Transformers achieve strong performance across modalities but are bottlenecked by the quadratic cost of attention. Sparse attention can reduce this cost, but effective sparsity must preserve useful long-range communication and map well to GPU hardware. We introduce INTRA--Interleaved Non-contiguous Token spaRse Attention--a hardware-aware static sparse attention design based on a relay-communication view under Computational Query Set (CQS) constraints. Rather than directly covering all token-to-token interactions within each sparse layer, INTRA uses complementary sparse groups to provide short mediated communication paths across layers. Scatter forms relay groups that sample broadly across local neighborhoods, while Gather reconnects these groups in subsequent layers. Under a partition model, this structure guides CQS-compatible sparse patterns with global reachability. Our CQS-aware FlashAttention-style kernel computes structured indices at runtime, loads selected non-contiguous tokens, and packs them densely for computation. On an A100, INTRA achieves a $1.53\times$ speedup in $2K$ FLUX.1-dev generation, with better measured image quality than evaluated CLEAR configurations after LoRA self-distillation. On LLaMA-3.1-8B, it improves long-context prefill efficiency with strong teacher-forced retrieval performance under matched LoRA adaptation. Attention-only benchmarks further show up to $8.4\times$ and $10.4\times$ speedups over MoBA and density-constrained NSA, respectively. Code is available at https://github.com/NovTi/INTRA.
Suozhi Huang, Kelsey Fu, Binxu Li, Luna Lyu, Kaize Wu, Wenbo Lu, David Smerkous, Jiahan Li 等 15 位作者
Autonomous scientific agents must not only reason about experiments but also interact with the physical environments in which they are executed. Existing laboratory simulators typically rely on manually constructed assets and predefined procedures, while laboratory videos capture real equipment, layouts, and interactions but leave this information implicit in pixels. We introduce LabWorld, an agent-driven Real2Sim framework for reconstructing interactive 4D laboratory worlds from monocular RGB video. LabWorld recovers reusable 3D assets, a metric scene, time-varying object states, and procedure events. Multi-frame observations provide complementary evidence for asset and scene reconstruction, while motion reconstruction combines visual and geometric observations with event constraints encoding the spatial and temporal requirements of laboratory interactions. We evaluate LabWorld on real pipetting and vortexing videos collected in our laboratory against general-purpose agentic and dedicated reconstruction baselines. For pipetting, LabWorld achieves a mean Mask IoU of 0.501, exceeding the strongest baseline by 0.033. For vortexing, it achieves a mean Tube-Length-Normalized PCK-AUC of 0.638, exceeding the strongest baseline by 0.035. On five pipetting videos, event-conditioned reconstruction increases the fraction of modeled physical constraints satisfied from 14.3% (5/35) to 100% (35/35). The resulting worlds expose geometry, motion, articulation, and events as explicit, editable state for replay, inspection, and future embodied scientific systems.