Text-to-CAD generation aims to make CAD modeling more accessible by generating executable CAD programs from natural-language descriptions. However, practical CAD workflows require more than executable geometry: generated programs should also expose reusable structure that supports later modification. We introduce intent-oriented text-to-CAD generation, where design intent is expressed as recoverable code-level signals: semantic features, reusable parameters, and lightweight parametric relations. Rather than changing the model architecture or decoding procedure, we investigate how supervision representation granularity affects both CAD generation and zero-shot intent-preserving editing. To enable this study, we construct IntentCAD-100K, a 100K paired text--code dataset built by converting low-level CAD construction traces into executable CadQuery programs. We further construct IntentCAD-Edit-1K to evaluate zero-shot intent-preserving editing from the same representation perspective. Intent2CAD uses a two-stage conservative lifting pipeline: semantic lifting rewrites reliable primitive groups into feature-level operations, while parametric lifting exposes lightweight parametric relations. Under controlled fine-tuning, semantic lifting mainly improves generation reliability and feature recovery, reducing IR from 2.39% to 0.22% and achieving 99.96% API Recovery, while parametric lifting makes reusable relation structure explicit and further improves relation-aware zero-shot editing. Datasets and code are available at https://github.com/JinboYang94/Intent2CAD.
On-policy distillation (OPD) trains a student language model on its own trajectories using token-level supervision from a stronger teacher. We show that standard sampled reverse-KL OPD systematically suppresses updates to high-confidence tokens, such that their weak gradient contribution does not necessarily imply weak or uninformative teacher supervision. We introduce Bernoulli On-Policy Distillation (Bernoulli OPD), which directly matches the teacher and student probabilities for that token. This yields a bounded probability space correction that preserves teacher-student disagreement while avoiding the additional confidence-dependent suppression induced by vanilla OPD. Fixed-rollout analyses show that Bernoulli OPD substantially restores optimization signal to high-confidence tokens while remaining sensitive to teacher-student disagreement. We further analyze the resulting model behavior through confidence distributions, answer calibration, policy movement, and training dynamics, showing that Bernoulli OPD's gains cannot be explained simply by longer reasoning, larger optimization steps, or more uniform imitation of the teacher. Code is available at https://github.com/duterscmy/Bernoulli-OPD.
Current medical artificial intelligence (AI) systems are often task-specific, poorly integrated, and difficult to interpret, limiting support for multimodal clinical workflows. We developed and evaluated EyeAgent for ophthalmic decision support. EyeAgent comprises three layers including 54 task-specific EyeTools, 32 clinical skills, and a modular large language model reasoning core with interchangeable backbones. A multi-level evaluation distinguished this scope from empirical system-level validation. Component-level evaluation assessed newly developed models on held-out splits of datasets totaling 871,862 samples. System-level evaluation included illustrative cases of workflow breadth, a 200-case expert-rating study of output quality, and an exploratory multicenter reader study comparing unassisted and EyeAgent-assisted performance among 27 ophthalmologists from 11 centers. Skill-level and backbone ablations further assessed orchestration and robustness. In illustrative cases, EyeAgent showed task-specific advantages over GPT-5.5 in lesion quantitation, cross-modality synthesis, and uncertainty-aware reporting. In the expert-rating study, EyeAgent achieved an F1 score of 0.84 for skill selection, with 82.7%-92.0% of outputs rated acceptable or better across six clinical dimensions. In the exploratory multicenter reader study, diagnostic accuracy increased from 72.8% unassisted to 91.9% assisted (difference, 19.1 percentage points (pp); 95% CI, 13.6-24.7; Holm-adjusted P<0.001). Report completeness increased from 55.8% to 75.6% (difference, 19.8 pp; 95% CI, 14.8-24.7; Holm-adjusted P<0.001). Across the evaluated settings, EyeAgent supported interpretable, evidence-guided reasoning and showed potential for human-AI collaboration. Broader real-world effectiveness and generalizability require prospective and cross-population validation.
Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a critical scarcity of large-scale data. To resolve this, we curate high-quality 3D objects and supporting bases, proposing a scalable seed-and-filter strategy that bypasses sluggish scene-level optimization. This yields an unprecedented benchmark comprising over 2.6 million scenes and 0.4B scene-specific grasp ground truths, featuring diverse realistic layouts paired with rich semantic and geometric observations. Furthermore, we introduce the OmniDex model to overcome the grasp multimodality and last-millimeter precision errors plaguing current generative models. By coupling Soft Winner-Takes-All learning with human-inspired physical constraints during training, and utilizing physics-driven ranking, our approach achieves robust dexterous grasping without the latency of post-optimization. Experimental results show that OmniDex model achieves state-of-the-art performance and strong generalization across diverse scenes, views, and unseen objects.