On LIBERO-Spatial, T3R removes 85% of scene-camera visual tokens while essentially matching the unpruned success rate, and improves success by up to 7 percentage points under out-of-distribution object-placement perturbations. The timing comparison attributes 7.8 ms per inference call to pruning and attention-bias application. As input resolution increases, LLM-forward profiling shows up to a 3.3x speedup over the unpruned baseline. Evaluations across LIBERO, SIMPLER, and RoboTwin with three VLA backbones show the strongest accuracy-efficiency benefits in multi-camera settings. These results demonstrate that training-free token refinement is a practical approach to efficient and robust VLA inference.

While large-scale pretraining has revolutionized language modeling, its potential remains underexplored in healthcare with structured electronic health records (EHRs). We present RAVEN, a novel generative pretraining strategy for sequential EHR data based on Recurrence-Aware next-Visit EveNt prediction. Leveraging a dataset of over one million unique individuals, our model learns to autoregressively generate tokenized clinical events for the next visit conditioned on patient history. We introduce regularization on predicting repeated events and highlight a key pitfall in EHR-based foundation model evaluations: repeated event tokens can inflate performance metrics when new onsets are not distinguished from subsequent occurrences. Furthermore, we empirically investigate the scaling behaviors in a data-constrained, compute-saturated regime, showing that simply increasing model size is suboptimal without commensurate increases in data volume. We evaluate our model via zero-shot prediction for forecasting the incidence of a diverse set of diseases, where it rivals fully fine-tuned representation-based Transformer models and outperforms both standard simulation-based next-token approaches and a prompted medical large language model baseline. Finally, without additional parameter updates, we show that RAVEN can generalize to an external patient cohort under lossy clinical code mappings and feature coverage gaps.

Egocentric human video offers a scalable source of manipulation priors for robot learning, yet translating raw data scale into generalizable robot policies demands rigorous data curation and training recipes. We introduce Open-HumanWAM, the first fully open recipe for scaling egocentric pretraining to 50,000 hours, anchored by Open-HumanWAM-50K---a curated egocentric video corpus densely annotated with hand motion and natural language. Leveraging this corpus, we systematically investigate pure human pretraining via closed-loop simulation evaluations and uncover an empirical log-linear scaling law linking pretraining data hours to downstream robot success rates. Grounded in these findings, we develop HumanWAM-Vanilla, a world--action model pretrained exclusively on 50k hours of egocentric human video. Upon robot post-training, HumanWAM-Vanilla reaches 92.08% success on RoboTwin 2.0 Clean2Clean and 68.88% on Clean2Random, alongside a 14.17% mean success rate and a 19.00 mean progress score on RoboDojo. To push the capability frontier further, we explore joint human--robot pretraining with HumanWAM-Goal, a visual-goal-conditioned world--action model. Hybrid data scaling unlocks broad zero-shot generalization across both simulation and physical benchmarks, propelling post-trained RoboTwin 2.0 performance to new state-of-the-art levels: 92.70% on Clean2Clean and a substantial leap to 84.60% on Clean2Random. On physical robots, HumanWAM-Goal further exhibits emergent embodied in-context learning, dynamically adapting its manipulation behavior to unseen visual goals without parameter updates. To support reproducible scaling research in embodied AI, we open-source the Open-HumanWAM-50K corpus, data curation and pretraining pipelines, alongside the pretrained and post-trained HumanWAM checkpoints, inference code, and simulation evaluation suites.

LLM routing aims to reduce inference costs by assigning easy queries to less expensive models and reserving stronger models for cases in which they are needed. However, we find that existing routers often violate this principle under loose cost budgets: as the budget increases, they increasingly select the strongest and most expensive model even when less expensive feasible candidates provide comparable or identical utility. We refer to this behavior as strong-model over-selection under loose budgets. Our analysis shows that ambiguity alone does not explain this phenomenon. Substantial overpayment can arise when differently priced models offer equivalent or near-equivalent utility and the router retains a persistent model-level preference for costly models; budget relaxation exposes this preference by making premium candidates feasible. Motivated by this diagnosis, we propose EquiRouter, a decision-aligned router that learns query-dependent model rankings, preserves meaningful utility differences, and explicitly prefers lower-cost models among equivalent candidates through a Cost-Aware Ranking Objective and a lightweight Query--Model Interaction Representation. Experiments across diverse text, multimodal, continuous-utility, and large-model-pool settings show that EquiRouter consistently improves cost efficiency while maintaining competitive peak and whole-curve performance. Code is available at https://github.com/LAMDA-Model-Reuse/EquiRouter.

Local LLM agents often work on shared hosts. Unlike multi-tenant cloud clusters, these hosts often have tightly bounded memory, CPU, and I/O resources. Concurrent agents frequently suffer from resource contention, leading to failures such as OOM and reduced resource efficiency. Considering that agents' resource demands are bursty and shell command delay is imperceptible to agents, there is a huge scheduling opportunity to arrange when and in what order commands are actually executed. Thus, we present ToolSched, a Shell MCP Server for shared local hosts that serves multiple agents and schedules their operations. ToolSched embeds a resource model into the MCP interface: agents estimate resource demands along with command requests. These hints, together with real-time host resource conditions, determine when commands are actually executed. Internally, ToolSched applies a scheduling algorithm to stagger commands, reducing contention and improving resource utilization. Prediction correction and checkpoint-based recovery mitigate estimation bias and resource errors. Our evaluation on Terminal Bench shows that, compared with unscheduled execution, ToolSched improves resource utilization by 148.4% and end-to-end command throughput by 29.4%, demonstrating its effectiveness and practicality.