Wencong Zhang

Jiazhi Yang, Kunyang Lin, Jinwei Li et al.

Despite the sustained scaling on model capacity and data acquisition, Vision-Language-Action (VLA) models remain brittle in contact-rich and dynamic manipulation tasks, where minor execution deviations can compound into failures. While reinforcement learning (RL) offers a principled path to robustness, on-policy RL in the physical world is constrained by safety risk, hardware cost, and environment reset. To bridge this gap, we present RISE, a scalable framework of robotic reinforcement learning via imagination. At its core is a Compositional World Model that (i) predicts multi-view future via a controllable dynamics model, and (ii) evaluates imagined outcomes with a progress value model, producing informative advantages for the policy improvement. Such compositional design allows state and value to be tailored by best-suited yet distinct architectures and objectives. These components are integrated into a closed-loop self-improving pipeline that continuously generates imaginary rollouts, estimates advantages, and updates the policy in imaginary space without costly physical interaction. Across three challenging real-world tasks, RISE yields significant improvement over prior art, with more than +35% absolute performance increase in dynamic brick sorting, +45% for backpack packing, and +35% for box closing, respectively.

Tom Gunter, Zirui Wang, Chong Wang et al.

We present foundation language models developed to power Apple Intelligence features, including a ~3 billion parameter model designed to run efficiently on devices and a large server-based language model designed for Private Cloud Compute. These models are designed to perform a wide range of tasks efficiently, accurately, and responsibly. This report describes the model architecture, the data used to train the model, the training process, how the models are optimized for inference, and the evaluation results. We highlight our focus on Responsible AI and how the principles are applied throughout the model development.

Yue Lu, Xiangyu Zhou, Shizhou Zhang et al.

Continual learning (CL) empowers AI systems to progressively acquire knowledge from non-stationary data streams. However, catastrophic forgetting remains a critical challenge. In this work, we identify attention drift in Vision Transformers as a primary source of catastrophic forgetting, where the attention to previously learned visual concepts shifts significantly after learning new tasks. Inspired by neuroscientific insights into the selective attention in the human visual system, we propose a novel attention-retaining framework to mitigate forgetting in CL. Our method constrains attention drift by explicitly modifying gradients during backpropagation through a two-step process: 1) extracting attention maps of the previous task using a layer-wise rollout mechanism and generating instance-adaptive binary masks, and 2) when learning a new task, applying these masks to zero out gradients associated with previous attention regions, thereby preventing disruption of learned visual concepts. For compatibility with modern optimizers, the gradient masking process is further enhanced by scaling parameter updates proportionally to maintain their relative magnitudes. Experiments and visualizations demonstrate the effectiveness of our method in mitigating catastrophic forgetting and preserving visual concepts. It achieves state-of-the-art performance and exhibits robust generalizability across diverse CL scenarios.

Zhihao Wang, Jianxiong Li, Jinliang Zheng et al. · tsinghua

Vision-Language-Action (VLA) models have achieved notable success but often struggle with limited generalizations. To address this, integrating generalized Vision-Language Models (VLMs) as assistants to VLAs has emerged as a popular solution. However, current approaches often combine these models in rigid, sequential structures: using VLMs primarily for high-level scene understanding and task planning, and VLAs merely as executors of lower-level actions, leading to ineffective collaboration and poor grounding challenges. In this paper, we propose an embodied agent framework, PhysiAgent, tailored to operate effectively in physical environments. By incorporating monitor, memory, self-reflection mechanisms, and lightweight off-the-shelf toolboxes, PhysiAgent offers an autonomous scaffolding framework to prompt VLMs to organize different components based on real-time proficiency feedback from VLAs to maximally exploit VLAs' capabilities. Experimental results demonstrate significant improvements in task-solving performance on complex real-world robotic tasks, showcasing effective self-regulation of VLMs, coherent tool collaboration, and adaptive evolution of the framework during execution. PhysiAgent makes practical and pioneering efforts to integrate VLMs and VLAs, effectively grounding embodied agent frameworks in real-world settings.

Liangliang Cao, Bowen Zhang, Chen Chen et al.

The CLIP (Contrastive Language-Image Pre-training) model and its variants are becoming the de facto backbone in many applications. However, training a CLIP model from hundreds of millions of image-text pairs can be prohibitively expensive. Furthermore, the conventional CLIP model doesn't differentiate between the visual semantics and meaning of text regions embedded in images. This can lead to non-robustness when the text in the embedded region doesn't match the image's visual appearance. In this paper, we discuss two effective approaches to improve the efficiency and robustness of CLIP training: (1) augmenting the training dataset while maintaining the same number of optimization steps, and (2) filtering out samples that contain text regions in the image. By doing so, we significantly improve the classification and retrieval accuracy on public benchmarks like ImageNet and CoCo. Filtering out images with text regions also protects the model from typographic attacks. To verify this, we build a new dataset named ImageNet with Adversarial Text Regions (ImageNet-Attr). Our filter-based CLIP model demonstrates a top-1 accuracy of 68.78\%, outperforming previous models whose accuracy was all below 50\%.