Jiahui Lin

Ming Zhang, Jiabao Zhuang, Wenqing Jing et al.

Deep Research Agents increasingly automate survey generation, yet whether they match human experts at retrieving essential papers and organizing them into expert-like taxonomies remains unclear. Existing benchmarks emphasize writing quality or citation correctness, while standard clustering metrics ignore hierarchical structure. We introduce TaxoBench, a benchmark of 72 highly-cited LLM surveys with expert-authored taxonomy trees and 3,815 papers mapped to paper categories. TaxoBench evaluates (1) retrieval via Recall/Precision/F1, and (2) organization at a leaf level (paper-to-category assignment) and a hierarchy level via novel metrics, namely Unordered Semantic Tree Edit Distance US-TED/US-NTED and Semantic Path Similarity Sem-Path. Two modes are supported: Deep Research (topic-only, end-to-end) and Bottom-Up (expert paper set provided, organization-only). To distinguish disagreement with a single expert reference from genuine model failure, we explicitly partition findings into capability-based (reference-free) and alignment-based (reference-dependent). Evaluating 7 Deep Research Agents and 12 frontier LLMs reveals a dual bottleneck: capability-side, the best agent retrieves only 20.92% of expert-cited papers, and 1,000 model taxonomies show 75.9% sibling overlap, 51.2% MECE violations, and 83.4% structural imbalance, all detectable without any reference; alignment-side, all 12 LLMs converge to Sem-Path 28--29%, well below 47--58% achieved by three independent human-annotator groups on the same paper sets. Our benchmark is publicly available at https://github.com/KongLongGeFDU/TaxoBench

V Team, Wenyi Hong, Xiaotao Gu et al.

We present GLM-5V-Turbo, a step toward native foundation models for multimodal agents. As foundation models are increasingly deployed in real environments, agentic capability depends not only on language reasoning, but also on the ability to perceive, interpret, and act over heterogeneous contexts such as images, videos, webpages, documents, GUIs. GLM-5V-Turbo is built around this objective: multimodal perception is integrated as a core component of reasoning, planning, tool use, and execution, rather than as an auxiliary interface to a language model. This report summarizes the main improvements behind GLM-5V-Turbo across model design, multimodal training, reinforcement learning, toolchain expansion, and integration with agent frameworks. These developments lead to strong performance in multimodal coding, visual tool use, and framework-based agentic tasks, while preserving competitive text-only coding capability. More importantly, our development process offers practical insights for building multimodal agents, highlighting the central role of multimodal perception, hierarchical optimization, and reliable end-to-end verification.

Jiahui Lin, Tong Zhou, Delong Zhu et al.

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by exploring a state graph built on motion primitives, which are generated by discretizing the time dimension and the control space. To enable fast online planning, we first propose an efficient path searching algorithm based on the aggregation and pruning of motion primitives. We then propose a fast collision checking algorithm that takes into account the motions of moving obstacles. The algorithm linearizes relative motions between the robot and obstacles and then checks collisions by comparing a point-line distance. Benefiting from the fast searching and collision checking algorithms, the planner can effectively and safely explore the state-time space to generate near-time-optimal solutions. The results through extensive experiments show that the proposed method can generate feasible trajectories within milliseconds while maintaining a higher success rate than up-to-date methods, which significantly demonstrates its advantages.

Delong Zhu, Tong Zhou, Jiahui Lin et al.

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners are typically implemented based on randomized sampling approaches or path searching on discretized state graph. The smoothness, path clearance, and planning efficiency of these planners are usually not satisfying. In this work, we propose a gradient-based planner over the state-time space for online trajectory generation in highly dynamic environments. To enable the gradient-based optimization, we propose a Timed-ESDT that supports distance and gradient queries with state-time keys. Based on the Timed-ESDT, we also define a smooth prior and an obstacle likelihood function that is compatible with the state-time space. The trajectory planning is then formulated to a MAP problem and solved by an efficient numerical optimizer. Moreover, to improve the optimality of the planner, we also define a state-time graph and then conduct path searching on it to find a better initialization for the optimizer. By integrating the graph searching, the planning quality is significantly improved. Experiment results on simulated and benchmark datasets show that our planner can outperform the state-of-the-art methods, demonstrating its significant advantages over the traditional ones.