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版本更新 · v3arXiv:2611.00180

Learning to Live: A Step Toward Lifelong Embodied Intelligence

Lirong Che, Peidong Wang, Yimeng Su, Jiong Wang, Yang Chen, Wenbo Fu, Zhenyu Huang, Tiancheng Xu 等 15 位作者

原文摘要

Embodied agents are usually organized around individual tasks, yet the physical world keeps changing between tasks and during execution. We introduce LIFE (Lifelong Intelligence from Experience), a framework in which a robot observes continuously, remembers selectively, and turns experience into new capabilities. RoboBeats, a family of lightweight streaming gates, tracks conditions set by the agent and discovers new events, deciding when an observation warrants a response or a memory write. Selected observations enter Plastic Memory, a flat store of images and structured records that keeps the source evidence, so new fields and indexes can be added when later questions need them. When existing tools fall short, Explore-Distill-Mount (EDM) turns solutions found during problem solving into validated, reusable tools and skills. Under matched protocols, RoboBeats substantially improves condition tracking over its base models and, at the same writing budget, retains more useful evidence for memory question answering than uniform sampling. A case study of limited scale, replaying 24 hours of continuous video recorded by a real robot, illustrates how the integrated system builds memory from a day of experience and uses it to answer everyday questions. LIFE takes a step toward robots that become more familiar with their surroundings and more capable through experience: learning not only to complete tasks, but to live in the world.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.16404

ReSID: Rethinking Long-Tail Retrieval in Generative Recommendation through Item Reachability

Muyu Zou, Shunye Tang, Yi Xu, Haibo Xing, Yandong Wang, Lingyu Mu, Jinxin Hu

原文摘要

Generative recommendation (GR) represents items with discrete Semantic IDs (SIDs) and casts retrieval as sequence generation. Under skewed interaction distributions and tight serving budgets, GR struggles to retrieve long-tail items. In this work, we are the first to study long-tail reachability across the complete pipeline of SID construction, decoding, and matching. We find that under equal code lengths, parallel SID construction consistently outperforms sequential SIDs on tail items. Moreover, even when full generation fails, decoded sequences carry locally consistent information that retrieves relevant tail items via partial matching. Yet this recovery is bounded by upstream search, failing once beam search prunes all prefixes completable within a fixed mismatch tolerance. Motivated by these findings, we propose ReSID to jointly preserve and recover tail candidates. Built on long parallel SIDs, ReSID pairs popularity-debiased and user-semantic-aware beam search to keep promising paths alive with partial SID matching to recover items from surviving tokens. ReSID achieves state-of-the-art long-tail retrieval while maintaining competitive overall accuracy, with lower latency and higher throughput under narrow beams. ReSID is deployed in our production system, serving main user traffic with substantial business gains. We release our complete code and model checkpoints to support full reproducibility and real-world deployment at https://github.com/Gabriel-reina/ReSID.

cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.16395

TriGen: A Generative Paradigm for Trigger-Induced Recommendation

Muyu Zou, Haibo Xing, Shunye Tang, Liyan Tie, Lingyu Mu, Yandong Wang, Jinxin Hu

原文摘要

Generative recommendation typically operates under the User-Induced Recommendation (UIR) setting, predicting target items by autoregressively generating semantic IDs as a passive continuation of long-term user history. However, this paradigm overlooks Trigger-Induced Recommendation (TIR), an essential industrial scenario where a user click triggers an immediate follow-up feed. In TIR, recommendations must dynamically align with the instant trigger intent without compromising historical preference continuity. Traditional TIR methods rely on discriminative scoring and cannot guide token-level generation, while existing generative models lack mechanisms to reconcile this structural tension. To address this challenge, we propose TriGen, establishing a tailored generative paradigm for trigger-induced recommendation. TriGen introduces calibrated tail injection to re-encode local history, adaptively arbitrates between persistent tastes and immediate impulses via dynamic gating, and applies position-specific transformations to sustain level-aware trigger guidance across decoding steps. Extensive offline evaluations confirm consistent gains over competitive baselines. Furthermore, online A/B tests across six country markets demonstrate significant revenue and GMV improvements, leading to the full production deployment of TriGen.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.11451

SAIL: Scientific Agentic Intelligence via a Science-Aware Loop

SAIL Model Team, Boyuan Sun, Bryan Dai, Che Liu, Chi Liu, Derek Li, Hongming Piao, Mengzhuo Chen 等 12 位作者

原文摘要

We introduce SAIL, an open model with 35B total and 3B active parameters for literature research, scientific coding, and multi-step research workflows. SAIL is developed through a science-aware improvement loop: agents built on frontier AI models analyze its task failures and construct training tasks that address the underlying capability gaps. The diagnosis examines search and evidence selection in literature tasks, scientific assumptions and reasoning in coding, and planning and revision in longer investigations. The agents draw on paper collections and scientific code repositories to build problems, interaction trajectories, and executable tasks with the required environments and tools. We repeat this loop over multiple development cycles and train SAIL through supervised fine-tuning, specialist training, multi-teacher on-policy distillation, and agentic reinforcement learning. SAIL achieves competitive performance across scientific research tasks with substantially fewer parameters than leading open-weight models.

cs.CL · cs.DL · cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.15136

Bit-Sparsity Aware Acceleration with Compact CSD Code on Generic Matrix Multiplication

Zixuan Zhu, Xiaolong Zhou, Chundong Wang, Li Tian, Zunkai Huang, Yongxin Zhu

原文摘要

The ever-increasing demand for matrix multiplication in artificial intelligence (AI) and generic computing emphasizes the necessity of efficient computing power accommodating both floating-point (FP) and quantized integer (QINT). While state-of-the-art bit-sparsity-aware acceleration techniques have demonstrated impressive performance and efficiency in neural networks through software-driven methods such as pruning and quantization, these approaches are not always feasible in typical generic computing scenarios. In this paper, we propose Bit-Cigma, a hardware-centric architecture that leverages bit-sparsity to accelerate generic matrix multiplication. Bit-Cigma features (1) CCSD encoding, an optimized on-chip sparsification technique based on canonical signed digit (CSD) representation; (2) segmented dot product, a multi-stage exponent matching technique for long FP vectors; and (3) the versatility to efficiently process both FP and QINT data types. CCSD encoding halves the cost of CSD encoding while achieving optimal bit-sparsity, and segmented dot product improves both accuracy and throughput. Bit-Cigma cores are implemented using 65 nm technology at 1 GHz, demonstrating substantial gains in performance and efficiency for both FP and QINT configurations. Compared to state-of-the-art Bitlet, Bit-Cigma achieves 3.2\texttimes{} performance, 6.1\texttimes{} area efficiency, and 15.3\texttimes{} energy efficiency when processing FP32 data while ensuring zero computing error.

cs.AR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.14908

Hy ASR 3.0 Technical Report

Aoxiong Yin, Auden Li, Chao Huang, Chuanyang Hu, Eitan Wang, Ethan Zou, Fangming Feng, Guangyu Chen 等 63 位作者

原文摘要

We present Hy ASR 3.0, a large language model (LLM)-based automatic speech recognition (ASR) system that delivers strong recognition accuracy, supports flexible contextual conditioning, and maintains robust recognition performance across diverse speech conditions. Hy ASR 3.0 supports Mandarin Chinese, English and 13 Chinese dialect groups, including Cantonese. Among the evaluated systems, it achieves the lowest aggregate error rates on public Mandarin Chinese, English, and Cantonese benchmarks and the lowest error rates on the corresponding internal test sets, alongside first-tier dialect recognition performance. Beyond audio-only transcription, Hy ASR 3.0 supports multiple forms of external context, including hotword lists, question--answer dialogues, and summaries, enabling the use of task-relevant information during recognition. The model also leverages intra-utterance context to disambiguate homophonic and phonetically similar keywords using information from other parts of the same utterance, without requiring a separate contextual input. Evaluations demonstrate strong contextual recognition in both external-context and intra-utterance settings, as well as robust recognition of long-form speech, children's and older adults' speech, low-volume speech, and speech in noisy environments. This report describes the model architecture and training methodology and presents evaluations across recognition accuracy, context utilization, and robustness.

cs.CL · eess.AS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.03391

Native Action-Prior Learning from Videos for World Action Models

Zhaochong An, Fei Zhang, Menglin Jia, Duncan Frost, Zijian Zhou, Yikai Wang, Xudong Wang, Aditya Patel 等 13 位作者

原文摘要

World action models integrate future visual dynamics with robot action prediction, but their scalability remains limited by the need for action-annotated robot trajectories. Observation-only videos contain rich evidence about interaction dynamics, but existing approaches typically use them either to pretrain visual representations that must later be adapted for control, or to infer latent actions that are subsequently grounded to robot commands. We present NAVA-WAM, which introduces native action-prior learning by directly pretraining the action policy from observation-only videos, avoiding indirect representation-to-control transfer or a separate latent-action model. Our training consists of two stages. First, we pretrain on observation-only videos, where future-video flow-matching supervision over visual transitions is propagated through transition-structured joint attention to optimize the Action-DiT and learn action-relevant priors. Second, we use action-labeled demonstrations to post-train the Action-DiT for robot control through joint video--action flow matching, while asymmetric attention decouples the visual branch from iterative action denoising and enables efficient action-only inference. Extensive experiments show that NAVA-WAM consistently outperforms prior approaches under both in-distribution and out-of-distribution settings, while demonstrating strong action-label efficiency and effective real-robot generalization. These results establish native action-prior learning as an effective approach to directly pretrain action policies from observation-only videos, providing a scalable path beyond action-labeled robot data.

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.12037

SAFE-Hair: Scalp-Anchored Fields for Exportable Single-View Hair Reconstruction

Yucheng Wang, Zedong Wang, Yuetong Wu, Yue Ma, Dan Xu

原文摘要

Single-view 3D hair reconstruction has progressed rapidly, but many methods optimize for visual plausibility rather than producing strand assets that can be directly used in grooming, editing, or simulation pipelines. We propose SAFE-Hair, a framework that reconstructs explicit strand grooms from a single portrait by decoding hair from persistent follicles in a canonical scalp-UV domain. Given a fitted template head, SAFE-Hair projects self-supervised image features onto the scalp, uses a conditional Rectified Flow model to generate latent scalp fields, and decodes occupancy, segment directions, length allocation, and total length at a fixed set of scalp follicles. This representation enforces scalp-rooted strand identities by construction and enables direct export with follicle IDs and guide-family metadata. We further introduce attachment, collision, and bending priors to improve geometric validity without per-subject test-time optimization. To evaluate both reconstruction fidelity and asset usability, we introduce HairBench-3D, a benchmark built from public 3D hair assets with standardized alignment, rendering, resampling, and metrics for geometry, direction consistency, invisible-region completion, silhouette agreement, and collision. SAFE-Hair improves Chamfer distance from 3.74 mm to 3.28 mm, F-score from 77.9 to 81.7, invisible-region F-score from 66.1 to 69.8, and penetration ratio from 4.8% to 3.9% over the strongest baseline.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2510.11370

Stabilizing MoE Reinforcement Learning by Aligning Training and Inference Routers

Wenhan Ma, Hailin Zhang, Liang Zhao, Yifan Song, Yudong Wang, Zhifang Sui, Fuli Luo

原文摘要

Reinforcement learning (RL) has emerged as a crucial approach for enhancing the capabilities of large language models. However, in Mixture-of-Experts (MoE) models, the routing mechanism often introduces instability, even leading to catastrophic RL training collapse. We analyze the training-inference consistency of MoE models and identify a notable discrepancy in routing behaviors between the two phases. Moreover, even under identical conditions, the routing framework can yield divergent expert selections across repeated forward passes. To address this foundational inconsistency, we propose Rollout Routing Replay (R3), a method that records routing distributions from the inference engine and replays them during training. R3 significantly reduces training-inference policy KL divergence and mitigates extreme discrepancies without compromising training speed. Extensive experiments on various settings confirm that R3 succeeds in stabilizing RL training, preventing collapse and outperforming methods such as GSPO and TIS. We believe this work can offer a new solution for stabilizing RL in MoE models.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11204

Not Yet in the Profile: Uncertainty-Aware Dynamic User Profiling by Learning from Future Interactions

Jieyong Kim, Neil Shah, Dong Wang

原文摘要

On the Web, user profiling builds compact user representations from interaction histories for efficient personalization, and dynamic user profiling updates them as users' behavior and preferences change. However, new user behavior can be ambiguous, and its interpretation differs across users. To address this, we introduce Uncertainty-aware Adaptive Profile Manager (UAPM), which separates the claims in a user profile from interpretations of new behavior that are not yet confirmed, through a Profile, a Buffer, and a Rulebook. UAPM records user-specific interpretation and update rules in the Rulebook, keeps ambiguous evidence in the Buffer outside the Profile as evidence for later decisions, and writes supported general and situational characteristics to the Profile. We train UAPM with Privileged On-Policy Distillation with Dual Specialization (POPD-DS), which learns from recorded future interactions during training without access to them at deployment. Its first stage, Dual Specialization, distills a stronger model into a current-only Student and a future-informed model that becomes the Teacher. In the second stage, privileged on-policy distillation (POPD), only the fixed Teacher receives future interactions and guides the Student's own management decisions alongside task rewards. Experiments on three Web personalization tasks show that UAPM outperforms multiple baselines under the same downstream input budget, improving on the best same-budget baseline by up to 5%.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.07642

Do VLMs See What Sensors Feel? A Scalable Expert-Guided Design for Wheelchair Accessibility Assessment from Street View

Dongdong Wang, Alina Hagen, Isabelle Gatmaitan, Hao Zhou, Yiwen Dong, Shabboo Valipoor, Vivian W. H. Wong, Lingyao Li

原文摘要

Assessing built-environment interaction, such as wheelchair accessibility, is challenging because real-world mobility is shaped by context-dependent and temporary barriers that are difficult to capture at scale. This paper examines whether vision-language models (VLMs) can identify potential accessibility barriers from Google Street View (GSV) imagery. We propose an expert-guided retrieval-augmented framework that combines GSV imagery, ADA-informed guidance, and expert-derived rubrics to evaluate multiple accessibility dimensions. We collect a campus-scale dataset at the University of Florida, linking 407 unique GSV locations with GPS-derived wheelchair dwell behavior as a proxy for potential mobility friction. Results show that VLM ratings are negatively correlated with dwell time and exhibit distributional similarity, with the expert-guided configuration strengthening the correlation from $r=-0.40$ to $r=-0.54$ for the strongest model. Visual cue analysis further shows that features such as curb ramps and crosswalks are associated with higher VLM accessibility scores, while correspondence remains limited for subtle surface conditions, transient obstructions, and viewpoint-dependent barriers. Overall, our findings demonstrate the potential of expert-guided VLMs for scalable preliminary accessibility screening and prioritizing locations for further investigation.

cs.CV · cs.CY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11041

Virtual Task Prompting for Multi-Task Scene Understanding

Zedong Wang, Yucheng Wang, Dan Xu

原文摘要

Multi-task scene understanding models typically rely on modified vision encoders or complex decoders for cross-task interaction, which limits their flexibility and compatibility with off-the-shelf vision foundation models (VFMs). We introduce Virtual Task Prompting (VTP), which frames multi-task prompting as retrieving task-adaptive compositions from a shared virtual state, where both the state and routing process are optimized in an end-to-end manner. Concretely, VTP maintains an expanded set of virtual tasks alongside the backbone. At each layer, learnable routing matrices read task-specific compositions as input to interact with image tokens and write the processed results back, forming explicit pathways that capture the intricacies among tasks outside the encoder. Since VTP keeps the backbone clean, it integrates seamlessly with pretrained VFMs, advancing the state of the art on Pascal-Context and NYUD-v2. Stress test on Taskonomy with 13 heterogeneous tasks further shows VTP's robustness in extreme settings. Ablations and analysis indicate that VTP's gains stem from adaptive routing rather than increased capacity. The project page is available at https://jacky1128.github.io/VTP/.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v6arXiv:2604.08242

Scheduling Coflows in Multi-Core OCS Networks with Performance Guarantee

Xin Wang, Hong Shen, Hui Tian, Dong Wang

原文摘要

The coflow abstraction captures application-level communication patterns and enables coordinated scheduling of parallel flows to reduce job completion times in distributed systems. Modern data center networks (DCNs) are employing multiple independent optical circuit switching (OCS) cores operating concurrently to meet the massive bandwidth demands of application jobs. However, existing coflow scheduling research primarily focuses on the single-core setting, while studies of multi-core fabrics have largely considered electrical packet switching (EPS) networks. To address this gap, this paper studies the coflow scheduling problem in multi-core OCS networks under the not-all-stop reconfiguration model, in which the reconfiguration of one circuit does not interrupt other circuits. The challenges stem from two aspects: (i) cross-core coupling induced by traffic assignment across heterogeneous cores; and (ii) per-core OCS scheduling constraints, namely port exclusivity and reconfiguration delay. We propose an approximation algorithm that jointly integrates cross-core flow assignment and per-core circuit scheduling to minimize the total weighted coflow completion time (CCT) and establish a provable worst-case performance guarantee. Furthermore, our algorithm framework can be applied to the multi-core EPS scenario with a corresponding approximation guarantee for packet-switched fabrics. Trace-driven simulations using real Facebook workloads demonstrate that our algorithm can reduce the total weighted CCT and tail CCT.

cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08996

UniMore: Fine-Grained Supervision for Unified Understanding and Generation

Haoyue Bai, Yinyi Luo, Yicheng He, Qingsong Wen, Sharon Li, Jindong Wang

原文摘要

Unified multimodal models combine image understanding and generation within one system, creating an opportunity to improve both capabilities through paired image--text supervision. We examine the outputs of a pretrained unified model in both directions and observe a loss of specificity: generated images can contain the requested objects with incorrect attributes, while captions identify a scene without expressing its distinguishing details. These failures call for supervision that specifies both the visual content to realize and the descriptive differences to distinguish. We propose UniMore, a post-training method that derives these complementary learning tasks from the fine-grained content of image--text pairs. The generation route predicts grounded crops from their corresponding phrases, matching the scope of the condition and visual target while using the native visual objective. The understanding route combines positive-caption fitting with ranking against captions that omit or alter details, conditioned on the full image. The two routes are optimized independently, and their learned updates are combined into a single unified model without changing its inference procedure. Experiments show gains across multiple understanding and generation benchmarks.

cs.MM · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2602.04908

Temporal Pair Consistency for Flow Matching

Chika Maduabuchi, Jindong Wang

原文摘要

Flow-matching-style generative models learn time-dependent vector fields, but standard objectives supervise each timestep independently, leaving shared-path temporal structure unused. We introduce Temporal Pair Consistency (TPC), a simple training-time objective that couples velocity predictions at paired timesteps along the same probability path. TPC leaves the architecture, probability path, sampler, and inference-time computation unchanged. Under matched backbones, training budgets, solvers, and numbers of function evaluations, TPC improves sample quality across flow matching, OT-CFM, rectified flow, DiT-style backbones, and MeanFlow. On CIFAR-10, TPC improves FM from 6.35 to 3.19 FID and OT-CFM from 3.58 to 2.90 FID at the same NFE. Mechanism diagnostics show lower measured gradient variance, higher paired-gradient correlation, and reduced temporal roughness, while random and local pairing controls are substantially weaker. Higher-resolution ImageNet experiments further show consistent gains for DiT-XL/2 at 256 and 512 resolution and for MeanFlow at 256 resolution, all at matched inference cost.

cs.LG · cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.00511

Large Language Models for Multi-Lingual Equivalent Mutant Detection: An Extended Empirical Study

Honglin Shu, Zhao Tian, Dong Wang, Junji Yu, Jiazhe Zhang, Xuejie Cao, Junjie Chen, Yasutaka Kamei

原文摘要

Mutation testing is a powerful technique for ensuring software quality. However, the presence of equivalent mutants introduces unnecessary costs and biases, limiting its practical effectiveness. Although numerous equivalent mutant detection (EMD) methods have been proposed, they often face distinct challenges: pure-code analysis methods can be limited by their reliance on specific compiler infrastructures, while existing machine-learning approaches remain constrained by scarce training data and limited generalization to unseen mutants. Large language models (LLMs) have recently demonstrated remarkable performance across diverse code-related tasks by better capturing program semantics. Yet their potential for EMD remains largely unexplored, particularly in the multi-lingual context. This paper presents the first comprehensive empirical study on LLMs for EMD, using 3,302 Java and 1,088 C mutant pairs to benchmark against state-of-the-art methods, explore strategy variations, assess efficiency, and evaluate cross-lingual generalization. Experimental results show that LLM-based approaches achieve higher F1-scores than the evaluated traditional methods, with fine-tuned code embedding yielding the highest detection accuracy among the tested strategies. Moreover, LLM-based approaches strike a practical balance between effectiveness and efficiency with inference times comparable to existing machine-learning models. Importantly, fine-tuned LLMs demonstrate measurable generalization across programming languages. These findings establish LLMs as a viable and efficient approach for tackling the longstanding challenge of equivalent mutant detection, offering new directions for advancing mutation testing in practice.

cs.SE

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.06597

UniSD: Towards a Unified Self-Distillation Framework for Large Language Models

Yiqiao Jin, Yiyang Wang, Lucheng Fu, Yijia Xiao, Yinyi Luo, Haoxin Liu, B. Aditya Prakash, Chao Zhang 等 11 位作者

原文摘要

Self-distillation (SD) offers a promising path for adapting large language models (LLMs) without relying on stronger external teachers. However, SD in autoregressive LLMs remains challenging because self-generated trajectories are free-form, correctness is task-dependent, and plausible rationales can still provide unstable or unreliable supervision. Existing methods mainly examine isolated design choices, leaving their effectiveness, roles, and interactions unclear. In this paper, we propose UniSD, a unified framework to systematically study self-distillation. UniSD integrates complementary mechanisms that address supervision reliability, representation alignment, and training stability, including multi-teacher agreement, EMA teacher stabilization, token-level contrastive learning, feature matching, and divergence clipping. Across six benchmarks and six models from three model families, UniSD reveals when self-distillation improves over static imitation, which components drive the gains, and how these components interact across tasks. Guided by these insights, we construct UniSDfull, an integrated pipeline that combines complementary components and achieves the strongest overall performance, improving over the base model by +5.4 points and the strongest baseline by +2.8 points. Extensive evaluation highlights self-distillation as a practical and steerable approach for efficient LLM adaptation without stronger external teachers.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07553

Improving Long-Tail Detection via Layout-Instruction Conditioned Diffusion Synthesis

Xinyu Zhang, Xiaodi Wang, Yanpeng Sun, Lingfeng Yang, Jingdong Wang, Lingqiao Liu

原文摘要

Synthetic data from diffusion models can improve object detection, but long-tail performance is still limited by scarce rare classes and inflexible conditioning (e.g., text-only or layout-only inputs). In this paper, we propose Tail-SD, a layout-instruction conditioned stable diffusion framework that supports text, layouts, or their hybrid, enabling controllable synthesis from boxes, masks, and/or prompts to better cover the long-tail objects. To train a single model across heterogeneous conditions, we introduce a multi-task cross-attention module and multi-task embedding tokens, improving generation quality and diversity. Extensive experiments on COCO and LVIS demonstrate that diffusion synthesis with hybrid conditioning consistently benefits detection, e.g., on LVIS val, it achieves +4.89% / +5.68% rare Box/Mask AP, highlighting strong potential for addressing long-tail challenges.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.06598

SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models

Xiaodong Wang, Tianle Li, Chuanxin Song, Junliang Xie, Zhanmi Zhong, Suiying Wu, Peixi Peng

原文摘要

Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulation predictions can misguide real-video generation. We present SimForcing, a simulation-guided framework that uses simulation both as a source of transferable motion knowledge and as a controllable reference for prediction. First, we transfer motion knowledge from a simulation teacher through latent-motion distillation, aligning temporal changes in latent space to internalize motion priors while mitigating the influence of appearance differences. Second, we introduce multi-block simulation conditioning with condition dropout to exploit predicted simulation trajectories without relying excessively on their accuracy. Our simulation-conditioning classifier-free guidance scheme unifies these two ideas by balancing predictions based on internalized motion knowledge with those additionally guided by simulation latents. The jointly trained student generates both simulation conditions and real-domain videos, requiring no additional world model at inference. On Bridge, SimForcing achieves the best PSNR, SSIM, LPIPS, and FVD among the compared methods without external embodied pretraining. Evaluation on InternData-A1 further supports its applicability across robot datasets. Moreover, using our trained world model to initialize a vision-language-action model improves LIBERO success, suggesting its utility for downstream policy learning. https://github.com/Wang-Xiaodong1899/SimForcing

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2508.03069

SSFMamba: Learning Symmetry-driven Spatial-Frequency Modeling for Physically Consistent 3D Medical Image Segmentation

Bo Zhang, Yifan Zhang, Shuo Yan, Yu Bai, Zheng Zhang, Wu Liu, Xiuzhuang Zhou, Wendong Wang

原文摘要

Accurate 3D medical image segmentation requires a delicate balance between fine-grained local details and global contextual understanding. While spatial-domain models often struggle with long-range dependencies, existing frequency-based approaches frequently overlook intrinsic spectral properties such as Hermitian symmetry, leading to suboptimal feature integration. In this paper, we propose SSFMamba, a Mamba-based Symmetry-driven Spatial-Frequency fusion framework tailored for 3D medical imaging. Our architecture employs a complementary dual-branch design: the spatial branch models voxel sequences to preserve intricate anatomical textures, while the frequency branch operates on spectral components, each of which aggregates information from the entire volume, to capture global context. A core innovation is the 3D Multi-Directional Scanning Mechanism (MDSM), which integrates Hermitian symmetry with the causal nature of State Space Models (SSMs) to enable direction-aware global modeling. Crucially, by shifting the modeling focus to frequency-domain spectral components, SSFMamba captures the underlying structural characteristics of anatomical tissues. This leads to a highly adaptable framework that excels in both MRI and CT applications, regardless of the significant variations in intensity distributions. Extensive evaluations on the BraTS2020, BraTS2023, and BTCV datasets demonstrate that SSFMamba consistently outperforms state-of-the-art methods. Notably, our approach achieves exceptional performance on low-contrast organs such as the pancreas (81.97% Dice), underscoring its potential as a unified and physically consistent perception framework for diverse 3D clinical applications.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.20342

ParaVT: Taming the Tool Prior Paradox for Parallel Tool Use in Agentic Video Reinforcement Learning

Zuhao Yang, Kaichen Zhang, Sudong Wang, Keming Wu, Zhongyu Yang, Bo Li, Xiaojuan Qi, Shijian Lu 等 10 位作者

原文摘要

Training large multimodal models (LMMs) via reinforcement learning (RL) to natively invoke video-processing tools (e.g., cropping) has become a promising route to long-video understanding. However, most existing agentic Video-LMMs dispatch tool calls sequentially (i.e., one per turn). Sequential tool calling can propagate localization errors, accumulate irrelevant context, and require an additional main-model generation for each successive crop. We introduce ParaVT, a multi-agent RL framework for Parallel Video Tool calling, dispatching multiple time-window crops in a single turn, allowing evidence from multiple temporal windows to be examined concurrently. Yet applying standard Group Relative Policy Optimization (GRPO) to ParaVT reveals an obstacle we term the Tool Prior Paradox: inherited tool-use priors appear to support exploration while competing with the output format learned during supervised fine-tuning. Standard RL can also settle on tool skipping. A comparison with a model with weaker tool-use priors shows stable formatting but no tool calls during RL, consistent with a trade-off between format stability and tool exploration. We propose PARA-GRPO (Parseability-Anchored and Ratio-gAted GRPO), which augments standard RL with two complementary mechanisms: (i) a format reward that encourages tag closure and penalizes unclosed reasoning blocks, and (ii) a per-prompt randomization of the overview-frame budget to create a reward advantage for tool use when the overview provides insufficient evidence. Across six long-video understanding benchmarks, ParaVT improves over the Qwen3-VL baseline by +7.9% on average, with PARA-GRPO raising training-time format reward from 0.13 to a peak of 0.64. These findings highlight the need to account for inherited tool-use priors when designing RL methods for long-video understanding.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.17613

MAS-Gate: Unlocking Multi-Agent System Lifecycle via Node-Centric Quantification

Hehai Lin, Zixuan Wang, Ming Yan, Peidong Wang, Shilei Cao, Minzhi Li, Bosheng Ding, Juepeng Zheng 等 9 位作者

原文摘要

Large language model (LLM)-based multi-agent systems (MAS) can solve complex problems beyond the reach of a single agent by decomposing tasks and coordinating complementary capabilities. Despite extensive research on MAS, existing work largely focuses on specific aspects or individual phases of their development and operation, resulting in fragmented perspectives with objectives and signals that are difficult to reconcile across these different settings. To bridge these disconnected perspectives, we conceptualize MAS development and operation as a three-phase lifecycle spanning design-time orchestration before execution, runtime intervention during execution, and post-hoc attribution after execution, and introduce MAS-Gate, a unified node-centric quantification applicable across these phases. Modeling each execution as a directed acyclic graph, MAS-Gate combines within-node utility, which estimates a node's contribution through changes in reference-answer likelihood, with inter-node strength, which approximates semantic uptake and potential downstream reach. We adapt this shared quantification to three objectives: providing a structure-aware dense reward for Orchestrator training, training an Editor to act on execution prefixes using paired rewards from completed edited and unedited trajectories, and supplying risk-ranked nodes as auxiliary evidence for LLM-based post-hoc attribution. Experiments spanning interaction environments, knowledge-intensive multi-hop question answering, general reasoning, and post-hoc attribution demonstrate that MAS-Gate improves workflow construction, targeted runtime editing, and LLM-assisted error localization over corresponding phase-specific baselines. Together, these results establish MAS-Gate as a unified structural interface for improving MAS generation, dynamic editing, and error attribution throughout the lifecycle.

cs.AI · cs.MA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04787

ReSI-Math: Exploring Recoverable Capability Frontiers for Efficient Reasoning Improvement

Yao Cui, Zhen Yang, Yuandong Wang, Yangfu Zhu, Tianyu Wo, Zhenzhou Shao

原文摘要

Reinforcement learning with verifiable rewards (RLVR) has become an effective approach for improving mathematical reasoning in large language models. However, a fundamental question remains: when a model fails to solve a problem, does it truly lack the underlying capability? In this work, we reveal that direct failure does not necessarily imply inability. Some reasoning failures can be recovered by exploring the model's own trajectories, exposing a recoverable capability frontier: a policy-dependent region where solutions are not reliably generated through direct decoding but can be elicited through trajectory-level search. Based on this observation, we introduce ReSI-Math, a framework that explores recoverable capability frontiers and converts recovered capabilities into data-efficient RLVR supervision. ReSI-Math uses Self-Judge-guided evolutionary search to identify recoverable failures under a fixed policy and adaptively selects frontier problems for sequential RLVR as the policy evolves. On Qwen3-VL-8B, correct-incorrect trajectory crossover produces 272 verifier-confirmed correct offspring from 621 attempts (43.8%). After three sequential one-shot RLVR stages, the MATH500 and WE-MATH average improves from 78.71 to 80.16. Under matched single-problem RLVR, random selection reaches only 53.31 versus 54.16 for frontier-guided Q1.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.02671

TME-ContextNet: Class-Conditioned Spatial Supervision and Grouped Decoding for Joint Nuclei Instance Segmentation and Classification

Rukang Ma, Bingxue Wang, Liwen Zou, Yingying Cao, Zhenghua Cai, Yu Li, Dong Wang, Huiyu Zhou 等 9 位作者

原文摘要

Joint nuclei instance segmentation and classification requires precise boundaries and neighborhood information that helps distinguish morphologically similar cell types. We present TME-ContextNet, a multi-task framework that learns class-conditioned spatial context from existing nuclear annotations and organizes decoding into geometry-related and semantic task groups. Class-conditioned spatial supervision extends nuclear labels into a dense target using Euclidean distance transforms, requiring no additional tissue-region annotation. We derive its nearest-region interpretation and characterize its stability to small annotation perturbations. A local--global context module combines dilated convolution and self-attention, while a grouped task decoder reduces redundant computation. The spatial head supplies training supervision and is omitted during inference. Experiments on PanMix, CoNSeP, and PanNuke yield Dice scores of 80.23%, 65.32%, and 79.13%, and mean multi-class panoptic quality (mPQ+) scores of 58.67%, 35.50%, and 43.74%, respectively. PanNuke results are averaged across three test folds. Target and decoder controls support the combination of distance-based supervision and grouped decoding while identifying their dependence on task configuration. The framework uses 36.40 million parameters, compared with 54.74 million for HoVer-Net. These findings support a compact, context-aware formulation for joint nuclei analysis in computational pathology.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.31033

SlotMemory: Object-Centric KV Memory for Streaming Long-Video Generation

Weijia Dou, Hui Li, Jiahao Cui, Lei Zhou, Jingdong Wang, Siyu Zhu

原文摘要

Streaming video generation models typically rely on temporal-centric memory, organizing historical context as latent queues, compressed context tokens, or unclustered token sets. This often causes identity drift and semantic inconsistency when entities exit the frame or during interactive prompt transitions. To address these limitations, we propose SlotMemory, an object-centric Key-Value (KV) memory mechanism for streaming video diffusion. Our approach shifts memory abstraction from ``when'' an event occurred to ``what'' is represented by decomposing the transformer's KV manifold into discrete, reusable semantic slots. Because the slots serve only as routing addresses and the stored content remains the original transformer KV tokens, the mechanism adds entity-level persistence and prompt-aware retrieval across long horizons. Evaluated on 60-second interactive narratives using the Wan2.1-T2V-1.3B backbone, SlotMemory achieves the highest Dynamic Degree among evaluated streaming methods and the second-highest aggregate Quality Score, preserving prompt adherence rather than trading it away for consistency. At the 30-second horizon, SlotMemory leads in Total, Quality, and Dynamic Degree, improving Dynamic Degree by 31.2% over MemFlow, the strongest memory-based baseline. Our results support treating structured semantic representation, rather than raw temporal capacity, as a critical primitive for persistent long-form video synthesis.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2604.10784

TorchUMM: A Unified Multimodal Model Codebase for Evaluation, Analysis, and Post-training

Yinyi Luo, Wenwen Wang, Hayes Bai, Hongyu Zhu, Hao Chen, Pan He, Marios Savvides, Sharon Li 等 9 位作者

原文摘要

Recent advances in unified multimodal models (UMMs) have led to a proliferation of architectures capable of understanding, generating, and editing across visual and textual modalities. However, developing a unified framework for UMMs remains challenging due to the diversity of model architectures and the heterogeneity of training paradigms and implementation details. In this paper, we present TorchUMM, the first unified codebase for comprehensive evaluation, analysis, and post-training across diverse UMM backbones, tasks, and datasets. TorchUMM supports a broad spectrum of models covering a wide range of scales and design paradigms. Our benchmark encompasses three core task dimensions: multimodal understanding, generation, and editing, and integrates both established and novel datasets to evaluate perception, reasoning, compositionality, and instruction-following abilities. By providing a unified interface and standardized evaluation protocols, TorchUMM enables fair and reproducible comparisons across heterogeneous models and fosters deeper insights into their strengths and limitations, facilitating the development of more capable unified multimodal systems. Code is available at: https://github.com/AIFrontierLab/TorchUMM.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2510.04257

AgentTypo: Adaptive Typographic Prompt Injection Attacks against Black-box Multimodal Agents

Yanjie Li, Yiming Cao, Dong Wang, Bin Xiao

原文摘要

Multimodal agents built on large vision-language models are increasingly deployed in open-world settings but remain highly vulnerable to prompt injection. Typographic text-in-image attacks such as FigStep have been evaluated mainly on standalone vision-language models. For agents, user goals, webpage context, and action history make the effect of embedded instructions uncertain, and robustness to behavior-guided, adaptive visual injections remains insufficiently studied. We introduce AgentTypo, a black-box red-teaming framework that launches adaptive typographic prompt injection by embedding optimized text into webpage images. We formulate an attention-guided automatic typographic prompt-injection objective that favors the attacker's expected answer over the clean-page answer, together with task-conditioned visual attention from small question-answering models. A novel black-box optimization method searches text position, contrast, and color. To further strengthen the attack, we develop a multi-LLM system that iteratively refines injection prompts using evaluation feedback and retrieves successful past examples for strategy learning. Experiments on the VWA-Adv and Mind2Web benchmarks show that AgentTypo significantly outperforms state-of-the-art image-based prompt injection attacks. Across seven closed- and open-source model backends, AgentTypo-pro achieves 45%-83% ASR, outperforming the CLIP-based AgentAttack by 29-47% and previous typographic attacks by 25%-37% on VWA-Adv.

cs.CR · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.15880

Dynamics-Aware Meta-Imitation for Generalization to Unseen Robotic Manipulation

Zhenduo Shang, Xiyao Liu, Bohan Li, Xudong Wang, Teng Ren, Lianqing Liu, Zhi Han

原文摘要

Imitation Learning aims to learn skills from extensive observations and demonstrations for robots, so it suffers from data scarcity and environment generalization. The existing methods predominantly focus on imitation from in-domain tasks and consequently struggle with generalization to unseen tasks. To bridge this generalization gap, we propose the \textbf{D}ynamics-\textbf{A}ware \textbf{M}eta-\textbf{I}mitation (DAMI) framework. By integrating meta-learning to construct a shared skill space, DAMI equips agents for rapid adaptation to novel tasks. We introduce the Visual-Motor Trajectory (VMT) module to capture complex spatio-temporal dynamics within the task latent space. Furthermore, we propose the Unpaired Unified Task (U2T) block to fuse unstructured multimodal observations. To coordinate these representations, we integrate a Task-Conditioned Feature Modulation (TCFM) mechanism customized for modulating low-level 3D features. By capturing intrinsic dynamics from a random complete reference demonstration, our framework learns the underlying task logic rather than memorizing static cues, ensuring effective generalization. Extensive experiments in both simulation and real-world settings demonstrate that our approach outperforms state-of-the-art baselines regarding direct inference on seen tasks and adaptation to unseen tasks via few-shot fine-tuning.

cs.RO · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02526

INTERACT: Learning Interaction-Aware World Dynamics from Driving Videos for Autonomous Driving

Zhan Chen, Songyan Zhang, Wenhui Huang, Zirui Li, Zhidong Wang, Qihang Huang, Shiyu Fang, Chen Lv

原文摘要

Safe autonomous driving requires more than recognizing the current scene: the ego vehicle must anticipate how surrounding traffic participants will evolve under its own motion. However, existing end-to-end driving models typically encode scenes into dense visual or BEV features, leaving object-level interactions implicit. We propose (INTERACT INTERaction-aware Action-Conditioned Trajectory learning), a three-stage framework that learns a slot-based object-centric world model from unlabeled driving videos and transfers it to trajectory planning. INTERACT first learns recurrent slots that group dense visual features into temporally structured scene-entity representations without object annotations. It then infers latent ego actions from slot context and video transitions, and uses them to condition future slot prediction, capturing how ego motion and surrounding entities co-evolve. Finally, the learned slots, latent actions, and future slot predictions are distilled into a trajectory planner to guide trajectory generation and selection. Extensive experiments on NAVSIM and nuScenes validate the effectiveness of INTERACT. In particular, it achieves state-of-the-art performance on NAVSIM, with improvements in safety-critical collision metrics.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.03723

EMBERS: Empirically Motivated Robustness Testing of Deep Research Systems via Defect-Guided Fuzzing

Shuochuan Li, Zan Wang, Dong Wang, Yuhang Jiang, Huajin Cui, Chen Zhang, Gang Wang, Junjie Chen

原文摘要

Deep Research (DR) systems extend large language models into autonomous agents that decompose complex information needs, iteratively search the web, and synthesize evidence to answer challenging questions. However, their multi-stage execution may introduce robustness risks, as variations in user questions or intermediate search inputs may propagate across research stages and lead to incorrect answers. Existing evaluations focus on task-solving capabilities or robustness against external evidence disturbances, leaving intrinsic weaknesses in DR execution insufficiently explored. Thus, we conduct an empirical study of 1,932 execution trajectories from three representative DR systems and identify nine recurring defect categories across subquestion formulation, online search, and final reasoning. Guided by these findings, we propose EMBERS, an empirically motivated, defect-guided fuzzing framework for robustness testing of DR systems. Starting from correctly answered seed questions, EMBERS generates stage-targeted test inputs using defect-guided mutation, web-search-assisted fidelity assurance, and diversity-aware seed maintenance. Experiments across 16 framework--model--dataset settings show that EMBERS achieves 3.21 times the failure-discovery throughput of the strongest baseline under identical testing budgets. Human and LLM-assisted evaluations demonstrate that most generated inputs preserve the original information need and necessary contextual constraints. Moreover, model fine-tuning experiments show consistent-answer performance improvement, highlighting their value for robustness testing and model improvement.

cs.AI · cs.LG

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arXiv ↗PDF ↗