Zhuohang Li, Yiding Ma, Yu Shang, Lei Jin, Shengyuan Wang, Jianjie Fang, Zhaolu Wang, Xvyuan Liu 等 29 位作者
World models have emerged as a central paradigm for embodied intelligence, enabling agents to predict action-conditioned future and reason about environmental dynamics. However, existing embodied world model benchmarks are still largely confined to vision-only prediction, offline embodied applications, and simulator-based evaluation, making them insufficient for assessing increasingly comprehensive world models. In this work, we introduce WorldArena 2.0, an expanded benchmark that systematically broadens embodied world model evaluation along three dimensions: modality, functionality, and platform. Along the modality dimension, WorldArena 2.0 extends evaluation from vision-only to visuotactile modalities, enabling assessment of multimodal perception and prediction. Along the functionality dimension, it extends beyond policy evaluation and planning to assess world models as interactive RL environments for policy optimization. Along the platform dimension, it moves beyond simulator-only evaluation to a diverse suite of simulated and real-world robotic settings across multiple embodiments. Under a standardized protocol, WorldArena 2.0 comprehensively evaluates perceptual quality, interactive utility, and cross-platform performance, providing a comprehensive testbed for tracking progress toward embodied world models. The project page including codes and demos is available at: https://world-arena.ai/.
Shuyang Yu, Haibo Qin, Shaohan Hu, Wei Shan, Xiaoqing Guan, You Wang, Guang Li
Monocular occupancy prediction in indoor scenes aims to recover a scene's 3D geometry and semantics from a single RGB image. Existing methods are restricted to a closed set of predefined categories, limiting their ability to generalize to unseen categories. This limitation is particularly critical in indoor scenes, where objects exhibit highly diverse and fine-grained semantic categories. We study open-vocabulary monocular occupancy prediction for indoor scenes and present OVM-Occ, a Gaussian-based occupancy framework with an instance-aware vision-language teacher. Specifically, we adopt Language-Embedded Gaussians as the intermediate scene representation, propose a geometry-aware deformable attention module to refine Gaussian semantic features, and construct instance-level vision-language embeddings to provide reliable semantic supervision. We further introduce geometry-aware decoupled semantic distillation to mitigate the interference between geometry learning and semantic learning. To evaluate open-vocabulary occupancy prediction performance, we introduce OpenOcc-ScanNet and OpenOcc-Replica, two extended benchmarks with more diverse and fine-grained semantic categories. Experiments show that our method achieves state-of-the-art performance in open-vocabulary monocular occupancy prediction for indoor scenes, outperforming the previous state-of-the-art approach by 12.2 mIoU and 0.6 IoU on the Occ-ScanNet dataset, with consistent gains under new open-vocabulary evaluation protocols.
Shunian Chen The Chinese University of Hong Kong, Xinyuan Xie, Zheshu Chen, Owen Lee, Liyan Zhao, Zhan Su Halmstad University College and University of Copenhagen, Qilin Sun The Chinese University of Hong Kong, Shenzhen, Benyou Wang The Chinese University of Hong Kong, Shenzhen
High-quality, large-scale audio captioning is crucial for advancing audio understanding, yet current automated methods often generate captions that lack fine-grained detail and contextual accuracy, primarily due to their reliance on limited unimodal or superficial multimodal information. Drawing inspiration from human auditory perception, which adeptly integrates cross-modal cues and performs sophisticated auditory scene analysis, we introduce a novel two-stage automated pipeline. This pipeline first employs specialized pretrained models to extract diverse contextual cues (e.g., speech, music, general sounds, and visual information from associated video). A large language model (LLM) then synthesizes these rich, multimodal inputs to generate detailed and context-aware audio captions. Key contributions of this work include: (1) the proposed scalable method for fine-grained audio caption generation; (2) FusionAudio, a new large-scale dataset comprising 1.2 million such detailed captions, combined with 6 million QA pairs; and (3) enhanced audio models developed using FusionAudio, specifically a CLAP-based audio encoder with superior audio-text alignment and instruction following. This paper paves the way for more nuanced and accurate automated understanding of complex audio environments.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Kaixiong Gong, Kaituo Feng, Bohao Li, Yibing Wang, Mofan Cheng, Shijia Yang Stanford University, Jiaming Han, Benyou Wang The Chinese University of Hong Kong, Shenzhen 等 11 位作者
Recent multimodal large language models (MLLMs), such as GPT-4o, Gemini 1.5/2.5 Pro, and Reka Core, have advanced audio-visual reasoning capabilities, achieving strong performance in tasks like cross-modal understanding and generation. However, our DeafTest uncovers unanticipated failures: most of the state-of-the-art MLLMs struggle with very simple audio tasks, such as distinguishing louder sounds or sound counting. This raises a fundamental question—does a deficiency in low-level audio perception constrain higher-level audio-visual reasoning? To address this, we introduce AV-Odyssey Bench—a comprehensive benchmark of 4,555 meticulously designed problems that integrate text, audio, and visual modalities. Each task requires models to unify cross-modal reasoning, leveraging synchronized audio-visual cues to infer solutions. By structuring questions as multiple-choice, we ensure objective, reproducible evaluations without reliance on subjective human or LLM-based judgments. Through comprehensive benchmarking of closed-source and open-source models, we showcase: (i) current MLLMs lack robust audio-visual integration ability and (ii) performance on DeafTest (Pearson’s r = 0.945) strongly correlates with AV-Odyssey accuracy. These findings challenge assumptions about models’ multimodal proficiency and highlight fundamental audio perception as a reasoning bottleneck. We believe that our results provide concrete guidance for future dataset design, alignment strategies, and architectures.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Haotian Xu, Yue Hu National University of Defense Technology, Zhengqiu Zhu National University of Defense Technology, Chen Gao Tsinghua University, Ziyou Wang, Junreng Rao, Wenhao Lu, Weishi Li 等 10 位作者
Cross-view spatial reasoning is essential for embodied AI, underpinning spatial understanding, mental simulation and planning in complex environments. Existing benchmarks primarily emphasize indoor or street settings, overlooking the unique challenges of open-ended urban spaces characterized by rich semantics, complex geometries, and view variations. To address this, we introduce CityCube, a systematic benchmark designed to probe cross-view reasoning capabilities of current VLMs in urban settings. CityCube integrates four viewpoint dynamics to mimic camera movements and spans a wide spectrum of perspectives from multiple platforms, e.g., vehicles, drones and satellites. For a comprehensive assessment, it features 5,022 meticulously annotated multi-view QA pairs categorized into five cognitive dimensions and three spatial relation expressions. A comprehensive evaluation of 33 VLMs reveals a significant performance disparity with humans: even large-scale models struggle to exceed 54.1% accuracy, remaining 34.2% below human performance. By contrast, small-scale fine-tuned VLMs achieve over 60.0% accuracy, highlighting the necessity of our benchmark. Further analyses indicate the task correlations and fundamental cognitive disparity between VLMs and human-like reasoning.
尚无 AI 解读，展示原文摘要
cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表