Xiaokai Song, Zhang Li, Leqi Liu, Yibin Ye, Kun Wang, Xichao Teng
Event cameras enable tracking under fast motion and challenging illumination. However, stable long-term point tracking remains challenging: event activity is sparse and varies with scene content and motion, complicating correspondence, while trajectory estimates can drift over long sequences. Together, these challenges motivate a tracker that selectively uses informative event evidence and retains trajectory constraints across temporal windows. We propose Selective Event Evidence and Persistent Temporal Priors (SEPT), an event-only framework for tracking any point (TAP) over long sequences. SEPT introduces two complementary modules: Task-Adaptive Event Evidence Modulation (TEEM) and Persistent Trajectory Prior (PTP). Using only tracking supervision, TEEM learns a bounded reliability field that weights the event tensor across space, time, and channels before feature extraction. PTP carries geometric information across overlapping windows by marginalizing a fixed local quadratic trajectory model with a Schur complement. Its visibility-aware correction refines overlap coordinates, while a clipped terminal velocity initializes coordinates at newly exposed timestamps. SEPT builds on the ETAP architecture. SEPT is trained exclusively on synthetic EventKubric data and evaluated on five datasets across TAP and feature tracking. Results show that SEPT outperforms the retrained ETAP baseline in average Jaccard for TAP and in feature age and expected feature age for feature tracking; it also surpasses several methods combining event and frame inputs on EC and EDS. The source code is publicly available at https://github.com/sssxxxkkkk/SEPT.
Yupeng Cao, Xueqing Peng, Lingfei Qian, Haohang Li, Yangyang Yu, Anke Xu, Wenbo Cao, Yan Wang 等 17 位作者
Language agents increasingly work for users on the open Web, and finance is where trusting them is hardest. The data must come from the Web, the strategy lives in the user's head, and correctness depends on time, so an agent can fail silently: a strategy the user never asked for, unverified data, or a backtest that uses the future yields a report as convincing as a correct one. Existing benchmarks close the world somewhere, fixing the task, the data, or the timeline, and thereby remove these failures instead of measuring them. We introduce FINCOSMOS, an open-world evaluation paradigm for agents doing financial work. A simulated user holds a hidden strategy sampled from a compositional grammar and reveals it only when asked. The agent receives no data, so it must acquire data from the Web, build its own backtest under a data cutoff, and deliver verifiable results. Grading needs no reference answer. Programs verify point-in-time correctness and recompute every reported metric, the delivered strategy is checked against the hidden specification, and a run is accepted only when the user is satisfied and none of 15 veto checks fails. Across four coding agents and a model without tools in 150 sessions, no session is accepted: every session that the simulated user signed off fails a program check, and agents raise only 54--64\% of the details they were not told. Human experts attribute 88.33\% of failures to the agents. With FINCOSMOS feedback, an agent with persistent memory learned all ten tasks.
Chang Liu, Ke Han, Niccolò Biondi, Gloria Isotton, Elisa Ricci, Davide Talon, Nicu Sebe
Sign language generation (SLG) maps written sentences into signing motion while preserving both lexical content and fine-grained articulation. This requires a model to decide what signs should be expressed and to realize them through precise handshape, trajectory, facial expression and body coordination. Existing pose-based systems and reconstruction-only motion tokenizers often entangle these two decisions, leaving the generator without an explicit text-aligned intermediate target for what to sign before refining how to sign it. To address this issue, we introduce Semantic Residual Vector Quantization (SRVQ), a framework for SLG that frames generation as a two-level process moving from semantics to kinematics. The newly introduced SRV Quantizer learns a hierarchy in which the first residual level encodes sign content and subsequent levels refine pose, handshape, trajectory, and body coordination, all within a single quantizer and without separate semantic representations or external planning stages. Through word-aware conditioning for hierarchical code generation, a masked semantic generator predicts semantic codes and a kinematic generator completes the residual codes for full SMPL-X motion synthesis. We evaluate using retrieval and FID in a shared text-motion embedding space, alongside standard geometric metrics. On CSL-Daily and Phoenix-2014T, SRVQ achieves R@1 of 82.3 and 70.3, outperforming the previous SOTA by 30 and 46 points, respectively.
Decision models choose among predefined options in tasks such as routing and action selection. In multi-agent collaboration, a decision determines how members divide work, exchange resources, and act in parallel. We introduce TandemBench, a benchmark of 1,200 questions in multi-agent cooking scenarios where coordination choices affect goal completion. Models receive complete global information and candidate team plans, with reference answers established through execution and exact search. Models select an optimal team plan and, in paired variants that retain or remove it, judge whether better arrangements exist beyond the supplied options. We evaluate 40 native decision models and compare them with 10 general-purpose language models. The best native decision model achieves 62.50% decision accuracy. Native decision models remain close to chance in optimality verification. Paired tests reveal that some report better alternatives regardless of whether an optimal plan is already present. These findings show that team-plan decision accuracy alone can conceal systematic errors in judging whether the supplied options contain an optimal arrangement. The dataset and evaluation code are publicly available at https://github.com/lililibaohang/TandemBench.
Recent multimodal language models can reason directly about robot scenes, but it is unclear whether they need to repeatedly reinterpret raw visual observations at every step of an interaction. We propose shifting routine spatial reasoning from images to text and symbols through a 3D geometric abstraction that is refreshed locally from observations and read directly by the language models. Specifically, our interface represents scene geometry via typed, evidence-aware symbolic references to object parts, grounds them from calibrated RGB-D, and returns compact textual checkpoints with metric residuals after each action. Symbolic task structure can thus be reused across decisions while metric values are rebound to the current scene, with direct visual reasoning invoked only on demand. Across offline policy synthesis and continuous online execution, reasoning over grounded text and symbols improves multi-step manipulation completion while substantially reducing repeated multimodal queries, positioning explicit geometric state as an effective substrate for agentic robot policies.
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.
Ligen Shi, Jun Qiu, Zengyu Pang, Yuhang Zheng, Lina Wu, Di He, Chang Liu
Implicit neural representations (INRs) commonly employ Fourier features to alleviate spectral bias and represent high-frequency signals. Fourier encodings, however, use the same frequency representation across spatial locations despite the spatially varying frequency content of natural signals. We propose Adaptive Frequency Implicit Neural Representation (AFINR), a spatially adaptive frequency-conditioning framework for Fourier encoded INRs. A sampling compatible Fourier dictionary first defines the explicit frequency support, and a learnable spatial control field then modulates the admitted Fourier components before decoding. The control field is parameterized in the discrete cosine transform (DCT) domain to provide a compact and continuously queryable spatial representation. AFINR can be combined with different coordinate decoders, including ReLU, SIREN, CAFE, and CAFE+. Experiments on Kodak and DIV2K show consistent average improvements across these decoder families. In particular, AFINR-CAFE+ improves CAFE+ by 3.95 dB on Kodak and 3.50 dB on DIV2K. Ablation studies characterize the effects of adaptive-field parameterization, DCT coefficient retention, and frequency-response parameters, while learned spatial responses show position-dependent use of the admitted Fourier components.
Yulong Li, Rong Xia, Yuxuan Zhang, Jianxu Chen, Xiwei Liu, Haochen Xue, Maosheng Li, Yuhang Liu 等 15 位作者
We introduce DoAtlas-2, a foundation for self-evolving causal biomedical discovery that organizes knowledge around causal mechanisms and advances through external evidence from human populations. DoAtlas-2 integrates 771 research resources covering more than 720,000 participants in 48 countries, from longitudinal clinical phenotypes, medical imaging, and continuous physiological signals to eight molecular layers, together with an evidence network of approximately 4.7 million literature-derived records over 93,566 concepts and 149,383 candidate causal relations. DoAtlas-2 autonomously formulates research questions from evidence gaps and unresolved mechanisms, prespecifies their causal designs, and generates validated analyses. Supporting, challenging, and unresolved results continuously revise mechanistic interpretations, the causal evidence state, and the discovery frontier, so that DoAtlas-2 self-evolves within a closed loop of hypothesis generation, empirical testing, and renewed discovery. DoAtlas-2 has systematically evaluated 2,031 research questions. In the Human Phenotype Project (HPP), it formulated 4,014 candidate pathway questions across vascular, early-glycemic, and hepatic-metabolic systems, and screening of the first 1,079 yielded statistical support for 756. Representative studies identify blood pressure as a convergence node linking adiposity, hepatic, and lipid phenotypes to vascular outcomes, and show that an adiposity-inflammation-blood-pressure pathway is largely attenuated by joint adjustment for body mass index (BMI) and smoking. The discovered vascular network constitutes a completely interpretable predictive foundation, admitting exact attribution of every prediction and closed-form mediation effects. DoAtlas-2 thereby unifies causal mechanism discovery, population-evidence testing, and interpretable prediction within one continuously evolving foundation.
Large language model (LLM) services face rapidly rising serving costs. To sustain free or affordable access for a broad user base, alternative monetization mechanisms are needed. Native advertising offers a promising approach, as it creates economic value by aligning user intent with merchant offerings. Yet how to integrate sponsored content naturally into LLM responses remains largely underexplored. Existing approaches primarily rely on prompt-level injection, multi-pass rewriting, or fine-tuning, which can compromise response quality or introduce additional computational costs. We propose AdSteer, a lightweight decoding-time advertising framework that adaptively adjusts token probabilities to integrate contextually appropriate advertisement into responses. AdSteer calibrates the strength and duration of advertising influence, making sponsored content a natural part of the response. Experiments on GEM-Bench across three application scenarios show that AdSteer achieves an average improvement of 14.1% in overall score over the strongest baselines and 22.5% fewer total tokens on average than rewrite-based methods. These results demonstrate that AdSteer provides an effective and practical solution for native advertising in LLMs.
Xinbo Zhao, Yuhang Liu, Xin Zhang, Lei Le, Zhaohan Xi, Yu Yang, Yingxue Zhang
Offline multi-task reinforcement learning (MTRL) aims to learn a unified policy from heterogeneous offline datasets that generalizes across tasks. However, existing offline MTRL methods often struggle with two fundamental issues: severe per-task data scarcity and limited cross-task generalization. In this paper, we propose Language-Model Augmented Decision Transformer (LaMA-DT), a unified sequence-modeling framework that leverages a single large language model (LLM) for both trajectory augmentation and multi-task policy learning. LaMA-DT uses natural-language task descriptions to guide task-aligned trajectory augmentation through a set of supervised generation and alignment objectives, and incorporates a scoring-and-filtering mechanism to retain high-quality augmented trajectories. The same LLM is then repurposed as a language-conditioned Decision Transformer and fine-tuned on a mixture of real and augmented data. Experiments on Meta-World and MuJoCo multi-task benchmarks demonstrate that LaMA-DT consistently outperforms competitive baselines, particularly in low-data regimes, showing that language-guided data augmentation substantially improves cross-task generalization.
Xinbo Zhao, Yuhang Liu, Xin Zhang, Lei Le, Zhaohan Xi, Yingxue Zhang
To enable effective generalization in offline meta-RL, it is essential to accurately infer the underlying task through latent task representations, which provide a compact and transferable summary of task-specific characteristics for guiding policy generation. In this paper, we propose Contrastive Task-Aware Decision Transformer (CoTA-DT), a DT-based offline meta-RL framework that learns task representations by jointly integrating four complementary components: (i) contrastive learning from offline trajectories, (ii) alignment with natural-language task descriptions, (iii) one-step supervision via a task-conditioned world model, and (iv) long-term supervision via a task-conditioned Q function. The learned task representations are used as conditioning signals for a DT-based policy, enabling task-aware meta-policy learning. To further support generalization in both zero-shot and few-shot settings, we design a language-grounded, self-adaptive strategy that enables effective and reliable adaptation to unseen tasks. Notably, in CoTA-DT, the pretrained LLM serves as a shared backbone for language encoding, world modeling, Q-function estimation, and policy learning. This unified design facilitates parameter sharing, improving both efficiency and generalization. Extensive experiments across diverse offline meta-RL benchmarks demonstrate that CoTA-DT consistently outperforms prior methods, particularly in challenging zero-shot generalization scenarios.
Rapid advances in cowork agents are shifting human-AI collaboration toward real-world automation, delivering software, designs, and other artifacts. However, such productivity work demands both high-quality delivery on complex productivity tasks and continued monitoring and decision-making over long horizons, a combination that remains an open challenge. We introduce CoworkOS, a general-purpose harness for long-horizon work that separates task strategy from execution management: the model decides actions, delegation, and acceptance, while the runtime maintains state and feedback. Its three-layer architecture enables direct execution or delegation to Subagents, synchronously or asynchronously, under stable responsibilities. Through a shared application layer, humans and agents inspect and revise the same evolving documents, presentations, CAD models, and Blender scenes, so human-in-the-loop participation can enter both through conversation and through direct modification of the work itself. To sustain continuity across agents and sessions, CoworkOS further introduces hierarchical workspaces and persistent semantic memory, so working files, key decisions, and long-running Job logs remain shareable, reusable, and resumable after interruption. Across 12 benchmarks and 6 categories of real-world applications, CoworkOS proves highly competitive with frontier agent applications such as Codex and DeepSeek Harness. As a sustained-work case study, CoworkOS uses GLM-5.3 as its backbone to conduct RSI-driven automated post-training on Qwen3.6-35B-A3B. Over five rounds, the model's average score across eight benchmarks rose from 33.19 to 42.95 (+9.76). Looking ahead, we believe CoworkOS opens a meaningful path toward general cowork-agent intelligence.
Recursive self-improvement (RSI) in production agents involves transforming accumulated experience into reliable model updates while adapting to evolving business policies. We present CARE (Customer-service Agent Retrospective and Evolve), a grounded RSI framework that operationalizes this process in customer service. Its goal is to replace a frontier proprietary incumbent with an in-house mid-sized model that continues learning after deployment. After a one-time cold start on governed production traces, the current model serves production traffic alongside the incumbent, and its own failures drive the next update. A 24/7 inspection process establishes failures through evidence-blinded, independently reviewed judgments. Attribution separates model errors from defects in Skills, tools, or the harness, routing component failures to repair. Model-attributable trajectories are truncated at the first erroneous decision and paired with verified repairs. On-policy self-distillation (OPSD) then updates the model using the same model as teacher, with the diagnosis and repair supplied as privileged information unavailable to the student. To support continued evolution as business requirements change, training mixes failures from different Skill/SOP versions, each judged against the policy in force when it occurred. Candidates run an executable simulation test compiled from the latest SOP and then frozen, followed by offline inspection of the resulting traces. Promotion requires a combined simulation-and-inspection score at least at parity with the deployed version, confirmation through an online comparison with the incumbent, and human approval.
LLM agents are rapidly shifting software development toward intent-driven \emph{vibe coding}, yet their effectiveness drops sharply in high-level synthesis (HLS), where code optimization must jointly consider design structure, directive search, and downstream hardware constraints. Existing HLS optimization approaches, including both heuristic-based methods and recent LLM-assisted pipelines, typically operate at fixed abstraction levels or in weakly coupled stages, limiting their ability to leverage the strong interplay between source code restructuring and directive search outcomes. Our key insight is that HLS optimization can be reframed from a fixed, hardwired transformation pipeline into a skill-based agentic control problem: an LLM agent equipped with modular, executable optimization skills and a feedback-driven orchestrator can autonomously navigate the coupled space of code restructuring and directive search. This motivates the design of HLSClaw, the first HLS-specific, skill-based agentic harness for holistic HLS optimization. On real-world HLS benchmarks, HLSClaw achieves a 39.12x geometric-mean latency speedup, outperforming the compiler baseline ScaleHLS by 1.98x, and surpassing the commercial coding agents Claude Code and Codex by 1.86x and 1.70x, respectively, while maintaining strong timing robustness.
Wen Yan, Ligen Shi, Jun Qiu, Haimiao Zhang, Lina Wu, Chang Liu
Implicit Neural Representations (INRs) have emerged as a compelling paradigm for modeling multidimensional signals by mapping continuous coordinates to signal values. However, Multi-Layer Perceptrons (MLP)-based INRs inherently suffer from spectral bias, which favors low-frequency components and suppresses the reconstruction of essential high-frequency details. While existing techniques, such as Fourier feature mappings, mitigate this issue, they often rely on sensitive manual tuning and are prone to spectral artifacts. In this paper, we propose a spatial-frequency-aware INR framework that combines an MLP branch with a Kolmogorov-Arnold network (KAN) branch for complementary frequency-oriented modeling. The MLP branch provides a low-frequency-oriented representation of smooth structures, whereas the KAN branch complements localized variations and fine details. To coordinate the two branches, we integrate the discrete wavelet transform (DWT) and inverse discrete wavelet transform (IDWT) into the output fusion stage. The outputs of the two branches are decomposed into wavelet coefficients, and the corresponding coefficients are additively fused before inverse wavelet reconstruction. A wavelet-domain band-separation regularization further penalizes high-frequency responses in the MLP branch and low-frequency responses in the KAN branch, thereby encouraging complementary frequency-oriented behavior. Experiments on 1D signals, 2D images, 3D volumes and signed distance functions, videos, and 4D light-fields demonstrate the applicability of the proposed representation across the evaluated signal modalities. Results demonstrate improved reconstruction fidelity across the evaluated signal modalities.
Richard Yucheng He, Chen Xu, Yihang Liu, Tairan Chen, Baodong Cao
Most benchmarks for real-time voice systems focus on one aspect, such as turn-taking, instruction following, paralinguistic control, or conversational memory, each with its own data and set of systems. We present InteractionBench, a benchmark and evaluation harness that measures four dimensions on the same systems from the same recorded user audio: conversational timing, spoken-task accuracy, whisper and volume, and groundedness in conversations of more than twenty turns. The benchmark contains 221 items per system in thirteen scenarios. Before any system runs, we fix the expected floor-control actions for spoken tasks by rule and take the expected answers from scripted dialogues. We score whispering from the audio signal. We evaluate GPT-Live, GPT-Realtime, Gemini Live, Moshi, PersonaPlex, Freeze-Omni, and a turn-based cascade in 1,519 graded runs. Among the six full-duplex systems, timing and spoken-task accuracy are rank-correlated ($ρ= 0.83$), while the cascade has the highest spoken-task score (38/50) and the second-lowest timing score. No system corrects a user's grammar within the required window. Only Gemini Live whispers on most requests (8/10). Hosted systems pass 67-88% of groundedness probes, compared with 14-35% for open full-duplex models. Timing is measured where the client hears each system, so the timing of hosted systems includes network delay: for GPT-Live, whose server reports its own clock, removing a delay of about 1.5 s lowers its timing score from 86% to 56%. We also document where the protocol differs across systems, including the text instructions.
Rubric optimization improves LLM grading by revising scoring instructions while keeping the grader's parameters fixed. Existing optimizers often judge edits by aggregate validation performance, limiting the supervision they retain about which errors an edit corrects or introduces. Testing each candidate also requires rescoring validation answers, which limits how many edits can be explored within a fixed budget. We propose RubricWorld, a framework that learns from previous edit evaluations to guide further search. Its world model predicts an edit's correction and degradation rates at score boundaries, conditioned on the current rubric state. The training signal comes from paired grading results: scores for the same answers before and after an edit. Predictions select one candidate for direct evaluation, and held-out confidence bounds determine whether it corrects enough target errors while keeping new errors within prespecified limits. Measured effects update the model even when the edit is rejected. Across EIR (National), ASAP2.0, and ASAP-SAS with three frozen LLM graders, RubricWorld achieves the highest score in 20 of 27 metric comparisons. On ASAP2.0, it raises gpt-5-mini accuracy from 18.20% with the original rubric to 46.70%, exceeding the strongest baseline, APO, by 22.60 percentage points. code will be released upon acceptance.
Jiaheng Xiao, Jiangtao Han, Jiachen Wang, Honghai Li, Lijun Sun, Kay Axhausen, Chang Liu, Zhengbing He
Understanding mobility dynamics and the effects of urban transportation management policies requires examining how individual travel decisions, traffic conditions, and policy interventions influence one another over time. We present AgenticMobility, an open-source experimental platform for studying how mobility AI agents and other AI agents interact, adapt through repeated experience, and collectively shape mobility outcomes. Persistent agents retain identities and relevant states across rounds, with explicit interfaces defining information access, admissible actions, and decision schedules; linked records trace decisions, execution, and feedback. In the current implementation, large language model (LLM) agents act as travelers choosing routes and departure times and as a manager periodically adjusting link charges within MATSim. A preliminary demonstration spans 100 simulated days in each of five configurations, with one run per configuration and a shared simulation seed. In the joint traveler--manager run, all 1,179,300 finalized target decisions satisfied action constraints; execution checks verified implementation of accepted choices and preservation of personal memories across days. Trajectories show stable route choices alongside departure-time adjustments and differences between controlled-trip and population-wide outcomes. The platform supports experiments on individual adaptation, collective outcomes, and management interventions by varying information access, retained experience, and management feedback. Source code is available at https://github.com/Agentic-City-Research/Agentic-Mobility
Blockchain-based identity services let applications across administrative domains verify biometric authentication results without sharing a trusted biometric server. BioZero evaluates how to protect private templates while limiting on-chain execution and submitted transaction-data costs under explicit cryptographic assumptions. FullCheck provides knowledge soundness for the modular distance relation, but exhaustive coordinate checks cost 22.1 million gas at N=128 in a threshold-stand-in benchmark. SpotCheck tests a natural optimization: sampling checks within the same homomorphic structure. Checking seven coordinates saves 81.3% gas, reducing it to 4.1 million, but retains 127,844 bytes of calldata. We prove that changing one product commitment can shift the reconstructed distance to any chosen residue and evade a uniform sample of t among N coordinates with probability 1-t/N. Negligible attack success therefore requires nearly exhaustive checking, limiting the scope for coordinate-check savings. CircuitCheck changes the verification structure, proving commitment openings, coordinate ranges, and the integer distance threshold in one circuit. Its complete reference transaction costs 255 thousand gas with 356 bytes of calldata. At N=128, median proving time and process peak memory are 0.63 s and 822 MiB on the evaluated workstation. On two face datasets, every tested width of at least 6 bits stays within 0.46 percentage points of float accuracy, supporting the shared integer-input front end. These results favor CircuitCheck for the evaluated integer matching task in blockchain-backed cross-domain identity services, provided that committed probes are separately bound to authenticated live captures.
Yuehang Li, Xiao Wang, Qiang Chen, Yangyi Fan, Bo Jiang, Yaowei Wang, Jin Tang
Industrial shampoo-bottle surface defect detection must operate across many stock keeping units (SKUs), where differences in bottle geometry, material, label layout, reflectance, and imaging conditions can substantially alter the appearance of the same defect. Existing industrial defect datasets rarely provide both instance-level defect annotations and product-variant identities, making it difficult to study SKU-aware detection under realistic manufacturing conditions. We introduce Bottle-SKU, a large-scale multi-SKU benchmark for shampoo bottle surface defect detection. Bottle-SKU contains 13,119 images, 20,419 instance-level bounding boxes, seven defect categories, and 48 bottle SKUs, enabling evaluation of both shared defect recognition and SKU-specific appearance variation. To address the challenge of SKU-specific appearance variation, we propose Prototype-Guided Dynamic Domain Modulation (ProDMM). ProDMM constructs a visual prototype for each SKU from training images and predicts a soft SKU distribution for each input. The resulting prototype-conditioned representation dynamically generates low-rank Query/Value modulation for the visual backbone and residual conditioning for defect-text-to-visual attention, while preserving the pretrained Grounding DINO detection pathway. The model is trained jointly with detection, SKU-domain classification, and modulation-regularization objectives. Experiments on Bottle-SKU and the public GC10-DET-SKU metallic surface defect dataset demonstrate the effectiveness of prototype-guided domain conditioning for industrial surface defect detection. The source code and model will be released on https://github.com/Event-AHU/Industrial_Anomaly_Detection
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.
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.
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/
Junnan Nie, Zitian Fan, Jiachen Zhang, Junyi Lao, Likui Zhang, Chenghao Liu, Xiaoyang Lu, Yunbo Wang 等 17 位作者
Learning task progress from robot demonstrations provides a practical way to construct dense shaping rewards for robotic reinforcement learning. A common approach uses normalized demonstration time as progress labels, implicitly assuming monotonically increasing task progress. During policy exploration, however, actual task progress can stall or even regress. Such models may mistake regressions for progress, assigning positive shaping rewards to actions that cause progress loss. Real suboptimal and failed executions offer corrective experience, but assigning absolute progress values to their states is difficult. Our key observation is that stalls, regressions, and recoveries establish local relative progress relations even when absolute progress is unknown. We introduce Event2Reward, which uses normalized temporal labels to anchor the progress scale and these within-trajectory relations to constrain local changes, combining absolute and relative progress supervision. Its progress predictions serve as potentials for reward shaping. We curate an event-annotated dataset from approximately 100K raw real-robot execution records, covering successful, suboptimal, and failed executions, without requiring framewise absolute progress labels. Under the same training budgets, Event2Reward improves average policy success by 18.16 percentage points over a baseline using only sparse task rewards across 40 tasks in four LIBERO suites. On real robots, average success after 30 minutes of wall-clock training reaches 60.0% on three precise insertion tasks and 90.0% on three object manipulation tasks, exceeding the sparse-reward baseline under the same budget by 36.7 and 23.3 percentage points, respectively. Ablation studies further show that absolute progress supervision and relative progress relations are complementary, with joint supervision yielding better downstream policy learning.
A memory can be outdated for present-day reasoning yet indispensable for reconstructing the past. Relevance-based retrieval overlooks this tension: semantic relevance, evidence-grounded validity, and query-specific eligibility are distinct. We propose CALM, a conflict-aware lifecycle memory governance framework that decouples persistent memory preservation from query-time admission. CALM converts heterogeneous records into evidence-grounded memory cells, updates validity and lifecycle states using support, conflict, and dependency signals, and admits query-appropriate evidence through training-free or learned gating informed by temporal applicability. Across LongMemEval-S and LoCoMo with Qwen and GPT backbones, CALM outperforms state-of-the-art baselines, achieving the best overall accuracy. Compared with simple filtering and reranking, query-conditioned admission further improves evidence selection. Conflict-blocking and robustness analyses show CALM suppresses erroneous retrieved memories while retaining useful evidence. Historical-reconstruction experiments demonstrate that preserving superseded records supports accurate earlier-state reasoning without compromising current-state answers.
Generative recommendation (GR) has emerged as a promising paradigm that predicts target items by autoregressively generating their semantic identifiers (SID). Most GR methods follow a quantization-representation-generation pipeline. While most research focuses on quantization and generation, the representation that bridges the two remains underexplored. Existing representation constructions mainly take two forms: either directly flattening the SID code embeddings into a sequence or merging them into a compact vector via external networks. While effective, they still expose two practical challenges: \textbf{1) Loss of item semantics:} Information lost by quantization or compression needs to be recovered during the representation stage. \textbf{2) Insufficient modeling of structured SID relations:} Intra-item code composition patterns and inter-item prefix-transition patterns are not explicitly preserved for representation and subsequent SID generation. To overcome these challenges, we propose \textbf{ComeIR}, a \textbf{\uline{Co}}nditional \textbf{\uline{me}}mory Enhanced \textbf{\uline{I}}tem \textbf{\uline{R}}epresentation framework that reconstructs SID code embeddings into item-aware inputs and preserves structured SID evidence for prediction. Item-guided Token Scoring estimates the contribution of each SID code using the item embedding employed by the quantizer. Dual-level Conditional Memory captures intra-item prefix composition and inter-item prefix transitions, while Memory Merge integrates these signals into each historical item representation. The Memory-restoring Prediction Head further conditions SID-level prediction on the generated prefix and historical transition evidence. Extensive experiments demonstrate the effectiveness and flexibility of ComeIR, and further reveal scalable gains from enlarging conditional memory.
Minxing Chu, Anhang Li, Martins Atilla, Ruichen Qi, Mehdi Saligane
Analog layout remains largely manual and hard to automate. Generator frameworks such as gLayout express layouts as programs, producing layouts from parameterized, design-rule-aware generators; however, writing such generators still takes expert effort. Large language models (LLMs) could now write generator code, and frontier models can even draw layout geometry from design intent. This raises a practical question: if a model can draw the layout itself, what does a generator framework still contribute, and is applying these models to a generator framework better than having them draw a layout from scratch? Through controlled experiments on gLayout in SKY130, we find that the main obstacle to drawing a layout directly is its time and token cost, and that the main advantage of a model building on a generator framework is reusability. Its verified primitives keep each model edit small enough to check, and its parameters allow a single edit to be evaluated across an entire family of layouts. Accordingly, a model is most effective when it develops the layout from the generator source of the family that the design intent belongs to, and tests each edit on the family members most likely to fail, so that one verified change improves every layout the generator produces. The results of these family tests can then serve as supervision for a local model, which learns edits that hold across the family at a fraction of the inference cost.
Junzhang Liu, Hao Yuan, Yiming Wu, Qi Zhang, Long Chen, Zhecan Wang
Effective video agents must learn not only how to answer, but also where to look next. Transferring this capability to smaller models is challenging because each observation serves two purposes: supporting an answer and guiding the search for further evidence. Textual descriptions may capture what is currently visible while omitting cues needed for subsequent acquisition. We introduce Latent Agentic Reasoning for Video Analysis (LARVA), a framework that distills multi-round video agents through jointly learned latent reasoning and visual observations. Rather than communicating through captions, an observer passes compact continuous representations to a reasoner that selects the next acquisition action or produces the final answer. Crucially, action and answer supervision propagate through this interface, training the observer to communicate information useful for downstream decisions. Observation reconstruction and reasoning-distribution alignment provide auxiliary supervision from textual teacher trajectories. Across five video-understanding benchmarks, LARVA achieves strong performance with 4B and 7B backbones. On VideoHolmes, Video-MME, and LVBench, the 7B model outperforms a textual CoT student trained on the same teacher trajectories by 5.1, 2.5, and 3.7 percentage points, respectively. These results highlight the value of jointly learning how agents represent evidence and act on it when distilling video-understanding capabilities.