AI 速览：AffordSim 将开放词汇 3D 可供性预测融入仿真轨迹生成，构建 50 任务基准，并验证生成数据可零样本迁移到真实 Franka FR3。
Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with motion planning. It further randomizes object pose, texture, lighting, image noise, and cross-viewpoint backgrounds for sim-to-real transfer. We instantiate AffordSim as a 50-task benchmark across diverse manipulation skills, five robot embodiments, and 500+ rigid and articulated objects. AffordSim achieves 93% of the trajectory collection success rate of manual contact annotations on affordance-critical tasks and 89% on hard composite tasks. Vision-language-action policies trained on AffordSim data transfer zero-shot to a real Franka FR3, reaching 24% average success.
AI 速览：Rimuru 提出共享页池与内存视图机制，统一管理 LLM 服务中异构张量的内存，并通过弹性专家卸载提升吞吐、降低首 token 延迟。
Modern LLMs strain device memory through large model weights and attention states, particularly in resource-constrained scenarios. Existing systems separately provision memory for model weights and attention states, imposing fixed fixed boundaries that cannot adapt to the changing memory demands of workloads. Under heavy workloads, insufficient state capacity limits request concurrency and reduces throughput; under light workloads, idle memory in one region cannot be reallocated to another, wasting device memory. Meanwhile, modern LLM architectures introduce heterogeneous tensors with diverse layouts and lifetimes, further complicating memory management. These problems motivate unified memory management for heterogeneous tensors. However, a shared pool alone does not make memory directly reusable across tensors with different allocation granularities and execution layouts. This paper presents Rimuru, a modern LLM serving system that unifies memory management through elastic expert offloading. Rimuru establishes a shared page pool to enables elastic memory sharing across heterogeneous tensors. To accommodate different allocation granularities, Rimuru introduces memory views that allow each tensor type to interpret the shared memory space using its own page size and page table. Furthermore, Rimuru combines huge-page alignment with a multi-level page allocator that splits and merges pages, enabling cross-type capacity reuse. A page-table-aware fused MoE kernel directly accesses non-contiguous expert weights, avoiding copy overhead. Building on these mechanisms, Rimuru employs a workload-aware adjuster that dynamically reallocates pages across tensor types according to runtime demands. Implemented on top of vLLM, Rimuru remains compatible with modern LLMs. Evaluations show that Rimuru achieves up to 19.03x baseline throughput and reduces TTFT by 98.1% on average.
Hongqi Chen, Chengwang Liao, Ziwei Mei, Zhentao Shi
LASSO is one of the most popular regularization methods for high-dimensional regression models. While cointegration is common in practical applications of predictive regressions with many regressors, the convex penalty of LASSO overly suppresses the coefficients of cointegrated regressors and therefore fails to deliver consistent parameter estimation. We employ folded concave penalties (FCP), including the well-known SCAD and MCP, to address this issue. Using FCP, we establish two asymptotic results: (i) a local oracle property for the penalized regression, and (ii) a global oracle property for regressions with a penalty-level constraint. In particular, the latter guarantees a global solution that consistently estimates the true coefficients and enjoys oracle prediction performance. Simulation studies and an application to predicting the euro area unemployment rate show that FCP improves variable selection and out-of-sample prediction relative to LASSO.
Jiaxing Sun, Xuli Shen, Jiang Wu, Ruiyi Ding, Ruikang Zhang, Xiao An, Xibao Li, Yubin Wang 等 20 位作者
Reaction precedents guide retrosynthesis, but how far they can compensate for gaps in task-specific training coverage remains unclear. Using 2.71 million reactions, we restricted training and retrieval coverage by transformation or time, then expanded only the retrieval corpus with model parameters fixed. For transformations excluded from training, mean Top-1 accuracy increased from 13.0% to 58.0% on a historical test set and from 4.9% to 23.1% on a temporally held-out test set. For temporal coverage gaps, retrieval expansion enabled a model trained on records before 2017 to match or exceed a non-retrieval model trained on records before 2025 on both test sets. Without task-specific fine-tuning, precedents improved all 14 representative general-purpose models on both test sets and USPTO-50K; the strongest with precedents surpassed all eight representative specialized models. These findings show that inference-time reaction precedents can extend retrosynthetic prediction beyond task-specific training coverage without parameter updates.
Xiaoning Ren, Jiayang Song, Chongyang Liu, Jie Li, Lei Ma, Yinxing Xue
Neuron coverage criteria aim to assess test suite quality and guide test input generation, but their effectiveness for Transformer-based language models remains unclear. We evaluate six criteria, including four established and two recent criteria, across encoder-only, decoder-only, and encoder-decoder models. Our evaluation examines error-revealing capability, distribution diversity, sample fairness (category diversity), and guidance for test input generation. The results reveal uneven effectiveness. Erroneous samples provide only 0.32% additional coverage over noise samples, indicating limited sensitivity to adversarial errors. By contrast, coverage criteria effectively assess distribution diversity and sample fairness in 26 and 30 of 33 configurations, respectively. Incorporating neuron-wise coverage guidance into test input generation increases adversarial sample production by only 4.56%. These findings suggest that existing coverage criteria can serve as an antidote for assessing diversity but remain largely a placebo for revealing adversarial errors, particularly when used individually. Their practical value therefore depends on whether these limited benefits justify the computational overhead of testing large Transformer-based models. Our study highlights the need for more robust and efficient coverage criteria tailored to these models, with stronger error-revealing capability and greater value for test generation.
Yaxin Gong, Chongming Gao, Gangyi Zhang, Chenxiao Fan, Leyang Shen, Jiakai Wang, Dong Wang, Yang Liu 等 10 位作者
Multi-step Web tasks often require several LLM agents to gather and combine evidence. The communication graph of a fixed workflow restricts which agents can read each other's outputs: evidence retrieved by one agent may never reach the agent that needs it, leaving an information gap and an incomplete or incorrect answer. Adding a connection can deliver the missing evidence, but can also lead the receiver to adopt an incorrect upstream conclusion that displaces a correct answer; the final output alone does not separate the two. We propose Selective Probing and Link Insertion for Closing information gaps in multi-agent Execution (SPLICE), which locates information gaps per query and decides what to adopt after adding an edge. After the original workflow runs, SPLICE uses the query and node outputs to locate a possible gap, adds one directed edge from a source to a receiver to deliver the relevant evidence, and re-executes the receiver and affected downstream nodes, producing a candidate answer. The adoption decision reads both the final answers of the two runs and the process changes the edit caused inside the workflow: how far the receiver moved, where its new content came from, and whether the change reached the final answer. A selector trained on these process features chooses between adopting the candidate answer and retaining the original. On five benchmarks, SPLICE raises the task score on Web tool use by 8.0% and the mean score on four reasoning and planning benchmarks by 5.7% relative to the static skeleton, at 1.25 to 1.44$\times$ the skeleton's cost, and transfers zero-shot to four unseen backbones.
Self-supervised contrastive learning (SSCL) learns representations by contrasting augmented views of the same sample, but it can exhibit feature suppression, where dominant or easy-to-learn factors suppress other class-relevant signals, degrading the performance of representations, particularly in high-dimensional data with heterogeneous features. We introduce Fisher Contrastive Learning (FCL), which uses a regularized Fisher trace criterion to address feature suppression. FCL learns embeddings by maximizing the discriminative strength of Fisher discriminant functions, producing representations that preserve class-relevant information implied by the augmentation process. We prove that the representations learned by FCL could alleviate the feature suppression effects. We demonstrate FCL on simulated benchmarks designed to induce feature suppression and on a real-world biomedical application, pretraining on large white blood cell microscopy image dataset and transfer learning for diagnosis of acute promyelocytic leukemia in an external cohort. In all experiments, FCL outperforms the self-supervised baselines and yields more robust and discriminative representations.
Unsupervised 4D medical image interpolation reconstructs intermediate anatomical states from temporally sparse observations without intermediate supervision. Distinct motion fields may attain comparable endpoint agreement while producing different intermediate anatomy, giving rise to motion ambiguity. This ambiguity is difficult to constrain when many independently adjustable motion variables must be estimated from the observed endpoints. We develop a framework that learns a motion manifold to restrict candidate motion fields while retaining sample-specific variation. Cross-Sample Spectral Basis Learning extracts recurring motion structure from endpoint-derived dense estimates and encodes it in a shared spectral basis. Sample-Conditioned Cayley Basis Reorientation uses predicted motion coordinates to rotate the effective motion directions for each endpoint pair without increasing the number of independent coordinates. Their composition defines a nonlinear family of complete velocity fields across endpoint pairs, accommodating anatomical and motion-state differences within a restricted representation. Integrating each predicted field supports bidirectional reconstruction at arbitrary intermediate times. Theoretical analysis establishes sufficient conditions under which endpoint observations distinguish nearby motions within the learned family. Experiments on ACDC and 4D-Lung demonstrate state-of-the-art performance among the evaluated methods trained without intermediate volumes and competitive results against methods using intermediate supervision.
Liuji Chen, Zeyu Zhang, Xinyuan Zhang, Shuai Nie, Qiang Liu, Shu Wu, Liang Wang
Personalized text generation requires models to capture user-specific writing styles from historical data. Existing approaches based on retrieval, parameter-efficient fine-tuning, or activation steering either introduce inference and storage overhead or struggle to separate stylistic signals from semantic content. We propose GLASS, a training-free framework for personalized generation via Global-Local Activation Steering with Sparse priors. GLASS uses sparse autoencoders to extract a global user-style prior from historical responses and constructs local contrastive style vectors over clustered interaction scenarios. During inference, it jointly injects global and local vectors into different model layers, enabling context-aware personalization without retrieval or parameter updates. Experiments on LaMP and LongLaMP show that GLASS outperforms retrieval-, fine-tuning-, and steering-based baselines across ROUGE metrics and LLM-as-judge evaluations. Further analyses show that SAE-based representations are more robust to topic and length shifts, suggesting better disentanglement of stylistic information from semantic residue.
Understanding the internal routing of visual concepts is crucial for the safe and controllable adaptation of generative models. While concept localization has been widely studied in diffusion models, the emerging paradigm of next-scale visual autoregressive models remains largely unexplored. In this paper, we introduce LoCo, the first model-agnostic framework to localize where and when specific concepts emerge within autoregressive models. Driven by the native coarse-to-fine nature of next-scale generation, our method precisely maps conceptual knowledge across three distinct dimensions: Layer, Scale, and Position. To systematically localize and evaluate concept routing without context bias, we propose LoCoBench, a comprehensive dataset spanning 10 diverse categories. Extensive probing on image and video autoregressive models like Infinity, HunyuanImage-3.0, and InfinityStar shows that the localized positions are both interpretable and causally related to concept emergence. Building on these insights, we apply our localization method to three key applications: concept erasure, model personalization, and adversarial concept injection. Experiments demonstrate that our targeted intervention achieves state-of-the-art performance, substantially reducing computational overhead while preserving benign utility. Overall, our findings offer insights into how conceptual knowledge is routed during autoregressive generation, introducing a practical pathway for more interpretable, efficient, and secure adaptation.
Weixin Chen, Shuchang Liu, Hailan Yang, Yuhan Zhao, Li Kang, Xuefeng Zhang, Chenghao Zhang, Xinyuan Wang 等 16 位作者
Query-based recommendation separates expressing user needs from locating matching items. Its central learning problem is how to turn item interactions into effective retrieval requests when interaction logs do not annotate queries. We present R2QRec, which uses a fixed retrieval system to construct query supervision and evaluate recommendation outcomes. Retrieval verification first selects generated expressions that recover observed items as supervised fine tuning targets, allowing retrieval behavior to determine the target wording. Policy refinement then evaluates generated query sets by the observed item's rank in their fused recommendation list. Log-rank feedback distinguishes outcomes beyond the recommendation cutoff, while a KL penalty constrains policy change relative to the supervised reference. The stages have distinct roles: verification identifies expressions to imitate, and policy refinement improves the combined ranking produced by newly generated queries. Only the query generator is trained; the retriever and item index remain fixed, and no query annotations or learned reward model are required. Across three public datasets, R2QRec achieves state-of-the-art overall recommendation performance among the evaluated methods. Extensive experiments demonstrate the effectiveness of the proposed design and its generalization across generators and domains.
Yuqiang Lin, Kehua Chen, Sam Lockyer, Arjun Yadav, Mingxuan Sui, Shucheng Zhang, Yan Shi, Bingzhang Wang 等 15 位作者
Traffic Anomaly Understanding (TAU) is important for traffic safety in Intelligent Transportation Systems. Recent vision-language models (VLMs) have shown strong capabilities in video understanding. However, progress on TAU remains limited due to the lack of benchmarks and task-specific methodologies. To address this limitation, we introduce Roundabout-TAU, a dataset constructed from real-world roundabout videos collected in collaboration with the City of Carmel, Indiana. The dataset contains 342 clips and is annotated with more than 2,000 question-answer pairs covering multiple aspects of traffic anomaly understanding. Building on this benchmark, we propose TAU-R1, a two-layer vision-language framework for TAU. The first layer is a lightweight anomaly classifier that performs coarse anomaly categorisation, while the second layer is a larger anomaly reasoner that generates detailed event summaries. To improve task-specific reasoning, we introduce a two-stage training strategy consisting of decomposed-QA-enhanced supervised fine-tuning followed by TAU-GRPO, a GRPO-based post-training method with TAU-specific reward functions. Experimental results show that TAU-R1 achieves strong performance on both anomaly classification and reasoning tasks while maintaining deployment efficiency. The dataset and code are available at: https://github.com/siri-rouser/TAU-R1
Chenxiao Fan, Chongming Gao, Gangyi Zhang, Yaxin Gong, Leyang Shen, Jiakai Wang, Dong Wang, Yang Liu 等 12 位作者
Complex information seeking on the Web often requires collecting evidence from multiple documents and reasoning across them, as in multi-hop question answering. Multi-agent systems address such tasks by dividing work among specialized agents, where upstream agents produce intermediate answers and supporting evidence that downstream agents build upon. However, upstream answers vary in correctness, and most systems provide no quantitative signal about it, leaving the downstream agent to judge whether to trust or verify what it receives based solely on the textual evidence. In this paper, we propose MASCAL. Each agent learns to produce a correctness probability for its answer by jointly optimizing task performance and confidence calibration in reinforcement learning; the upstream agent passes this probability at handoff, giving the downstream agent a quantitative basis for its decisions, and the final answer also carries a calibrated probability, quantifying the reliability of the system output. To guide the downstream agent in using this signal during training, we introduce confidence-aware weighting, which increases the learning weight at positions responsive to the upstream probability, so that the agent learns more from decisions where it actively uses the signal. Across three collaboration architectures spanning Web retrieval and reasoning tasks, MASCAL improves task accuracy and calibration quality for both agents, and generalizes to deeper collaboration chains and different model scales. Intervention analysis confirms that upstream confidence affects downstream decision behavior, and the learned final confidence supports selective answering and targeted rechecking.
In reinforcement learning with verifiable rewards (RLVR), whether entropy rises or falls can depend on choices that matter little under exact sampling, such as whether over-length responses are masked or counted as failures. We trace this to sampler mismatch: rollouts are drawn with top-k/top-p truncation or at a temperature the learner does not apply. We prove that a constant advantage shift then changes the entropy of a softmax policy, at first order and in expectation, with a sign fixed by the sampler. Positive shifts sharpen the policy under any sampler whose likelihood ratio to the policy increases with token probability, including top-k, top-p, min-p, and temperatures below one, and flatten it under flatter samplers. In group-based RLVR with token-level losses, the baseline-dependent part of this drift is set by the token-weighted net advantage, which masking and failing can push to opposite signs. The rest comes from a covariance between advantages and the sampler's sharpness gap and feeds back on itself: in a two-level model, a push away from a sharper sampler takes off in finite time, while a pull toward it saturates. On a 2B model, the entropy slope is linear in shifts of the net advantage under truncated sampling and indistinguishable from flat under exact sampling. Token-level importance ratios leave 98% of the drift, and four clipped minibatch updates per batch amplify it sevenfold. In 100-step runs, a net-zero baseline only delays an entropy explosion, and entropy raised at the start keeps rising only under truncation; cancelling the first-order drift at every step keeps entropy bounded without changing the learner. On a 9B reasoning model forked from an uncorrected run, zeroing the net advantage or renormalizing the learner raises held-out accuracy after ten steps by 8.2 and 8.8 points over the uncorrected rule, with no difference under exact sampling.
Localization is an essential capability of intelligent robots. However, in real-world constrained environments, robots often cannot rely on external localization systems. Therefore, this paper proposes an online particle-filter localization method based on Monte Carlo sampling. The method is applied to the localization of a mobile robot in a maze environment and requires only four range sensors mounted on the front, rear, left, and right sides of the vehicle, without the need for any heading information. Simulation experiments demonstrate that even in a maze where local regions are highly similar, the vehicle can still achieve relatively accurate localization, thereby providing a fast and effective approach for robot localization in complex environments.
Xinyu Chen, Song Wu, Dingbao Shao, Jiahang Li, Jiang Lin, Yuhang Liu, Duo Li, Jiaxin Hu 等 15 位作者
Instruction-guided video editing requires executing a requested change while preserving the source video's appearance and temporal structure. We present SemantiScene-Edit, a video editor that couples a multimodal encoder with a pretrained video diffusion transformer. The encoder jointly processes source frames and the editing instruction, and learnable queries convey their semantic context to the generator through a trainable connector and cross-attention. A complementary visual pathway concatenates source-video latents with noisy target latents before patch embedding, supplying dense spatial and temporal information for content preservation. We train the model with flow matching and a three-stage image--video curriculum comprising semantic alignment, joint adaptation, and high-resolution refinement. To support training, we construct over 1.2 million instruction-conditioned video-editing records covering object addition, removal, replacement, and attribute modification. We also construct a 100-case benchmark for evaluating instruction execution, source preservation, temporal consistency, and visual quality. Comparative experiments show that SemantiScene-Edit effectively follows editing instructions while retaining source content. At inference, the model requires only a source video and a natural-language instruction.
Xi Zheng, Ivan Ruchkin, Hong Jin Kang, Tevfik Bultan, Vijay Ganesh, Taylor T. Johnson, Ziyang Li, Lei Ma 等 14 位作者
Learning-enabled cyber-physical systems (CPS), including autonomous vehicles and UAVs, increasingly incorporate foundation models, yet fragmented assurance practices provide insufficient support for system-level guarantees. We argue that restoring engineering control across stochastic neural, symbolic, and physical boundaries requires a shift from model-centric evaluation to system-level assurance. We introduce the Foundation Model Assurance Stack, connecting three directions: (i) neuro-symbolic architectures that constrain foundation models through explicit symbolic world models, reasoning layers, and interfaces; (ii) semantically grounded, conformance-based testing that combines formal specifications and symbolic world models with foundation-model-assisted specification mining, scenario generation, and test synthesis; and (iii) compositional verification and runtime assurance that target formally tractable components and interfaces through modular contracts, equivalence checking, verified synthesis, uncertainty-aware reasoning, and runtime monitoring and enforcement. Symbolic abstractions establish assurance boundaries between stochastic learning and formal reasoning, connecting testing, verification, and runtime evidence across the system lifecycle. Foundation models serve as constrained assistants whose outputs are independently checked wherever correctness can be formally specified. We identify research challenges in specification engineering, abstraction fidelity, evidence composition, and lifecycle certification, and outline a staged agenda toward trustworthy, deployable, and certifiable learning-enabled CPS.
Yixue Zhang, Wenke Xia, Kun Wu, Wenbo Yu, Pei Ren, Junnan Nie, Di Hu, Zhengping Che 等 9 位作者
Reasoning informs decision-making by connecting intended actions with their expected consequences. Recent vision-language-action (VLA) models incorporate embodied chains of thought (ECoTs) to guide action generation. However, such guidance remains implicit, as actions are conditioned on ECoTs rather than explicitly optimized to align with them. We introduce CoRAct, a consequence-grounded reasoning-to-action alignment framework that explicitly aligns reasoning and action through reward-guided optimization in action noise space. CoRAct formulates two physically grounded ECoT components as verifiable signals: movement specifies intended motion, while waypoints encode expected spatial consequences. A unified Mixture-of-Transformers jointly models ECoT reasoning, action generation, and action-conditioned future prediction. For candidate actions generated from sampled noise, CoRAct computes alignment rewards based on movement consistency and agreement between predicted outcomes and specified waypoints. These rewards guide group-relative optimization of the initial noise distribution, steering action generation toward consistency with intended actions and expected consequences. Experiments across RoboCasa, VLABench, and real-world manipulation tasks demonstrate improvements in task success, generalization, and reasoning-execution alignment over strong ECoT-based VLA baselines. CoRAct also grounds externally provided ECoTs in executable behavior, enabling zero-shot adaptation to novel scenarios by leveraging knowledge from powerful vision-language models. Project page and dataset: https://onlyxingxingzyx.github.io/CoRAct/
Vision-Language-Action (VLA) models excel at instruction following, yet most remain feed-forward: they condition actions only on the current observation and discard both long-horizon temporal context and the hierarchical structure of VLM representations. We present PRIME W0, a hierarchical conditional flow-matching framework that closes this gap through three synergistic designs: (1)per-layer KV injection from a pretrained VLM into an Adaptive MoE action expert; (2)dynamics-aware conditioning via asynchronous world-model subgoal-image prediction and a DINOv2 historical-frame semantic bridge; and (3)Action Dynamic Manifold (ADM) flow matching with covariance-structured noise that respects robot kinematic coupling. PRIME W0 is trained in four stages---VLM pre-training, DAT/NTP visuomotor pre-training, DiT flow-matching decoder assembly with WM injection, and end-to-end SFT---and achieves state-of-the-art results on LIBERO and real-robot benchmarks, with systematic ablations validating each architectural component.
Alzheimer's disease (AD) diagnosis may benefit from gut metabolic information associated with brain-gut interactions, yet existing models largely analyze cerebral glucose metabolism alone. Although whole-body fluorodeoxyglucose positron emission tomography (FDG-PET) can provide paired brain-gut observations, routine brain examinations rarely include gut imaging, limiting direct use of this information for diagnosis. In this paper, we present BRIDGE (Brain and Gut Representation Integration via Distribution-Guided Enhancement), a two-stage framework for transferring brain-gut metabolic knowledge to brain-only diagnosis. Specifically, BRIDGE integrates a conditional brain-to-gut latent transport module and a disease-evidence-guided cerebral pathway to capture subject-specific cross-organ correspondence and disease-relevant cerebral representations. For the cerebral pathway, a large language model (LLM) helps organize literature-derived descriptors into human-approved semantic anchors that guide feature learning. Additionally, we introduce a counterfactual-guided residual fusion mechanism, which uses matched and non-matched virtual-gut evidence to supervise a confidence gate and dynamically regulate the contribution of transported cross-organ information. At inference, BRIDGE exploits complementary gut-related context using brain PET alone, without measured gut PET. Extensive experiments across public and private cohorts demonstrate that BRIDGE outperforms brain-only and cross-organ baselines, achieving AUC gains of 6.0% and 5.2% over its brain-only counterpart for CN/MCI and CN/AD diagnosis, respectively. Notably, its ability to transfer complementary brain-gut metabolic context while preserving brain PET as the sole inference input highlights its potential for clinically practical diagnosis. Our code is available at https://github.com/CUHK-AIM-Group/BRIDGE.
Bingyang Liu, Xiaohan Gao, Souradip Poddar, David Z. Pan
Analog layout automation remains challenging in Analog/Mixed-Signal circuit design, because parasitics and mismatches introduced during layout strongly affect circuit performance. Placement is especially critical among the layout stages, as it constrains the routing solution space and the achievable post-layout performance. Existing analytical placement methods optimize device coordinates under center-based wirelength proxies and leave access point (AP) selection to routing. In analog circuits, however, a routing pin is an extended piece of terminal metal rather than a fixed point, and the best AP on it depends on where the other connected devices are placed, so a coordinate-only placement optimizes for connection points that the router will not use. We present APPlace, a routing-aware analog placement framework that co-optimizes device locations and AP selections during global placement, followed by a legalization stage that preserves the structure established by global placement. Experimental results on four real-world analog benchmarks show that APPlace achieves better overall post-layout performance than representative baselines at comparable layout area. Ablation studies further show that removing AP co-optimization causes up to a 13 dB CMRR loss among the OTA benchmarks and a 23% increase in comparator delay.
Progress toward artificial general intelligence (AGI) has largely relied on scaling a resource-intensive executive, System-2, through larger models, more data and compute, longer reasoning, and more agents. We ask whether the next stage may come instead from co-designing it with System-1, a lightweight, semantically aware predictor that evaluates candidate interactions before execution, so that System-2 acts only on those worth their cost. Our answer is a qualified yes. We study \textit{conditional interaction}, a predict--gate--execute--update loop: System-1 estimates each candidate's utility, System-2 executes those admitted by an adaptive threshold, and the outcomes update System-1. The loop spans training, test-time reasoning, adaptive decision-making, and agentic tool use, with utility and cost defined by the application. Under ideal screening and equal execution costs, execution compute falls by a factor approaching $1/ρ_u$, where $ρ_u$ is the density of utility-relevant interactions (cost-weighted when costs differ); prediction errors, exploration, and distribution shift reduce the saving. We bound selection regret by predictor error and the utility margin. These results motivate our central hypothesis: $ρ_u$ is a measurable coordinate of scaling efficiency and makes informative compute a better description of scaling than total compute.
Zhen Yu, Yang Liu, Jianfeng Feng, Xiahai Zhuang, Qingchao Chen
Foundation models hold promise for generalizable analysis of structural brain magnetic resonance imaging (MRI) scans across diverse populations and imaging conditions. However, existing models typically rely on centralized pretraining using data pooled across cohorts, which is constrained by privacy and data-governance requirements. Moreover, larger cohorts can dominate optimization, underutilizing anatomical information from smaller cohorts and limiting generalization. Here we present BrainFedFM, a structural brain MRI foundation model federatively pretrained on 164,707 three-dimensional scans drawn from diverse real-world data distributions and organized across 42 federated sites. BrainFedFM uses dual-priority federated pretraining, in which spatial-priority masking emphasizes informative anatomical regions during local training, while site-priority aggregation adaptively weights contributions during global aggregation. Across 20 downstream datasets spanning 17 classification, regression and segmentation tasks, BrainFedFM achieved the state-of-the-art performance across seven foundation models, including four centralized models, while showing consistent advantages in classification and regression tasks and strong robustness under underrepresented populations and challenging imaging conditions. These findings demonstrate the generalizability of BrainFedFM and highlight federated pretraining as a practical strategy for developing neuroimaging foundation models from distributed data without pooling raw images.
Industrial candidate-ranking systems must combine long user behavior histories with heterogeneous user and item features under strict computational budgets. We propose CCFormer, a structured interaction architecture that separates cross-field retrieval from intra-history modeling. Feature-field-separated cross-attention allows user and target queries to read an evolving history hierarchy, while local subspace token mixing contextualizes history tokens independently of candidate targets. Hierarchical sequence compression reduces the number of history tokens and provides multi-scale historical context for subsequent interactions. Experiments on two public benchmarks show higher mean AUC than the evaluated baselines, while experiments on a large-scale industrial dataset show a favorable accuracy-compute trade-off and higher training throughput than HSTU. Online A/B tests across four recommendation and advertising scenarios report system-level improvements of up to 3.57% in click-through rate, 3.86% in page views, and 1.71% in advertising revenue relative to the corresponding production baselines. CCFormer has been fully deployed in all four scenarios, demonstrating its practical scalability and effectiveness in large-scale recommendation systems.
Hanxue Zhang, Zetong Yang, Yanan Sun, Li Chen, Fatma Güney, Hongyang Li
This paper introduces Test-time Correction (TTC), an online 3D detection system designed to rectify test-time errors using various auxiliary feedback, aiming to enhance the safety of deployed autonomous driving systems. Unlike conventional offline 3D detectors that remain fixed during inference, TTC enables immediate online error correction without retraining, allowing autonomous vehicles to adapt to new scenarios and reduce deployment risks. To achieve this, we equip existing 3D detectors with an Online Adapter (OA) module -- a prompt-driven query generator for real-time correction. At the core of OA module are visual prompts: image-based descriptions of objects of interest derived from auxiliary feedback such as mismatches with 2D detections, road descriptions, or user clicks. These visual prompts, collected from risky objects during inference, are maintained in a visual prompt buffer to enable continuous correction in future frames. By leveraging this mechanism, TTC consistently detects risky objects, achieving reliable, adaptive, and versatile driving autonomy. Extensive experiments show that TTC significantly improves instant error rectification over frozen 3D detectors, even under limited labels, zero-shot settings, and adverse conditions. We hope this work inspires future research on post-deployment online rectification systems for autonomous driving.
Zonghe Shao, Huabin Chen, Sitong Lu, Fangmei Zhu, Yingcai Ma, Ge Fan, Jinguo Gao, Wei Shi 等 10 位作者
List-wise ranking in e-commerce recommendation must balance user utility and commercial value across organic content, ads, and candidates from other businesses, while modeling candidate interactions and sequential dependencies. Existing generative ranking methods typically learn from logged exposure sequences and operate on truncated candidate sets from a single business. Exposure-sequence learning may not fully exploit post-exposure feedback signals. Meanwhile, generative ranking over heterogeneous, multi-business candidates remains less explored, particularly when recommendation scores and advertising value must be jointly modeled under generalized second-price (GSP) auctions. We propose Unified Generative Ranking (UGR), which performs generative ranking over the full request-level multi-business heterogeneous candidate set, typically comprising around a thousand candidates in production, and directly generates multi-business ranking lists through candidate-aware autoregressive decoding. To go beyond exposure-sequence imitation, UGR introduces complementary feedback supervision through weighted supervised fine-tuning and permutation preference optimization, which respectively leverage observed post-exposure feedback and feedback-derived preferences among permutations. UGR uses a training-time advertising debiasing tower to model historical ad exposure effects and incorporates current ad value during serving while preserving the existing allocation and GSP pricing rules. Multi-value sequence retrieval produces candidate ranking lists, and the existing downstream evaluator selects the final list for exposure. Offline experiments demonstrate consistent gains in ranking quality, while online A/B tests on Taobao's Guess You Like recommendation service yield improvements of 1.76% in Core IPV, 3.29% in Transaction Volume, and 2.10% in GMV over the production baseline.
Lifan Zheng, Guotao Chen, Zhenyang Li, Shujie Cui, Qiang Huang, Fan Liu
We fine-tuned a separate $π_{0.5}$ policy for each of the five tasks in the MetaFine Open Competition, with a task-specific training mixture and number of actions executed per prediction. Training started from the official demonstrations and expert procedures. Local evaluation exposed recurring grasping, pushing, and insertion failures. We addressed them by revising the demonstrated motions and by adding expert continuations from states the policy reached, while keeping nominal demonstrations in training. Checkpoints were compared on every instruction, so that a gain on one instruction could not hide a loss on another. Our submission, MAI, ranked first overall with a score of 96.66.
Generating editable computer-aided design (CAD) models from text requires selecting operations that produce the intended changes to the geometry constructed so far. An incorrect operation can compromise subsequent steps, making reliable multi-step generation challenging. Existing methods based on large language models (LLMs) primarily learn to predict commands, without explicit supervision of the geometric states those commands should produce. Inspired by world-action models, we introduce CAD-WAM, which couples geometry-conditioned action generation with next-state prediction. We define complete modeling operations as actions in a CAD domain-specific language (DSL) and encode surface point clouds of intermediate solids into compact latent states using a pretrained variational autoencoder. An LLM backbone generates the next action from the target description and current geometric state, while an auxiliary head on the same backbone predicts the next state to provide geometric supervision during training. We construct step-wise training trajectories from parametric CAD models in the DeepCAD dataset, pairing each trajectory with an expert-level textual description. At inference, each generated action is executed by a CAD kernel, and the resulting solid is re-encoded to inform the next decision. On the DeepCAD test set, CAD-WAM outperforms the task-specific baselines in geometric accuracy and output validity, with larger gains on models requiring more operations, and produces more accurate geometry than general-purpose LLMs prompted with the same DSL. Ablations further show that next-state supervision reduces mean Chamfer distance by 13.2\% relative to an otherwise identical model trained only to predict actions. Code is available at https://github.com/Lzy-1037/CAD-WAM.
We present Youtu-Parsing-Omni, an omni-modal parser that converts documents, images, audio, and video into structured records grounded in space and time, providing a perception layer for agents that read, locate, and cite evidence across modalities. Its design rests on one encoder for every modality and one schema for every task. Youtu-Omni-Encoder, initialized from a pre-trained language model to strengthen text reading, encodes all modalities with shared weights in a unified space-time coordinate system, and a few fusion layers let video frames attend to concurrent audio, bringing cross-modal fusion and temporal alignment into perception itself. OmniSchema unifies the outputs of all ten parsing tasks, allowing a single self-evolving post-training procedure, OmniSchema-Aware On-Policy Distillation (OSAD), to provide a shared token-role-based objective across tasks. In each round, the model is trained on its own rollouts against token-level targets from a reference-conditioned copy of itself, which is then refreshed with the trained weights, so that the parser and its supervision co-evolve. With a single 5 B-parameter checkpoint, Youtu-Parsing-Omni achieves state-of-the-art performance on OmniDocBench v1.6 (96.96 Overall) and leads all open-weight models on OmniParsingBench (75.08 Avg.), with its advantage concentrated on audio and video. It also achieves the best overall chart-parsing score (95.02) and the highest exact chemical-fingerprint agreement among compared systems, and matches a dedicated optical-music model in character-level transcription of typeset sheet music while staying far ahead of general-purpose systems. Code and model weights are publicly available.
Advertising platforms subsidize advertisers through billing discounts, and Advertiser Subsidy Allocation (ASA) chooses a subsidy level for every account to maximize total discounted revenue under a platform-wide subsidy-rate constraint. In practice, operators configure these subsidies from business rules, advertiser tiers and operating goals. Such configuration draws on rich business experience, yet as the advertiser base grows, tier-level policies can neither resolve how individual accounts respond across subsidy levels nor allocate a shared budget at the granularity of single accounts. We propose CASH, a Capability-Aware Subsidy Harness for ASA. CASH pairs a knowledge-guided large language model (LLM) with a data-driven numerical response model, learns from realized outcomes where each is locally reliable across accounts and subsidy levels, and turns this reliability into explicit capability licenses that govern source selection, agent review and budget allocation. Its Expected Policy Coverage Gain (EPCG) directs a limited feedback budget toward evidence expected to expand high-value reliable coverage, and the resulting feedback further improves the numerical model and updates capability estimates. In a one-month online experiment with CASH serving 60% of a large-scale advertising platform's traffic, CASH raises revenue per account by 15.35% and ADVV by 19.86% over Control at an essentially unchanged subsidy rate, with further gains in revenue quality, LTV and retention.