Jing Zhang

Haoyang Li, Guanlin Li, Youhe Feng et al.

Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and action spaces differ fundamentally across robot platforms. We observe that the high-level cognitive process underlying manipulation, including scene perception, object identification, task planning, and sub-task decomposition, is largely shared across embodiments. Based on this observation, we present ZR-0, a 2.6 billion parameter end-to-end VLA model that uses dense Embodied Chain-of-Thought (ECoT) supervision to align cross-embodiment representations within the vision-language model (VLM). ZR-0 adopts a dual-stream architecture: a pre-trained VLM (System 2) generates structured ECoT reasoning during training, while a Diffusion Transformer-based action expert (System 1) produces continuous action chunks via flow matching. The two components are coupled through cross-attention, with an attention mask that restricts the action expert to input prompt features only, enabling ECoT generation to be entirely skipped at inference without any performance loss. ZR-0 is pre-trained on ProcCorpus-60M, a large-scale dataset comprising approximately 60 million frames (approximately 1,000 hours) from over 400K trajectories, with dense ECoT annotations covering 96.8% of all frames. We evaluate ZR-0 on three simulation benchmarks spanning single-arm (LIBERO), bimanual (RoboTwin 2.0), and humanoid (RoboCasa GR-1 Tabletop) embodiments, as well as real-world experiments on the xArm platform, demonstrating strong performance across all settings. Code and model checkpoints are available at https://github.com/RUCKBReasoning/ZR-0.

Jian Zhu, Yuzheng Zhang, Zeyao Ma et al.

Spreadsheets are widely used for business analysis, financial modeling, reporting, and decision-making. However, most existing spreadsheet benchmarks evaluate isolated operations such as single-formula generation or local cell edits, and therefore fail to capture end-to-end workflows in realistic business settings. We introduce \textsc{SpreadsheetBench 2}, a workflow-level benchmark for spreadsheet agents that covers three task categories: generation, debugging, and visualization. The benchmark is constructed from authentic business data, including financial reports and corporate filings, and is annotated and validated by domain experts. The benchmark contains 321 tasks; each instance averages 11.8 worksheets and requires 593.5 cell modifications, reflecting large multi-sheet workbooks with cross-sheet dependencies. We evaluate eight frontier large language models under a unified multi-turn agent scaffold, and additionally include several LLM-based spreadsheet products as complementary baselines. Results show that current systems remain far from reliable on real-world workflows: the best model achieves 34.89\% overall task accuracy, and debugging accuracy is as low as 12.00\%. Trajectory analysis and a failure taxonomy further indicate that insufficient spreadsheet inspection and incorrect target-cell selection are the dominant bottlenecks. Together, these findings position \textsc{SpreadsheetBench 2} as a challenging testbed for advancing reliable spreadsheet automation. Project page: https://spreadsheetbench.github.io/