Qile Wu

Jiahui Huang, Jiawei Ren, Michal Tyszkiewicz et al. · nvidia

3D simulation platforms are critical for autonomous driving because they enable end-to-end policy evaluation, thereby reducing development costs and improving safety. In recent years, neural simulation has become predominant, with methods such as NuRec playing a central role; however, these methods remain relatively slow and typically require per-scene tuning. In this work, we present Instant NuRec, a feed-forward neural reconstruction model that turns a short multi-view driving log into a fully simulatable 3D Gaussian Splatting (3DGS) world in a single forward pass. The model accepts multi-view input from a calibrated camera rig and emits a layered output consisting of static and dynamic 3DGS layers, a sky cubemap, and per-camera ISP corrections, while providing native support for non-pinhole camera models via 3DGUT. It reconstructs a 10-20-second multi-camera scene in roughly 1.5 seconds and achieves a PSNR on the Waymo Open Dataset that is 2.01 dB above the strongest evaluated baseline. Instant NuRec is deeply integrated into NuRec and is compatible with AlpaSim for closed-loop simulation.

Dominick Reilly, Qiyu Wu, Hiromi Wakaki et al.

Multimodal Large Language Models (MLLMs) are typically designed under the assumption that all modalities available during training will also be accessible at inference. However, many real-world settings violate this assumption, requiring models to operate under a privileged modality setting, where auxiliary modalities are available only during training. While these modalities contain valuable information, existing MLLMs largely fail to leverage them effectively, as they treat modalities as interchangeable inputs rather than sources of complementary supervision. We propose Mixture of Probes (MoP), a novel framework that disentangles modality-specific and modality-general signals within the MLLM, allowing the model to preserve modality-dependent structure while learning transferable representations across modalities. At its core, MoP achieves this through a structured probing mechanism that extracts and organizes information from intermediate representations of a shared modality encoder, rather than relying only on final-layer alignment as done in existing MLLMs. To support this disentanglement, we further introduce MoP Cross-modal Training (MoP-X), a training strategy for MoP centered around a probe disentanglement loss that prevents probe collapse and encourages cross-modal learning. We evaluate MoP across two domains spanning eight tasks and four modalities under a comprehensive evaluation protocol tailored to the privileged modality setting, where each modality is independently treated as the sole input at inference time. MoP consistently outperforms strong MLLM baselines, achieving up to 65% relative improvement, demonstrating that auxiliary modalities, even when unavailable at inference, can provide substantial gains when effectively leveraged during training. Code, model checkpoints, and evaluation protocols will be made available at https://github.com/Sony/MoP.

Baiyang Song, Yuli Lin, Qiong Wu et al.

Currently, streaming video understanding is still a daunting task for existing \emph{multimodal large language models} (MLLMs). Its difficulties not only lie in handling the ever-increasing video frames, but also in the unpredictability of future video content and input instructions. In this paper, we study this task from the perspective of constructing a dynamic but fixed-budget memory bank, and propose a novel and training-free approach termed \emph{\textbf{CausalMem}}. CausalMem is dedicated to constructing a dynamic visual memory update mechanism, thereby maximizing the amount of information in streaming video within a limited memory space, much like the human brain. In practice, CausalMem estimates the redundancy of visual tokens and updates the memory bank via an online semantic basis, which models the principal semantics of the observed video stream. To validate CausalMem, we apply it to two representative MLLMs, namely LLaVA-OneVision and Qwen2.5-VL respectively, and conduct extensive experiments on both streaming and offline video understanding benchmarks. The experimental results not only show the great advantages than existing methods under both streaming and offline settings, \emph{e.g.}, $+3.2\%$ and $+3.0\%$ average accuracy gains respectively, but also witness the superior semantic preservation for streaming videos, \emph{e.g.}, using 12$k$ token budgets to memorize hour-long streaming videos, which achieves more than \textbf{20$\times$} visual token compression ratio and only occupies about \textbf{82 MB} storage. \textbf{Our code} is given in \href{https://github.com/hktk07/CausalMem}{CausalMem}.

Qiman Wu, Hanlin Chen, Lyujie Chen et al.

Modern VLMs and VLA systems commonly adopt off-the-shelf ViTs such as SigLIP2 as visual encoders, but diverse downstream requirements in latency, temporal modeling, and VLM integration often call for customized SOTA-level ViTs. Training such encoders remains beyond the reach of much of the community, as it requires massive image-text data, while standard softmax attention makes high-resolution or dynamic-resolution pretraining prohibitively costly and often forces low-resolution pretraining followed by post-hoc adaptation. TuringViT addresses these challenges with three key designs: Turing Linear Attention (TLA) for efficient sequence modeling, VISTA-Curation to construct supervision-rich image-video training data, and native dynamic-resolution pretraining that supports flexible inputs from the start and transfers seamlessly to downstream VLMs. As a result, TuringViT outperforms leading open-source ViT baselines with only 10% of the data, achieves stronger downstream VLM performance, and delivers substantially better latency scaling on high-resolution inputs. Our scaling-law analysis further shows that TuringViT continues to improve predictably with curated data scale, far from saturation. Its fast adaptation, hardware-friendly design, and efficient deployment have made it a unified visual foundation across XPeng's AI systems. More broadly, TuringViT provides a reproducible pipeline that dramatically lowers the cost for the community to train, customize, and deploy SOTA-level ViTs, moving toward making such Vision Transformers accessible to all.

Pu Li, Zhigang Lin, Qiang Wu et al.

While RL has become a promising tool for refining world models, existing methods largely rely on conservative rollouts near the training distribution, limiting exploration, behavioral diversity, and richer dynamic discovery. In this work, we challenge this conservative paradigm. We argue that the core limitation is not exploration itself, but the lack of reliable verification strategies to support broader exploration. Without reliable verification, expanded exploration becomes highly susceptible to reward hacking, where policies exploit imperfect rewards without achieving genuine improvement. To evaluate this motivation, we instantiate our method in embodied world models, where physical plausibility, and task completion provide a rigorous testbed for scalable RL under complex dynamics. On the verification side, we introduce Reward as an Agent, an agentic reward framework that actively evaluates generated behaviors to provide robust reward signals and mitigate reward hacking under distribution shifts. On the exploration side, we introduce Dynamic-Aware Rollout Diversification through DynDiff-GRPO, which explicitly expands action-space exploration to diversify trajectories, broaden state-action coverage, and encourage richer embodied behaviors beyond conservative rollout regimes. By unifying Reward as an Agent with DynDiff-GRPO, we enable RL on a more reliable reward foundation with substantially diversified sampling, effectively mitigating reward hacking while yielding significant accuracy gains across multiple open-source world models, thereby demonstrating that broader exploration can scale successfully when grounded in robust verification.

Ziyan Jiang, Li An, Yujian Liu et al.

Computer-use agents (CUAs) approach human-level performance on standardised benchmarks but still struggle on long-horizon tasks and unseen software. Existing skill libraries address this with reusable skills, but represent the skill artifact as text only, despite the visual nature of GUI interaction. We propose VISUALSKILL: a hierarchical multimodal skill, tailored to each target application and organised as a central index over per-topic files, which the agent consumes through a load_topic MCP tool that fetches the relevant topic's text and figures on demand. We construct each skill with a two-stage pipeline that combines authored documentation with live-application UI exploration. On two CUA benchmarks, CUA-World and OSExpert-Eval, a Claude Code CLI agent backed by Claude Opus 4.6 reaches an average score of 0.456 with VISUALSKILL, a +15.3 point absolute lift over the no-skill baseline (0.303). Against a matched text-only skill that is generated from the same source content and differs from VISUALSKILL only in modality, VISUALSKILL yields a further +8.3 point absolute gain over the matched text-only skill (0.373 vs. 0.456), providing direct evidence that retaining visual figures in the skill artifact, rather than verbalizing them away, helps the agent both identify UI elements and verify workflow state after each action. Our code is available at https://github.com/XMHZZ2018/VisualSkills.

Yunhan Xu, Qifeng Wu, Xunjin Li et al.

Computer-aided design (CAD) for industrial components requires long-horizon procedural modeling, robust feature dependencies, editable parametric geometry, and production-grade B-Rep execution. Existing text-to-CAD methods have made promising progress in generating CAD programs from natural-language descriptions, but they still struggle when user prompts are ambiguous, underspecified, or only describe high-level design intent. They also rarely exploit expert procedural knowledge naturally available in industrial workflows, such as CATIA operation recordings, macro logs, drawing notes, and engineering descriptions. We present \algname, a skill-guided industrial CAD agent with expert-grounded knowledge distillation. The core of \algname is CAD intermediate representation (CAD-IR), an executable procedural representation that encodes parameters, ordered operations, MCP tool bindings, dependencies, generated entities, and verification rules. CAD-IR plays two key roles: it first serves as the carrier for distilling expert CAD procedures into reusable parameterized skills; then it provides a procedural scaffold that turns vague or intermediate-level prompts into complete executable CAD operations. \algname retrieves expert-derived skills, instantiates and revises CAD-IR, executes the resulting procedure through a dedicated CATIA-MCP backend, and uses multi-view visual feedback for iterative refinement, and finally generates production-ready B-Rep models. On the Text2CAD benchmark, CAD-IR improves generation from intermediate prompts by reducing mean Chamfer Distance from $14.83$ to $9.88$, showing its ability to bridge ambiguous textual intent and executable CAD construction. On four complex automotive components, CAD-IR enables expert CATIA recordings to be distilled into reusable skills, allowing \algname to generate editable CATIA-native B-Rep models for new variant requests.

Wanxia Cao, Chengzhen Duan, Pei Fu et al.

Graphical user interface (GUI) agents build on vision-language models to complete user tasks end-to-end in real applications through interface actions such as tapping, swiping, text entry, and navigation. However, existing GUI agents are trained and evaluated largely on offline trajectories, simulated environments, and standardized benchmarks. These differ substantially from real applications in interface layout, interaction logic, and abnormal-state distribution, and cannot faithfully characterize execution stability in real-world use, where account states, permission dialogs, payment authentication, and risk control continually reshape the state distribution and open a persistent gap between benchmark scores and real usability. To close this gap, we propose Xiaomi-GUI-0, a native multimodal GUI agent for real mobile environments, trained and evaluated within a real-device closed loop. At its core is a real-device-dominant hybrid infrastructure, where physical devices are the primary execution environment and sandboxes provide auxiliary support, so that data collection, training, rollout, and evaluation share an execution distribution close to real deployment. We construct multi-source training data spanning high-frequency head tasks, high-generalization data for long-tail intents, and capability-enhancement data for reflection and memory, and introduce an error-driven data flywheel that turns failure trajectories into corrected actions, reflective explanations, and recovery demonstrations. The model is trained through a progressive three-stage pipeline of supervised fine-tuning, step-level reinforcement learning, and agentic reinforcement learning. Evaluated on public benchmarks and our in-house RealMobile, Xiaomi-GUI-0 achieves 72.0% success on RealMobile and 78.9% on AndroidWorld, while substantially improving execution stability and abnormal-state recognition in real-world tasks.

Qian Ma, S M Rayeed, Charles V. Stewart et al.

Knowledge-Based Visual Question Answering (KB-VQA) aims to evaluate whether Visual Language Models (VLMs) can retrieve, ground, and reason over external structured knowledge beyond visual evidence. In practice, answer accuracy is widely adopted as the primary evaluation metric, implicitly treating correctness as a proxy for knowledge-grounded reasoning. However, for existing KB-VQA benchmarks, this proxy relies on critical assumptions that are often overlooked and rendered unreliable by benchmark issues: annotated answer must be derivable from the associated knowledge base, question must be well-posed with sufficient constraints, and visual setting must meaningfully require grounded disambiguation. In this work, we show that these assumptions are systematically violated in existing KB-VQA benchmarks. Our audit reveals substantial instances with missing or contradicted answers and underspecified questions that render accuracy a misleading metric. Furthermore, we find that existing datasets rely on visually trivial, single-entity scenes that bypass the need for sophisticated visual-to-knowledge mapping. We demonstrate that even with controlled architectures, these flaws lead to distorted model rankings and overestimations of reasoning capabilities. To address this, we introduce (1) a principled audit-and-repair protocol that restores answer derivability and question clarity, and (2) a controlled multi-entity augmentation protocol that introduces visual ambiguity to challenge initial retrieval and grounded reasoning. Re-evaluation under corrected and augmented settings yields markedly different performance trends. Our findings call for rethinking evaluation protocols and designing more interaction-aware KB-VQA benchmarks that prioritize verifiable reasoning over simple matching.

Qingjie Wu, Beixiong Zheng, Guangchi Zhang et al.

Rotatable antenna (RA) has emerged as a promising technology to improve both communication and sensing performance in future wireless networks. In this paper, we deploy an RA array at the base station (BS) to improve the integrated sensing and communication (ISAC) performance by exploiting the additional spatial degrees of freedom (DoFs) introduced by antenna rotation. To enhance the sensing performance over an extended region containing a potential target while meeting the communication requirements of multiple users, we aim to maximize the minimum echo signal power within the sensing region, subject to required minimum communication rates of the users. For the special case of a single user and a point target, we show that the optimal orientation of all RAs is identical when both the communication user and the sensing target are located in the far-field region, and then derive a closed-form solution for the optimal RA pointing vector. For the general multi-user and extended-target case, we propose an alternating optimization (AO) algorithm that alternately optimizes the transmit beamforming for communication, the covariance matrix of the probing signal, and the pointing vectors of the RAs in an iterative manner. Simulation results demonstrate that the proposed RA-enabled ISAC system can significantly outperform various benchmark schemes, including systems with array-wise rotation optimization and fixed antenna orientation.

Sitao Chen, Zhuangwei Zhuang, Hui Luo et al.

LiDAR-based 3D semantic occupancy prediction, which aims to provide accurate and comprehensive scene representation, is crucial for autonomous driving systems. As point clouds suffer from sparsity and incompleteness, leading to insufficient semantic learning and difficult occupancy perception, existing methods often stack multi-sweep point clouds to obtain dense spatial information. However, such a naive strategy also results in efficiency (e.g., additional computational burden) and robustness (e.g., pose transformation noise) concerns, which hinder their practical applications. In this work, we propose a Dual Range-Voxel Representation (DRVR) that leverages the range-view context and voxel-view geometry of single-sweep point clouds for 3D semantic occupancy prediction, eliminating the concerns associated with the multi-sweeps. Specifically, we use the range-view encoder to extract the compact context of the scene. To fully exploit the spatial information, we design a geometry-aware voxel-view encoder that extracts multi-scale voxel-view features separately and combines them for better geometric occupancy prediction. Moreover, we propose a range-voxel fusion module to cooperate range- and voxel-view features via voxel-to-range and range-to-voxel fusions. Extensive experiments on nuScenes-Occupancy, SemanticKITTI and SemanticPOSS show the superiority of our method. Especially on nuScenes-Occupancy, our single-sweep DRVR achieves 5.4% improvement in mIoU and 2.1x acceleration compared to the multi-sweep method.

Jian Zhou, Sihao Lin, Jin Li et al.

Embodied agents are typically built as hand-designed compositions of perception, memory, planning, and action modules. This modularity exposes a large architectural design space, but current systems still rely on researcher intuition to choose where information is stored, how observations are processed, and how model calls are connected. Agent Architecture Search (AAS) automates such design for text-domain agents, but has not been systematically evaluated on perceptual embodied agents through simulator rollouts. We study this transfer. We introduce AgentCanvas, a typed-graph runtime that hosts embodied executors as editable node-and-wire programs with simulator-aware execution and episode-level logs, and KDLoop, a coding-agent search procedure that cycles through proposal, critique, experiment, and distillation, with triggered reflection after stalls. We evaluate three AAS variants across four embodied executors spanning vision-language navigation, embodied question answering, and language-conditioned manipulation. The resulting 3x4 matrix shows that architecture-level search can produce deployable and directional success-rate gains on embodied tasks, while one apparent high-scoring candidate is rejected as leak-bearing. At the same time, the experiments expose constraints that are muted in text-domain AAS: optimization signals can be masked by rollout noise, search can become trapped in local edit basins, and episode-level credit assignment only partially emerges even when detailed logs are available. These results characterize both the promise and the current limits of automated architecture search for embodied agents.

Yiyun Fei, Guoqiu Li, Jin Song et al.

We present Home3D 1.0, a modular image-to-3D generation system that produces high-quality 3D assets from a single reference image, targeting interior design and e-commerce applications. Given a photograph of a furniture or decor item, the system outputs a mesh with physically-based rendering (PBR) materials, and the mesh can be decomposed into material-specific components. The pipeline is organized into four tightly coupled modules: Geometry reconstructs a watertight mesh through latent SDF modelling with a geometry VAE and a coarse-to-fine flow-matching DiT; Texture predicts multiview albedo observations, reprojects them onto the mesh, and completes unseen surface regions with a 3D texture field; Material uses MatWeaver to obtain component masks through video-based segmentation and UV-space voting, then retrieves and bakes PBR maps from a curated material library through hierarchical multi-modal matching; and Parts generates material-editable semantic part meshes with a PartVAE and PartDiT, decoding multi-head part-specific SDF fields in one pass. Each module is evaluated independently with dedicated metrics, highlighting both the current system capability and the remaining gaps toward broader deployment.

Qian Ma, Qiong Wu, Zhengyi Zhou et al.

Knowledge-Based Visual Question Answering (KB-VQA) requires grounding visual queries to external knowledge beyond directly observable content in images. While recent multi modal large language models (MLLMs) show strong perceptual abilities, they struggle on KB-VQA tasks requiring groundings from both fine-grained entity and evidence levels. Most existing multi-modal retrieval augmented generation (MM-RAG) methods tightly couple entity discrimination and section-level evidence ranking into a single re-ranking stage, leading to high cost and limited generalization. In this work, we revisit existing MM-RAG solutions from a workflow perspective and argue both entity-level and fact-level groundings are key bottlenecks. We observe that although MLLMs often fail under open-ended entity naming, they can better identify the correct entity when selecting from a small set of candidate names. Based on this insight, we propose a simple and training-free identify-before-answer IBA framework that decouples entity identification from section-level re-ranking. Our approach prompts an MLLM to select high-confidence entities using only candidate names, followed by an off-the-shelf textual re-ranker for evidence selection. Experiments on Encyclopedic-VQA and InfoSeek show that our method consistently outperforms fine-tuned multi-modal re-ranking baselines while reducing training and inference complexity. Additional analyses reveal that the improvements arise not only from better entity identification, but also from selecting more informative evidence once correct entity is fixed. Our implementation is made public to ease reproducibility.

Yuzhen Song, Yifan Wang, Guqiao Chen et al.

On-chip inductive elements are pivotal in determining both the silicon footprint and performance of millimeter-wave (mmWave) integrated circuits. However, the layout-level synthesis of these passive devices is severely challenged by highly nonlinear geometry-to-performance mappings, computationally expensive full-wave electromagnetic simulations, topology-dependent design spaces, and the inherent non-uniqueness of inverse design. To overcome these bottlenecks, we propose a hybrid forward optimization and reverse design (HFORD) method for the target-to-layout synthesis of mmWave inductive elements. Utilizing a unified core to map device-level requirements to layout-level seeds, HFORD structures direct device targets and translates circuit specifications into a hierarchical synthesis flow. Specifically, sparse-fitting sampling is introduced to improve coverage across critical performance regions, while compact response-fitting coefficients significantly reduce training dimensionality. The HFORD core integrates a random forest for topology selection, a variational autoencoder for spectral feature generation, a mixture density network for probabilistic inverse mapping, and particle swarm optimization for latent space exploration. This integration improves the feasibility of the generated layout seeds under design rule check (DRC) constraints. Two design examples demonstrate that the proposed method accelerates the design cycle from hours to minutes compared to conventional optimization methods.

Sipeng Xie, Qianhong Wu, Hengrun Lu et al.

Agents increasingly access large language models (LLMs) through API routers. A router terminates the client's transport-layer security session and opens a separate upstream session, so it holds the full interaction in plaintext. This makes the router an application-layer man-in-the-middle: it can rewrite agent tool calls, swap dependencies for typosquatted packages, trigger attacks only under audit-evading conditions, and passively exfiltrate secrets. Existing client-side defenses are evadable. We propose AEGIS, a provider-transparent attested API router whose data path is a client-verified faithful passthrough. AEGISconfines plaintext handling to a small hardware-enclave component while leaving authentication, scheduling, accounting, and management on the untrusted host. The client verifies the enclave before releasing plaintext. The host can neither read nor alter the interaction, and plaintext leaves only toward destinations fixed by the measured image. We show that all four malicious-router attack classes succeed against a plaintext-access baseline and are blocked by AEGIS, including adaptive tests against the same boundary. The trusted path is $851$ lines, carries three provider-native APIs without conversion, and completes every request under real-provider workload and concurrency. In a seeded audit pilot, two commodity coding agents find eight and ten of ten planted invariant violations. The local relay overhead is about six milliseconds per request.

Di Dai, Bo Liu, Youcheng Li et al.

Mammography is an essential tool for breast cancer detection, with millions of examinations conducted annually. However, publicly available high-quality mammography datasets for AI development remain limited in both scale and annotation richness, particularly regarding pathological subtype coverage and structured diagnostic reasoning annotations. In this paper, we present MammoExpert, the first mammography dataset with Chain-of-Thought reasoning annotations across three diagnostic phases: (i) primal observation, (ii) factual assessment, and (iii) diagnostic synthesis. Comprising 2,379 mammography images covering 67 WHO-classified histopathology subtypes, each exam provides 42 radiographic features annotated by nine senior radiologists. We evaluate its performance on the breast lesion classification task, demonstrating superior accuracy and reasonability compared to existing classification models. Combining public dataset CBIS-DDSM with MammoExpert yields 7.1\% classification accuracy improvement, while the training model to learn CoT reasoning achieves another 4\% gain on the MammoExpert test set. Similar improvements are observed on INBreast and Vindr datasets, where the full approach yields accuracy gains of 6.9\% and 6.7\%, respectively. MammoExpert can serve as a benchmark for interpretable breast lesion diagnosis through explicit CoT reasoning.

Dongyang Liu, Ruoyi Du, David Liu et al.

Few-step diffusion distillation has become increasingly mature for 4-8-step generation, yet pushing further to 2 steps remains challenging. In this work, we introduce Z-Image Turbo++, a high-quality 2-step image generation model distilled from the 8-step Z-Image Turbo teacher. Our method addresses the central bottlenecks of increased task difficulty and limited model capacity in 2-step generation through three simple but effective design choices tailored to this regime. First, we propose Distribution-Aligned Adversarial Learning, which uses teacher-generated images rather than external real images as real samples for GAN training, providing a more attainable and informative adversarial target. Second, we adopt Step-Decoupled Parameterization, assigning independent model parameters to the two denoising steps to better match their distinct capacity demands. Third, we perform End-to-End Training with Iterative Regularization, allowing the first step to receive gradients from final image quality while preserving a meaningful intermediate generation through an explicit step-1 loss. Together, these designs substantially narrow the quality gap between 2-step and 8-step generation in both qualitative and quantitative evaluations, highlighting the potential of carefully tailored distillation strategies for improving the quality-efficiency trade-off in few-step generation.

Haohua Que, Zhipeng Bao, Qianyi Wu et al.

Cloud-hosted large multimodal models (LMMs) can provide strong open-vocabulary perception for Vehicle-to-Everything systems, but naively transmitting full-resolution frames from edge to cloud causes severe communication overhead and high cloud-side prefill latency. We present CABLE, a cloud-assisted bandwidth-efficient LMM-based encoding framework for edge-cloud perception. CABLE propagates the previous cloud segmentation mask on the edge using ego-motion compensation, refines it with residual-motion cues, and consolidates disconnected regions via a corridor envelope to form a robust region of interest (ROI). Only ROI-masked images are uploaded, while the cloud segmentation output is fed back as the prior for the next frame, forming a mask-to-ROI-to-LMM feedback loop. Experiments on five datasets (nuScenes, WOD-ZB, Waymo, KITTI, and CADC) show consistent communication savings while largely preserving perception, achieving $73$--$87\%$ ROI pixel-coverage reduction with $5$--$8\times$ estimated LMM prefill speedup at a modest detection-quality trade-off relative to full-frame inference.

Yiyan Huang, Cheuk Hang Leung, Qi Wu et al.

Offline policy learning has received growing attention in causal inference. The primary objective is to learn a policy (individualized treatment rule) as a mapping from covariates to treatment that maximizes the empirical welfare defined as the mean of scalar-valued potential outcomes. In this paper, we study offline policy learning with distribution-valued outcomes, where each potential outcome is a probability measure on $\mathbb{R}$ and the reward is defined through a utility functional applied to the Wasserstein barycenter of induced outcome distributions. We establish statistical guarantees for the policy learning framework based on both Inverse Probability Weighting (IPW) and Doubly Robust (DR) estimators. By handling the challenging uniform deviation over the product of the combinatorial policy class and the infinite-dimensional quantile domain, we prove that the finite-sample regret has leading dependence $\widetilde{\mathcal{O}}(\sqrt{\mathrm{N\text{-}dim}(Π)/N})$. In the one-dimensional Wasserstein setting and under the stated regularity conditions, the leading regret rate is still governed by the policy-class complexity. Moreover, we provide a minimax lower bound establishing the sharpness of the leading dependence on $N$ and $\mathrm{N\text{-}dim}(Π)$.

Taowen Wang, Zikang Xie, Bin Yang et al.

Humanoid robots promise whole-body interaction in human-centered environments, but scalable policy learning remains difficult because task-level decision-making and whole-body dynamic execution are tightly coupled. A practical solution is hierarchical control, where a high-level policy predicts intermediate whole-body actions and low-level general motion trackers (GMTs) execute them as stable humanoid motion. However, existing benchmarks rarely evaluate the policy-tracker interface itself, leaving open whether intermediate whole-body actions are executable, robust under task distribution shifts, and transferable across different GMT backends. We introduce HumanoidArena, a simulation-first benchmark for egocentric hierarchical whole-body learning. The benchmark formulates policy learning as a hierarchical decision making problem: a high-level policy converts egocentric vision, proprioception, and instructions into a compact whole-body action, which is subsequently executed by a low-level GMT. Instead of treating the legs as planar transport tools, HumanoidArena emphasizes interactions where lower-body coordination is structurally necessary in task completion. We therefore design 7 leg-critical HOI/HSI tasks in which success requires foot placement, balance maintenance, posture adjustment, and whole-body reorientation. To further diagnose the hierarchical system, we evaluate policies from two complementary perspectives: perturbation-conditioned generalization and GMT-conditioned transfer. Experiments show that hierarchical control enables learned policies to solve diverse leg-critical interactions, but performance is strongly tracker-conditioned and cross-GMT transfer remains fragile. These results position HumanoidArena as a benchmark for studying transferable intermediate action representations and scalable egocentric whole-body policy learning.

Zhongzhu Zhou, Qingyang Wu, Junxiong Wang et al.

Hybrid linear attention models offer an appealing path to faster long-context inference: they reduce the quadratic cost and KV-cache burden of full softmax attention while retaining much of the quality of Transformer models. A practical way to obtain such models is to convert a pretrained Transformer instead of pretraining a new architecture from scratch, but this conversion is still brittle. Simply copying the teacher attention projections into a Gated DeltaNet (GDN) student does not specify the new recurrent decay, write, and output-gating dynamics. As a result, the converted model often starts in a poor dynamical regime and must spend many distillation tokens repairing initialization rather than learning the remaining teacher behavior. We propose Taylor-Calibrate, a lightweight initialization method for hybrid GDN students. The method uses Taylor-guided teacher attention statistics to set the value projection, memory timescale, write gates, and output gate, then applies a short per-layer alignment step to match each converted layer to the teacher output. Across four teacher settings and three retained-layer policies, Taylor-Calibrate gives substantially stronger zero-shot students, with up to an 88x improvement in a representative ablation, and reaches matched recovery targets with 4.9x--9.2x fewer training tokens than naive conversion.

Guangji Chen, Long Shi, Qingqing Wu et al.

Providing reliable communication for unmanned aerial vehicles (UAVs) via existing cellular networks is crucial for enabling the rapid growth of the low-altitude economy. However, UAV jittering significantly degrades communication quality due to induced beam misalignment. Inspired by recent advances in integrated sensing and communication, we propose a novel two-stage active sensing-assisted communication framework tailored for ground-to-UAV links with jittering. Specifically, two schemes are conceived to leverage sensing for enhancing communication performance, namely the communication-oriented scheme and the sensing-oriented scheme. For the sensing-oriented scheme, deterministic signals are employed in the first stage to facilitate angle-of-arrival (AoA) acquisition at the UAV side, followed by pure communication service in the second stage by using the estimated AoA. In contrast, the communication-oriented scheme employs Gaussian information-bearing signals throughout both stages, with AoA estimation relying on Gaussian random signals. For both schemes, we provide maximum likelihood estimators for AoA, along with analytical results characterizing the Cramér-Rao bound. To capture the performance limit, closed-form expressions for the achievable rates of the two schemes are derived, unveiling a fundamental tradeoff between sensing and communication quality across the two stages by tuning the time allocated to the first stage. The optimal time allocation that maximizes the overall rate is obtained in semi-closed-form. Based on these results, we unveil a sufficient condition under which the communication-oriented scheme outperforms the sensing-oriented scheme, which admits an interesting threshold-based structure. Asymptotic analysis demonstrates that the performance loss of the proposed schemes relative to the jitter-free upper bound approaches zero in the high transmit power regime.