AI 速览：作者提出一种乐高兼容的气动人工肌肉模块及配套 MuJoCo 仿真器，用于快速搭建和探索可重构肌肉骨骼机器人。
Musculoskeletal robots combine compliant actuators with articulated skeletons, but exploring alternative configurations often requires repeated fabrication. We present MUSBRIC, a modular hardware platform and accompanying MuJoCo-based simulator for reconfigurable musculoskeletal robots. LEGO-compatible endcaps turn fiber-reinforced extensile pneumatic artificial muscles into reusable, plug-and-play muscle bricks that connect directly to standard LEGO components. Experimentally identified actuator behavior supports corresponding musculoskeletal simulations. An elbow-joint prototype validates load-dependent flexion and extension, showing that pulley-guided routing enables reversible motion and a mechanical stop stabilizes the straight posture. A robotic hand demonstrates compliant grasping and multi-joint construction. Matched hardware and simulation sweeps across 15 leg configurations demonstrate systematic exploration of attachment geometry, while a quadruped assembled from four legs demonstrates walking. Together, these demonstrations span mechanism analysis, configuration exploration, and functional robot construction within a single reconfigurable system. The hardware designs and simulation code will be released as open source soon to facilitate reproduction and further development.
Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation, and VLA control. However, trained primarily on flat-ground motion, BFMs lack an explicit mechanism to adapt foot placement, swing clearance, and contact timing to local terrain. Many terrain-aware BFM approaches address this limitation by retraining or fine-tuning the tracker together with perception, incurring substantial data and computation costs while coupling ordinary tracking to the perception pathway. To bridge this gap, we propose GRAFT, a geometry-aware residual adaptation framework for frozen behavior trackers. GRAFT preserves the BFM parameters and motion-reference interface, while a lightweight adapter adds terrain-conditioned corrections only to lower-body execution targets. The adapter is trained with task and foot-geometry rewards, regularized to suppress unnecessary corrections on flat ground, and distilled from privileged terrain observations to onboard depth. Because the frozen BFM already provides whole-body reference tracking and nominal locomotion, GRAFT reduces terrain learning to a focused execution-adaptation problem. We instantiate the framework on four frozen trackers and evaluate stairs, gaps, and platforms in simulation. We further validate it through real-world deployment on a Unitree G1, where the adapted SONIC tracker traverses terrain with onboard depth and unmodified references.
Hanzhang Yuan, Mengxuan Hu, Wenhao Zhang, Tianlong Wang, Zhongliang Zhou MERCK & CO., INC., Jiasen Lu, Sheng Li Oracle and University of Virginia, Charlottesville
Large Vision-Language Models (LVLMs) excel at visual understanding but face severe computational bottlenecks when processing high-resolution images and long videos due to massive visual token counts. Token pruning mitigates this by selectively removing less informative tokens while maintaining performance. However, existing methods vary widely in pruning location (vision encoder vs. LLM decoder), importance criteria (attention vs. similarity vs. learned scores), and application strategy, lacking systematic comparison. This survey presents the first comprehensive review of token pruning for LVLMs. We propose a taxonomy categorizing methods into vision-side, LLM-side, and hybrid paradigms, systematically analyze token selection mechanisms and pruning strategy. We further discuss evaluation protocols and identify key challenges including prompt-adaptive pruning and hardware-aware design. Our survey provides a structured foundation for this rapidly growing research area.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表