Dian Wang, Jisang Park, Xiaomeng Xu, Han Zhang, Shuran Song, Jeannette Bohg
Robotic manipulation is inherently multi-frame: local actions may be simple in an end-effector frame, while transport, upright-object handling, and whole-body coordination are better represented in a base-aligned frame. However, modern diffusion-based visuomotor policies typically commit to a single predefined action frame, forcing one denoiser to model action distributions that are often unnecessarily complex in that frame. We propose Mixture of Frames Policy (MoF), a diffusion policy that performs synchronized action denoising across multiple coordinate frames. MoF maintains a single canonical diffusion state, re-expresses it in several task-relevant frames, applies frame-specialized denoisers, and fuses their noise predictions back in the canonical frame. To make this possible for intermediate noisy diffusion states, we adopt a column-based 6D rotation representation within an SE(3) action parameterization that supports exact, differentiable frame transformations without requiring noisy rotations to lie on the SO(3) manifold. Across nine simulated bimanual manipulation tasks, we show that the best action frame is task-dependent and that MoF improves over oracle frame selection and standard Mixture-of-Experts (MoE) baselines. We further evaluate MoF on two real-world bimanual mobile manipulation tasks, demonstrating that it outperforms all constituent single-frame baselines.
Traditional computed tomography (CT) can capture paired 3D face and skull geometry, but it remains costly, fixed in location, and exposes patients to radiation. For applications such as remote diagnostics, digital healthcare, forensic identification, missing-person investigation, and archaeological analysis, there is an urgent need for a portable, safe, and accessible solution to capture 3D skull geometry. In this work, we introduce Vision Tomography (VT), a concept and framework capable of reconstructing paired 3D face-skull geometry from various visual modalities, and also enabling joint manipulation of 3D facial and skull geometry. To achieve this, we first construct a dataset of over 200 samples, where each case includes a CT-based skull, a CT-based face, and a high-fidelity textured face scan. Secondly, we propose a novel dense ray matching registration method that ensures topological consistency across face, skull, and their tissue correspondences. Building on this registration, we introduce the 3D Bidirectional Face-Skull Morphable Model (BFSM) as the foundation of Vision Tomography, which enables shape inference between the face and skull through a shared coefficient space, while also modeling tissue thickness variation to support one-to-many facial reconstructions from the same skull, reflecting individual facial changes such as age or body fat. Finally, we demonstrate the effectiveness of Vision Tomography across various forensic and medical applications, including paired 3D face-skull reconstruction from images or sketches and predicting surgical outcomes with joint face-skull editing. Extensive experiments confirm the robustness and accuracy of our method. Vision Tomography is available at https://github.com/wang-zidu/BFSM
Derivative-free optimization (DFO) addresses problems where derivatives are unavailable or costly to obtain. This setting often arises in simulation-based and experimental applications, where evaluating the black-box objective can itself be costly. Thus, it remains a central challenge in DFO to effectively exploit accumulated observations to select informative evaluation points under a limited budget. In this light, we introduce the NextEval solver, an agent-based DFO solver, which integrates the capabilities of a large language model (LLM) to guide the sequential selection of evaluation points. Specifically, we establish a system that combines an LLM agent with a numerical environment. The environment provides tools for analyzing past evaluations and executing numerical methods, while maintaining a shared evaluation history and method-specific state to support continuation across method switches. Using observations and tool feedback, the LLM agent selects tools, configures their parameters, and allocates the evaluation budget, while numerical methods compute and evaluate candidate points. Building on this system, we also introduce NextEval Bench, a benchmark protocol for comparing agent configurations on shared DFO tasks using the same numerical tools under matched evaluation budgets and information constraints. Numerical results on low-dimensional DFO problems demonstrate that the NextEval solver outperforms the state-of-the-art DFO baselines in function-evaluation efficiency.
Feng Jiang Shenzhen University of Advanced Technology, Zhiyu Lin, Yiyang Liu Shenzhen University of Advanced Technology, Liumeng Xue, Fan Bu, Yuhao Du, Xiangying Chen, Benyou Wang The Chinese University of Hong Kong, Shenzhen 等 9 位作者
Recent advances in large language models (LLMs) have fundamentally reshaped speech-to-speech (S2S) systems, enabling increasingly natural spoken interaction. However, existing benchmarks still rely heavily on text-based evaluation and largely ignore paralinguistic cues such as prosody, emotion, and speaker traits, which are central to expressive and human-like communication. We introduce S2S-Arena, a speech-native benchmark for evaluating instruction-following S2S models with explicit assessment of both semantic understanding and paralinguistic expression. S2S-Arena features a four-level interaction protocol that systematically probes models under increasing paralinguistic complexity, a two-stage data construction pipeline that produces 1,243 speech samples spanning 100+ real-world tasks, and an arena-style evaluation framework that enables reference-free, pairwise comparison directly in the speech modality. Benchmarking 10 state-of-the-art S2S systems over 1,000+ comparisons reveals substantial performance gaps (especially under complex paralinguistic demands) between current academic and industrial systems. Our analysis further identifies key design factors governing expressive instruction following, providing actionable insights for building more natural, robust, and human-aligned speech agents.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Jiajie Jin Renmin University of China, Yuyao Zhang, Yimeng Xu, Hongjin Qian, Yutao Zhu, Zhicheng Dou Renmin University of China
Professional financial reports serve as the cornerstone of investment decisions, demanding deep reasoning and multimodal synthesis. While recent deep research systems excel in open-domain search, they struggle with financial reporting, specifically in handling financial data, ensuring analytical depth, and integrating professional visualizations. To address this, we introduce FinSight , the first multi-agent framework for automate end-to-end professional, multimodal financial report. At its core, we propose the Code Agent with Variable Memory architecture, which unifies data, tools, and agents into a programmable variable space, enabling flexible data manipulation and reasoning through executable code. To guarantee report quality, FinSight incorporates a Two-Stage Writing Framework with Generative Retrieval. This mechanism first distills raw data into structured Chain-of-Analysis segments, and then progressively synthesizes them into a coherent, citation-aware, and multimodal narrative. Additionally, an Iterative Vision-Enhanced Mechanism leverages visual feedback to refine code-generated charts to expert standards. Experiments on company and industry-level tasks demonstrate that FinSight significantly outperforms leading deep research systems in factual accuracy, analytical depth, and presentation quality, demonstrating a clear path toward generating professional financial reports. Our code is available at https://anonymous.4open.science/r/FinSight-5841.
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cs.CL · cs.MA · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表