Research

• General in-context learning for embodied agents1 paper raises it · 0 address it

  Improving adaptability of models to new tasks and environments without task-specific fine-tuning is critical for scalable embodied intelligence.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Cost and latency in agentic systems2 papers raise it · 1 addresses it

  High computational and time costs limit practical deployment of agentic systems for real-world tasks.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
  • PremiseCheck: Efficient Fact-Checking of Human and AI Peer Reviewsraises · addresses
• Physical-state verification and failure recovery1 paper raises it · 0 address it

  Robustness to irreversible failures and accurate state tracking are essential for reliable embodied control.

  • Has GPT-6-Astra Achieved Embodied Intelligence?raises
• Evidence-grounded multimodal reasoning benchmarks1 paper raises it · 1 addresses it

  Current benchmarks often fail to ensure models use necessary audio-visual evidence, weakening evaluation reliability.

  • EvaOmni: An Evidence-Grounded Benchmark for Audio-Visual Reasoningraises · addresses
• Length generalization in sequential state tracking1 paper raises it · 1 addresses it

  Models struggle to maintain performance on problems much longer than their training data, limiting scalability.

  • PAR: Progress-Aligned Recurrence for Length Generalization in State Trackingraises · addresses

Named by an AI from these papers' abstracts.

• arXiv eess.IVOct 15

  A Unified Theory of Image Scaling: Point Spread Functions, Discrete Kernels, and Scale-Spaces

  Assaf Shocher

  We derive the optically aligned system of image-scaling operators $\mathbf{K}_s$ that reproduces optical zoom (exact zoom-out, canonical zoom-in), by identifying a Huygens-like consistency principle in which each pixel acts as a secondary source. The system is determined in closed form by the camera's point spread function (PSF), itself the operator $\mathbf{K}_0$. The operators compose, $\mathbf{K}_{s'} \circ \mathbf{K}_s = \mathbf{K}_{ss'}$ (with band projection for down-up), and account for both upscaling and downscaling, which form a Moore-Penrose pseudoinverse pair, $\mathbf{K}_{1/s} = \mathbf{K}_s^\dagger$. We show that image scaling, as routinely practiced, is neither optically faithful nor internally consistent; for example, common anti-aliasing rules generally correspond to no camera, and two resizes by a factor of $1/2$ generally do not equal one resize by a factor of $1/4$. Gaussian scale-space kernels cannot be exact finite-aperture PSFs. Gaussian scale-space is an idealized special case of what emerges here: a generalized scale-space for sampled images, derived entirely from camera optics, bidirectional, and not limited to Gaussian kernels. The system goes beyond…

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• arXiv cs.ROOct 15▲ 452

  Has GPT-6-Astra Achieved Embodied Intelligence?

  SenseNova, Joint Research Team, Zhongang Cai, Ziang Cao, Tailai Chen +57

  GPT-6-Astra demonstrates a level of competence in robotic manipulation and navigation that challenges the conventional paradigm of building specialized models for individual tasks and embodiments. In this report, we ask not only how capable GPT-6-Astra is, but what its capabilities imply for the field. First, we probe the limits of standalone GPT-6-Astra. We conduct a large-scale evaluation across 12 representative benchmarks spanning tabletop manipulation, humanoids, mobile platforms, and dexterous hands. Under a unified protocol that allows in-context learning (ICL) from training-set demonstrations and substantially increases the number of execution steps, GPT-6-Astra achieves unprecedented performance (Fig. 1). Future research may focus on improving 1) the generality of ICL 2) cost and execution time, 3) physical-state verification, 4) recovery from irreversible failures, and 5) long-horizon preservation of progress. Second, we study the agentic harness for embodied control. We identify that close-loop coordination between a high-level "System 2" reasoner (i.e., GPT-6-Astra) and a low-level "System 1" controller (e.g., π0.5) is costly but effective. Third, we examine…

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• arXiv cs.RORoboticsOct 15

  LIBERO-PeRM: Benchmarking Personalized Robotic Manipulation

  Zhixu Li, Keqian Tang, Litian Gong, Jingyu Yao, Wenqian Zhang +5

  Personalization is essential for general-purpose robots to transition into household environments and achieve true practicality. While general robotic manipulation has been extensively studied, personalized robotic manipulation (PeRM) lacks a controlled benchmark for separating task completion from preference satisfaction. We introduce LIBERO-PeRM, a benchmark for preference learning in embodied agents. LIBERO-PeRM studies five questions: 1) how policies follow preferences in zero-shot settings; 2) how they learn single preferences from demonstrations; 3) how efficiently they acquire preferences as demonstrations increase; 4) how learned preferences generalize across layouts and tasks; and 5) how policies compose preferences and behave under conflicts. We propose a controlled formulation and taxonomy of observable preferences in simulation, covering motion, skill, and user-profile choices. This formulation is restricted to language-expressible preferences that can be instantiated in LIBERO without changing the task goal, evaluated automatically, and reused across tasks. Building on LIBERO, our procedural pipeline generates paired demonstrations with and without preferences. We…

  AIEvals80PDF
• arXiv cs.CVMultimodalOct 15▲ 6

  Gen4P: Video Generators are 4D Perceivers

  Yitong Xia, Zeren Jiang, Chuanxia Zheng

  We introduce Gen4P, a unified framework for recovering 4D geometry and motion from monocular video. We show that a pretrained video generator can be repurposed into a feed-forward 4D perceiver without iterative denoising. Building on on-demand querying, Gen4P processes clean video latents in a single encoder pass and predicts the requested 4D attributes through a lightweight cross-attention decoder. The on-demand query formulation enables flexible spatial sampling, and our proposed continuous-time queries further provide temporal flexibility. To strengthen geometric knowledge, we propose a straightforward plug-in solution by incorporating a pretrained video-depth LoRA as a frozen geometry prior, improving overall performance without adding extra trainable parameters. Gen4P achieves state-of-the-art or competitive performance on tasks of 3D point tracking, video depth and camera pose estimation. Qualitative results on in-the-wild videos illustrate its capability of tracking complex motion while maintaining the delicate structure. Together, these results demonstrate the potential of video generative pretraining for unified 4D perception. See https://gen4p.github.io for more visual…

  AIComputer vision80Code
• arXiv cs.CVImage & video generationOct 15

  Which Tokens to Merge? Diffusion Dynamics for Efficient Image Generation

  SeungJu Cha, Ye-Chan Kim, HyunGee Kim, Sungho Koh, Dong-Jin Kim

  Token merging has emerged as an effective training-free strategy for accelerating diffusion models by reducing redundant token computation while minimizing generation degradation. A key challenge is determining which tokens can be safely merged and which should be preserved for subsequent computation. Existing method addresses this by preserving prompt-aligned foreground regions, thereby protecting semantically relevant structures. However, this text-relevance criterion overlooks background objects, local details that are not explicitly mentioned in the prompt, leading to degraded structural coherence. In this work, we propose Dynamics-aware Token Merging (DaTMe), a training-free framework that grounds token merging in the underlying diffusion dynamics. Our key insight is that token importance should reflect whether a token remains unresolved during denoising and whether it carries structural information. To this end, DaTMe constructs a dynamics- aware importance map from the Tweedie denoised estimate. The map combines a temporal signal, measuring inter-step changes in the predicted clean image, with a structural signal, capturing local high-frequency content such as boundaries…

  AI60PDF
• arXiv cs.CVInference & servingOct 15

  SoftCache: Adaptive Step Size Caching for Diffusion Transformers

  Shimon Malnick, Nadav Orenstein, Ohad Fried, Shai Avidan

  Diffusion and flow models generate a sample over iterative steps, each a full pass through a large network, and that pass dominates generation cost. Training-free caching accelerates them by reusing activations from recent evaluations instead of recomputing them. Dynamic caching methods decide when to refresh by accumulating a cheap probe of the network input into a staleness signal and spending a fresh evaluation once it crosses a threshold. They perform hard caching: the signal is a binary switch between refresh and reuse, and every step, fresh or cached, advances by the prescribed step size. We observe that the signal carries much more than this switch. How far it sits below the threshold, its headroom, predicts the error induced by reuse. We propose SoftCache, which performs soft caching: instead of a binary switch, the headroom sets how far each cached step goes. Where the headroom is large, the sampler jumps past several scheduled nodes, and as a refresh nears, its steps shrink back toward the original step. These adaptive jumps may land between the scheduled nodes, taking the sampler off its fixed grid. SoftCache requires no training and adds no per-backbone settings: on…

  AIImage & video generation80PDF
• arXiv quant-phOct 15

  Discovering state-of-the-art quantum circuits with large language models

  Andi Gu, Alek H. Kemeny, Susanne F. Yelin, Mikhail D. Lukin

  Significant efforts are currently being directed toward the implementation of large-scale quantum information processors, but realizing useful quantum advantage also requires the development of efficient quantum algorithms. While for many practical problems the dominant resource costs are associated with a small set of computational primitives, optimizing them in the quantum setting presents unique challenges, including a reversibility constraint absent from ordinary classical computation. Here we introduce an evolutionary framework in which large language models (LLMs) propose circuit designs and an independent evaluator verifies and scores them. We apply this framework to tasks spanning numerical computation, chemistry, optimization, quantum simulation, and number theory. In seven of the eight tasks, the discovered circuits significantly reduce both Toffoli and qubit counts relative to the state of the art. In the eighth, the search discovers a new reversible architecture for prime-field modular inversion. By handling reversibility differently, the architecture makes divsteps -- a classical algorithm previously impractical for reversible integer arithmetic -- viable and…

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• arXiv cs.RORoboticsOct 15

  T2-z: Test-Time Optimization of Environment Latents for Robotic World Models

  Chenyuan Zhou, Yining Hong, Huang Huang, Yunfan Jiang, Wenlong Huang +7

  Predicting how the world responds to an action requires more than what can be seen: robots must account for environmental factors that are neither directly observable nor explicitly specified, from physical properties such as friction and mass to human-defined environmental rules. We introduce T2-Z for test-time optimization of environment latents, which augments a robotic world model with a learnable environment latent to condition world predictions. This compact latent captures underlying environmental variation without supervision of what environmental factors exist or what values they take. During training, T2-Z alternates between two stages: a world-model optimization stage that fixes the latents and learns general action-conditioned dynamics across environments; and an environment-latent optimization stage that freezes the world model and optimizes the conditioning latents, allowing latent structure to emerge purely through world prediction. At test time, the world model remains frozen and a newly initialized environment latent is optimized from one or more test-time interactions, adapting the model to previously unseen environmental configurations. Across 7 simulated…

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• arXiv cs.CVRoboticsOct 15

  Perceive, Predict, and Plan: a Unified World Action Model for Egocentric Dexterous Manipulation

  Zirui Wu, Chen Guo, Tianjian Jiang, Zeren Jiang, Zeming Li +9

  We introduce P$^{3}$-WAM, a unified world action model for egocentric dexterous manipulation that learns 3D perception, action-conditioned prediction, and goal-directed planning through three complementary modes: Perceive, which reconstructs articulated hand motion and camera trajectories from video; Predict, which generates visual futures under prescribed actions; and Plan, which jointly generates action trajectories and their anticipated visual consequences conditioned on an initial image, a language instruction, and an optional visual goal. Our model integrates a compact, structured 3D action representation into a pretrained video diffusion transformer through a mixture-of-transformers architecture with shared base weights, modality-specific adaptation, and bidirectional visual-action attention. Randomized modality visibility lets video and 3D actions serve as either conditioning context or prediction targets across the three modes. Experiments show that unified training improves all three capabilities over single-mode training, including gains in planning quality under a vision-language model evaluation. Through unified training, our model outperforms specialized baselines on…

  AIMultimodal80PDF
• arXiv cs.RORoboticsOct 15▲ 9

  CoDA: Co-Evolution of Data Engines and Action Policies

  Tianjiao Yu, Zhilin Ou, Yifan Shen, Xinzhuo Li, Yuanzhe Liu +3

  Generative simulation can automate robot environment construction, but physically valid environments are not necessarily useful for training. The challenge is to identify environments that address a policy's failures and supervision that helps it overcome them. We introduce CoDA, a framework in which a simulation data engine and an action policy co-evolve through a shared heterogeneous memory of environment construction, policy failures, and learning progress. The memory compiles validated diagnoses from a vision-language critic into generation programs that recreate difficulties and training programs that help the policy overcome them. We further propose Text2potential to convert these diagnoses into staged potentials for action-chunk value learning, providing dense supervision for policy updates while preserving the task's optimal policy under standard shaping assumptions. Measured learning progress guides further generation and program refinement. Across four manipulation task families, CoDA improves out-of-distribution success from 5.3% after supervised fine-tuning to 27.6%, exceeding the strongest closed-loop baseline by 9.5 percentage points with the same generation budget.…

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• arXiv cs.CVEvalsOct 15

  Grounding Generative Verification in 3D Content

  Shuanglin Li, Jiaying Lin, Shuquan Ye

  Recent advances in multimodal large language models (MLLMs) and 3D generation have expanded 3D understanding and synthesis. However, beyond visual fidelity, task-specific correctness grounded in 3D evidence remains a major challenge. We argue that building reliable 3D systems requires not only stronger generation and reasoning, but also verification feedback that identifies unmet requirements and explains their violations, allowing systems to reflect on and refine their outputs. Such feedback must integrate multi-view observations and distinguish genuine inconsistencies from projection-dependent appearances. We make three contributions. First, we introduce 3DVerifierBench, a benchmark spanning 10 tasks that evaluates decisions, rejection explanations, and responses to controlled changes in specifications and candidates. A human study reveals a 21.6 percentage-point gap between humans and the strongest tested model, GPT-6 Astra, while explanation-aware analysis exposes weaknesses in rejection reliability. Second, we analyze verification across fine-grained factual categories, exposing errors in values and target binding. We develop a scalable pipeline combining multi-view fact…

  AIMultimodal70PDF
• arXiv cs.LGMultimodalOct 15▲ 3

  PathFM: Fast Generative Forecasting of Multivariate Trajectories

  Jiachen Yao, Xiyuan Zhang, Annan Yu, Boran Han, Abdul Fatir Ansari +3

  Time series foundation models are becoming increasingly popular for general-purpose forecasting. However, most leading models predict marginal quantiles, leaving the dependence structure of future trajectories unspecified. This distinction matters for trajectory-dependent quantities such as cumulative demand, peak load, and event timing, yet point and marginal scores do not reveal it. To model this dependence, we introduce PathFM, a trajectory-based forecasting model that uses flow matching to generate complete future paths. We further distill the model to one or two steps and share history attention cache across draws. Together, these enable PathFM to generate multiple paths for a single series in roughly the time needed for one query to a quantile model. The distilled sampler also makes it practical to optimize a calibration loss directly. PathFM achieves competitive marginal accuracy on the established forecasting benchmarks fev-bench and TIME. To complement these evaluations, we introduce Forecast Path Score Bench (fps-bench), which augments fev-bench tasks with energy and variogram scores and downstream metrics. PathFM achieves a higher aggregate path score on fps-bench than…

  AI60PDF
• arXiv cs.CVOct 15

  PACE: Pareto-Adaptive Compression for Efficient Native MLLMs

  Lei Tian, Chunzheng Zhu, Kai Wu, Yifan Zhang, Haihua Yang

  Native multimodal large language models (native MLLMs) jointly encode visual and linguistic sequences within a unified autoregressive Transformer, emerging as a promising paradigm for multimodal understanding. Unlike conventional ViT-based MLLMs relying on external vision encoders, ViT-free native MLLMs tokenize pixel patches directly, potentially suffering severe visual token redundancy. A pilot study confirms this: unlike ViT-based models that degrade under compression, ViT-free MLLMs tolerate aggressive compression with near-lossless or even improved performance. Yet existing compression methods target ViT-based settings, leaving native MLLMs, which stand to gain the most, unexplored. To close this gap, we introduce an analysis pipeline centered on token discriminability and cross-dimensional heterogeneous redundancy, revealing that (i) redundancy is distributed independently and heterogeneously along height and width axes, and (ii) early-layer visual tokens are indiscriminable and uniformly redundant. Guided by these findings, we propose PACE (Pareto-Adaptive Compression for Efficient Native MLLMs), the first visual token compression framework tailored for native MLLMs with…

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• arXiv cs.CVMultimodalOct 15

  DK-VLM: Geometry as Position for Spatial Reasoning in Vision-Language Models

  Han Su, Meng Tian, Tianyu Huang, Mingyu Gao, Lennox Wei +5

  Vision-language models still struggle to understand 3D spatial relations across views and update spatial judgments as the observer moves. A common approach fuses 3D reconstruction features into visual tokens, but aligning these features with pretrained semantic representations remains challenging under limited spatial supervision. We propose DK-VLM with Dual-Kernel Attention, which computes attention from both a visual token's input position and its geometric position in the scene. A semantic kernel retains the pretrained model's native attention and positional encoding, while a separate geometric kernel uses estimated 3D points and camera poses to directly modulate attention through point displacements and relative view transformations. Then, a learned gate fuses their outputs. Geometry thus enters attention as position rather than as fused reconstruction features. We further introduce Reference-Frame Composition (RC) supervision to train the model to update its reference frame across successive judgments. It provides stepwise turn and heading targets derived from verified single-step annotations. Among the compared methods, DK-VLM-8B achieves the highest average score across…

  AI70PDF
• arXiv cs.CLEvalsOct 15▲ 23

  OmniVerifier-C1: Decomposed Graded Verifier for Rule-Governed Generative World Modeling

  Bowei Liu, Xinchen Zhang, Xuhuan Li, Tianlin Zhang, Kaian Jiang +8

  Generative visual verifiers play a crucial role in advancing multimodal intelligence. To enhance the robustness of visual verifiers in complex multimodal scenarios involving compositional requirements, we move beyond conventional binary verifiers that produce only True/False discrete judgments and introduce a verifier that automatically decomposes complex prompts or environmental rules into fine-grained components and assigns pointwise scores to provide a continuous and more informative critique signal. Our experiments further demonstrate that these structured and interpretable outputs improve the verifier's generalization to out-of-domain multimodal critic tasks. To train this verifier, we introduce a Decoupled RL training strategy that jointly optimizes sub-question-level binary judgment and global alignment scoring, using precise local feedback to develop fine-grained verification capabilities that provide a foundation for reliable continuous scoring at the global level. Under a general reinforcement learning framework, we first empirically demonstrate that the proposed pointwise graded verifier significantly outperforms binary verifiers in traditional text-to-image scenarios.…

  AIMultimodal70PDF
• arXiv cs.CVImage & video generationOct 15▲ 8

  SUPRA-TEX: 3D Generation with Super-Aligned Texture

  Chen Yang, Jiemin Fang, Fanpeng Meng, Zihao Huang, Jichen Pang +3

  Single image 3D generation aims to dress a given 3D mesh with relightable materials while faithfully preserving the visual details of a reference image. Existing methods either introduce artifacts when fusing inconsistent multi-view predictions or struggle to preserve fine details through implicit image-feature conditioning. To resolve these challenges, we introduce SUPRA-Tex, built on the principle of decoupling visible-material estimation, surface alignment, and observation-guided 3D completion. This division of labor allows the 3D generator, trained on limited 3D data, to focus its capacity on preserving visible evidence and completing unobserved surfaces. Specifically, we first train an MLLM-based image editing model to predict lighting-separated PBR maps in the reference view. We then project these maps onto the visible surface and encode them with the pretrained material VAE encoder into native observation latents that share the generation target's latent space. An interleaved flow transformer holds these latents as fixed, read-only anchors while alternating unobserved-region and full-surface updates to generate complete material latents. This design achieves…

  AI70Code
• arXiv cs.LGTraining & fine-tuningOct 15

  Rethinking Routing Exploration in Modern Mixture-of-Experts

  Bingcong Li, Hao Ma, Michael Muehlebach, Niao He, Yi Ma

  Mixture-of-experts (MoE) models have become an important approach for scaling model parameters. Modern MoE architectures increasingly combine two design choices: fine-grained expert segmentation and shared experts. The former increases expressiveness by enabling more expert combinations at a fixed activation ratio, and the latter introduces experts that are active for every token. We identify an exploration dilemma between these designs: shared experts can make routing less exploratory by reducing the variability of token representations. This conflicts with the greater need for exploration induced by fine-grained expert segmentation due to the combinatorially enlarged routing space. Consequently, the additional expressiveness offered by fine-grained segmentation may not be fully realized in practice. MirrorMoE is proposed to reconcile this exploration dilemma by shrinking the exploration space through token-adaptive suppression of unnecessary experts. MirrorMoE consistently improves performance across model scales.

  AI70PDF
• arXiv cs.AIAgentsOct 15▲ 284

  FDE-Gym: The Last Mile of AI Delivery

  Dongxu Yang, Hongda Yan, Renxin Wang, Baoli Zhang, Haojia Zuo +21

  Existing agent benchmarks typically evaluate agents on well-specified tasks defined by issue reports, specifications, or task tickets. Real-world customer delivery is different: forward-deployed engineers (FDEs) must clarify ambiguous requirements, work in live systems, and uncover unstated constraints. We introduce FDE-Gym, a benchmark of 95 end-to-end delivery tasks from 20 customer scenarios across 18 sectors, each adapted by industry experts from real-world delivery projects. In simulated customer environments with scripted stakeholders and modifiable customer systems, agents interact with stakeholders and operate on production-like systems to deliver working solutions. FDE-Gym scores a delivery by how much it improves the customer's own success metric, normalized between 0 (unchanged system) and 1 (reference solution), with penalties for stakeholder interactions (messages, trial runs, and waiting time). An online platform lets humans practice FDE skills under the same grading criteria. We evaluate 13 model configurations from seven providers. In the realistic setting, where unstated constraints must be discovered, the best configuration achieves a mean FDE-Gym score of 0.56…

  AIEvals80Code
• arXiv cs.CVInference & servingOct 15▲ 78

  Speculative Forcing for Efficient Autoregressive Video Generation

  Hyunwook Choi, Seungryong Kim, Dongyoon Han, Sangdoo Yun

  Few-step autoregressive video generators enable streaming generation, yet they run every token through the final denoising step, regardless of how much refinement it needs. We find this uniform computation is often unnecessary: many tokens already closely match their eventual full-step outputs in the initial steps, while others require refinement until the end. We introduce Speculative Forcing, a framework that treats intermediate clean estimates as drafts and predicts when individual tokens can be safely accepted early. Once accepted, a token is frozen as its final output and undergoes no further denoising, while its cached keys and values remain available as context for the remaining tokens. We explore two alternative verifier designs: a training-free one based on similarity to clean content and stability across steps, and a learned one that reads the frozen generator's intermediate features to estimate each token's remaining gap to its full-step output. Across short-video, long-video, and world generation, Speculative Forcing preserves the quality of full-step sampling while substantially reducing computation. On LongLive, it matches the four-step generator with ~1.7 denoising…

  AIImage & video generation80Code
• arXiv cs.AIAgentsOct 15▲ 25

  MLExpert: Towards a Generalist Agentic Model for Autonomous Machine Learning Engineering

  Shangheng Du, Jinxin Shi, Shuaiyu Zhang, Yiming Wu, Junpeng Zhao +5

  Large language models (LLMs) are expanding from assisting scientific research and engineering to autonomously developing and improving AI systems, advancing AI for AI (AI4AI) as a pathway toward recursive self-improvement (RSI). Workflow-driven machine learning engineering (MLE) systems provide a practical path toward this pursuit through complex orchestration that manages long-horizon experimentation, while recent MLE systems adopt model-directed interaction, allowing models to autonomously organize experiments and adapt optimization strategies based on execution feedback. However, feedback from each experiment reflects several preceding decisions, and a long MLE run contains many such costly experiments. Training must therefore select useful supervision from long interaction trajectories and learn from intermediate outcomes. We propose a post-training method for autonomous long-horizon MLE optimization and apply it to train MLExpert, a 35B Mixture-of-Experts agentic model. We design the Kaggle-MLE Factory to construct executable tasks and an interaction harness for model-directed experimentation. Hierarchical agentic SFT transfers general tool-use and coding capabilities to MLE…

  AITraining & fine-tuning90Code

• Training & fine-tuning42+90.9%
• AI safety29+61.1%
• Federated learning53+39.5%
• Quantum machine learning29+38.1%
• Computer vision29+31.8%
• Evals60+25.0%
• Code models13+18.2%
• Forecasting time88+12.8%