Human cognition flexibly draws on a shared perceptual foundation to understand environments, attend to referenced entities, reason about spatial relationships, and act. Endowing aerial robots with an analogous functional organization remains challenging, as existing systems are often specialized for individual capabilities, dependent on offboard computation, or unable to sustain closed-loop operation on resource-constrained platforms. We present OpenFlyV2, a unified onboard vision-language-action architecture that uses a shared vision-language representation to support semantic understanding, language-grounded perception, spatial reasoning, and continuous aerial control within a single model. A compact action expert converts the shared multimodal context into short-horizon flight waypoints, while motion-aware temporal memory and action priors reduce the computational cost of closed-loop execution. We construct \dataset{}, a simulation-based dataset comprising approximately 70,000 navigation trajectories and 60,000 vision-language instruction--response pairs. OpenFlyV2 generates action chunks, each comprising 12 waypoints, entirely onboard at 10 Hz using an NVIDIA Jetson Orin NX. It transfers zero-shot from simulation to physical quadrotor flight, achieving a 48\% navigation success rate across four real-world environments without real-world aerial training data. Extensive results demonstrate that broad vision-language competence and continuous closed-loop flight can coexist within a single model on a resource-constrained aerial platform. Code will be made publicly available at https://github.com/Ideal-ljl/AeroBrain.
Operational strategies for long-horizon robotic tasks require reliable evaluation to determine whether execution is progressing, stalling, regressing, or recovering from errors. Yet real- world robot datasets that capture error recovery and provide frame-level error annotations remain scarce. To address this gap, we introduce and open-source ReSTEP, a dataset of 3,156 episodes across two manipulation tasks with semantic stage labels and frame-level er- ror annotations. ReSTEP supports training and benchmarking progress monitors through successful execution, mistakes, and recovery. Existing progress estimators can struggle to distinguish visually similar task stages and maintain temporally consistent predictions while responding to genuine setbacks. We therefore propose REMORA, an online progress esti- mator that combines recurrent visual memory, distributional prediction, and causal peak selection. Memory retains execution history to help resolve visual ambiguity, while distribu- tional prediction represents alternative progress hypotheses and causal peak selection tracks a supported hypothesis over time. Together, these components enable consistent progress tracking that remains responsive to errors and recovery. Experiments on both ReSTEP tasks demonstrate that REMORA outperforms the state-of-the-art SARM baseline in progress ac- curacy and temporal consistency.
As egocentric video becomes increasingly available for embodied learning, an important research question is how to turn this low-cost, scalable source of data into robot manipulation capabilities. Egocentric videos naturally provide rich context for high-level task understanding, while real-robot demonstrations with wrist observations and action annotations provide supervision for fine-grained action alignment. We present Ego-CEVR, a data-native framework for hierarchical visual representation learning that assigns distinct learning objectives to global and interaction representations. The global module learns object relations, task state, and temporal progress through future prediction on egocentric video. The Interaction module interprets wrist observations in global context and learns local alignment and contact cues through robot action supervision. Separate residual paths expose both representations to the action policy, preserving direct access to task context alongside fine-grained execution information. Ego-CEVR supports independent pretraining of its global video module on large-scale human egocentric videos and videos from diverse robot embodiments, without requiring robot action labels or paired wrist observations.
Yuqi Qiu, Zuyao Xu, Lu Sun, Xiang Li, Fasheng Miao, Fubin Wu, Haixin Duan, Zheli Liu
The Agentic Web needs to support continuous collaboration among agents from different organizations. These collaborative relationships may span multiple tasks, network connections and execution instances. Such interactions require stable communication entries, message reception when instances are offline, and source verification after delayed reading. How to organize these responsibilities so that cross domain communication does not depend on specific execution instances being continuously online is a key issue for building long term agent interaction infrastructure. We propose ATP (Agent Transfer Protocol), a cross organization agent communication protocol adopting a domain mediated architecture. In this architecture, administrative domains maintain stable addresses and receiving entries for logical agents. The domain servers of both parties continuously undertake cross domain transmission. The receiving domain verifies and saves messages for execution instances to read later. The sending domain signs the complete message envelope. This allows the receiving instance to independently reverify the domain source and content integrity after the original connection ends, provided the original verification public key is still trusted and obtainable. We implemented an ATP prototype and evaluated it through a controlled cross organization LLM agent workflow, mechanism checks and latency measurements. The workflow completed subsequent business processing after instances went offline or were replaced. The independent verifier successfully verified the domain source and content integrity of saved messages. Latency measurements further quantified the communication and processing overhead introduced by the continuous mediation of domain servers.
Nishtha Agarwal, Adam Visokay, Astha Wahi, Kwabena Owusu Aninkora, Amy Gu, Tyler McCormick, Li Liu
Systematic reviews synthesize biomedical evidence to inform clinical and public-health decision-making, but require domain experts to manually screen thousands of studies against detailed eligibility criteria. We investigate whether language models can assist with this bottleneck by learning from expert feedback on title and abstract screening decisions and model-generated reasoning. We introduce the Context-Aware Reasoning Framework (CARF), a human-in-the-loop framework that uses expert feedback on model-generated reasoning to adapt language models to context-dependent screening tasks. We evaluate CARF on systematic reviews of verbal autopsy and cause-of-death ascertainment methods used in global public health mortality surveillance. CARF shows competitive screening performance compared to evaluated models while retaining high sensitivity, and is more inclined to retain ambiguous, context-dependent studies for human review. Together, these findings suggest that expert-corrected reasoning is a promising supervision signal for context-dependent scientific screening, while retaining a role for human oversight.
World-action models (WAMs) incorporate the prediction of future observations into robot policy learning. However, most WAMs build on billion-parameter vision-language or video-generation backbones, which incur high training cost and inference latency. In this letter, we present GAWM (Geometry-Aware World Model), a compact multi-task WAM that predicts future observations in the latent space of a frozen DINOv3 encoder. GAWM compresses the features of each camera view into a small set of tokens. A lightweight predictor, conditioned on the task rather than on actions, forecasts these tokens at two future horizons. The forecast is supervised with the dense patch features of future frames, which requires it to encode the spatial layout of the future scene. An action decoder directly regresses a chunk of future actions from the current and predicted tokens. With fewer than 100M parameters and no robot or video pretraining, GAWM outperforms billion-parameter WAMs on RoboTwin 2.0 and performs comparably to billion-parameter VLAs on LIBERO. On a dual-arm robot, it achieves lower action-prediction error on held-out demonstrations than a fine-tuned billion-parameter VLA, with substantially lower inference latency. Ablation studies show that the latent world model substantially improves performance when training data or training time is limited. Code is available at https://github.com/gaoxiang12/ga-wm.
Publishing an email address makes a scholar reachable, but also exposes it to automated collection. Yet how email addresses are presented on the Web has not been measured systematically across their content, form, and location. We measure it across 32,413 homepage records of computer-science scholars listed in CSRankings with MailScope, which preserves raw and rendered HTML, extracts addresses with a three-stage cascade (rules, then large language models, then a crawling agent), and labels each address. Among 19,517 reachable homepages, we find an address for 17,712 scholars (90.8%). Our measurement yields four main findings. (i) Presentation is diverse: only 53.8% publish plain content, the others spread over 23 subtypes of symbol substitution, code, and semantic description, and 5.5% of scholars' addresses appear only after rendering. (ii) Presentation follows hosts rather than individuals: scholars on one host share a content class in 67.9% of pairs, compared with 38.8% across hosts of one institution, whereas research output and institution rank are barely related to presentation. (iii) Content and form are coupled through code-based links, and 6.2% of scholars with non-plain selected presentations have plain-text copies of the same address elsewhere. (iv) Plain addresses are more common behind passed bot challenges, and 36.1% of redirecting homepages no longer lead to scholars. Human assessment yields 94.4% weighted exact-set agreement on 143 judgeable pages, complemented by three 500-page review rounds with human verification. Presentation is diverse but clusters by shared host, and by our label-based estimate plain-string matching misses nearly half of the addresses.
Jiawei Cao, Jie Ouyang University of Science and Technology of China, Mingyue Cheng University of Science and Technology of China, Zhaomeng Zhou, Chunli Liu Hefei University of Technology, Yupeng Li University of Science and Technology of China, Zirui Liu, Shijin Wang State Key Laboratory of Cognitive Intelligence
Retrieval-Augmented Generation (RAG) is a mainstream approach to mitigating hallucinations in Large Language Models (LLMs), yet in dynamic real-world scenarios, such as weather forecasting or evolving news events, existing retrievers suffer from both temporal-semantic misalignment and outdated-document interference. To address this, we propose Relevance Recency Retrieval (Re^3), a novel framework that mitigates temporal hallucinations via two core components: a Time-Aware Dual Relevance Encoder that embeds heterogeneous temporal signals into the semantic space to ensure retrieval fidelity, and a Conflict-Aware Recency Filter that performs listwise arbitration to identify and suppress obsolete factual versions. To rigorously evaluate this setting, we introduce Re^2 Bench, a large-scale benchmark comprising over 1.3 million instances designed to assess system robustness in realistic environments where temporal constraints and conflicting factual versions coexist. Experiments on three public benchmarks and Re^2 Bench demonstrate that Re^3 consistently outperforms the strongest baselines by an average of 9.7% in generation accuracy, with gains of up to 25.2% on challenging dynamic tasks, while demonstrating robustness across diverse RAG settings.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Yiyang Gu, Junwei Yang, Junyu Luo, Ye Yuan, Bin Feng International Digital Economy Academy, International Digital Economy Academy, Yingce Xia Zhongguancun Academy, Shufang Xie Renmin University of China, Kaili Liu 等 18 位作者
Large language models (LLMs) are increasingly applied to scientific research, yet existing evaluations often fail to reflect the fine-grained capabilities required in practice. Most benchmarks are manually curated or domain-generic, limiting scalability and alignment with real scientific use cases. In this paper, we propose a new framework named SciCustom to address the problem. It enables the custom construction of benchmarks from large-scale scientific data to evaluate application-specific scientific capabilities in LLMs. SciCustom first organizes scientific knowledge into ontology-grounded knowledge units with controlled granularity and trains a tagger to map large-scale data instances into this knowledge space. Given a custom requirement, relevant knowledge units are identified via voting-based multi-model consensus. These units enable relevance-aware benchmark retrieval via binary search, followed by proxy subset selection and data-grounded benchmark generation for efficient evaluation. Experiments in chemistry and healthcare demonstrate that SciCustom reveals fine-grained differences in LLM scientific capabilities that standard benchmarks overlook, while requiring neither expert annotation nor synthetic question generation. This work provides a scalable and application-aware foundation for benchmarking scientific capabilities in LLMs.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Biao Yi, Tiansheng Huang, Baolei Zhang Nankai University, Tong Li Nankai University, Lihai Nie, Zheli Liu Nankai University, Li Shen Sun Yat-Sen University
Fine-tuning-as-a-service, while commercially successful for Large Language Model (LLM) providers, exposes models to harmful fine-tuning attacks. As a widely explored defense paradigm against such attacks, unlearning attempts to remove malicious knowledge from LLMs, thereby essentially preventing them from being used to perform malicious tasks. However, we highlight a critical flaw: the inherent general adaptability of LLMs allows them to easily bypass selective unlearning by rapidly relearning or repurposing their general capabilities for harmful tasks. To address this fundamental limitation, we propose a paradigm shift: instead of selective removal, we advocate for inducing model collapse, effectively forcing the model to ”unlearn everything”, specifically in response to updates characteristic of malicious adaptation. This collapse directly neutralizes the very general capabilities that attackers exploit, tackling the core issue unaddressed by selective unlearning. We introduce the Collapse Trap (CTRAP) as a practical mechanism to implement this concept conditionally. Embedded during alignment, CTRAP pre-configures the model’s reaction to subsequent fine-tuning dynamics. If updates during fine-tuning constitute a persistent attempt to reverse safety alignment, the pre-configured trap triggers a progressive degradation of the model’s core language modeling abilities, ultimately rendering it inert and useless for the attacker. Crucially, this collapse mechanism remains dormant during benign fine-tuning, ensuring the model’s utility and general capabilities are preserved.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表