Hao Zhang

Chenghua Wang, Daliang Xu, Dongqi Cai et al.

Physical AI policies require inference throughout their lifecycle, including model evaluation, cloud reinforcement learning rollout, edge GPU serving, and onboard deployment. Although these settings share the same checkpoint and action semantics, they often rely on separate inference programs. To unify them, we build PhyAI, a Physical AI inference engine with a single runtime that keeps architecture-specific conditioning, solver, cache, and output logic in model adapters while sharing graph execution, kernels, memory management, and parallel services. The same codebase runs vision-language-action (VLA) models and world-action models (WAMs) on single or multiple GPUs across onboard, edge, and cloud deployments. We used the adapter interface to add MiniCPM-Robot on the day of its release. PhyAI achieves 1.40x-4.65x speedups over the official implementations of pi0, pi0.5, GR00T N1.7, and MiniCPM-Robot. On Cosmos3-Nano-Policy-DROID it reduces latency from 2.46 to 1.18 s on eight H20 GPUs (CFG=2, TP=4), a 2.08x speedup. Specialized runtimes remain faster in several configurations, so our goal is one runtime with competitive latency rather than the fastest result in every case. Detailed profiles reveal why different models need different execution policies: on a Hopper-series GPU at batch size one, the pi0.5 action expert accounts for 8.8% of FLOPs but 57.2% of latency; at batch size 32 its share drops to 13.5% and throughput reaches about 100 samples/s. Cosmos3 remains generation-dominated and gains only 14.3% throughput as batch size increases from 1 to 16. We further introduce the control-time Roofline, which distinguishes inference-bound from environment-bound control; the measured pi0.5 points on four LIBERO suites are environment-bound while Cosmos3 stays inference-bound. Code and benchmarks: https://github.com/mingti-org/phyai.

Nizhang Li, Zonghao Ying, Xiangfan Wu et al.

External skills extend the capabilities of large language model agents, but also introduce an execution-time attack surface: a skill that appears benign under inspection may reveal harmful behavior only after particular environmental states, resources, or interaction histories are encountered. Existing scanners primarily rely on static analysis, predefined rules, or one-shot semantic judgments, making such conditional behavior difficult to elicit and attribute. We present SkillSentry, a dynamic safety-testing framework based on adaptive honey worlds. SkillSentry infers the intended capability boundary of a skill, constructs an LLM-simulated environment with controlled decoy resources, and adaptively generates tasks to explore its behavioral states. It then compares skill-enabled trajectories with matched no-skill executions, grounding suspicious behaviors in source code and verified execution traces before making a final decision. We evaluate SkillSentry against seven scanner configurations. SkillSentry achieves 99.50% Recall and 96.26% average F1 on standard benchmarks. Under semantics-preserving evasion, it reaches 92.95% average F1, compared with 80.07% for the strongest baselines. Our code is available at https://github.com/nizhangli062-jpg/SkillSentry-Adaptive-Honey-Worlds-for-Dynamic-Safety-Testing-of-Agent-Skills.

Zhoujin Tian, Yao Tian, Hao Zhang et al.

Long-term multimodal memory must support not only retrieving relevant information but also computing over observations accumulated across interactions. Existing systems largely emphasize \emph{retrieval memory}, organizing interaction histories through summaries and indexes to return query-relevant information at multiple granularities, from high-level abstractions to underlying records. In this paper, we formulate \emph{analytic memory} as a complementary abstraction that organizes recurring multimodal observations into queryable structures supporting filtering, aggregation, ranking, and temporal comparison. We present AdaMM, a framework that jointly supports retrieval and analytic memory. Rather than relying on application-defined schemas, AdaMM extracts provenance-linked attribute-value observations from dialogue, images, and contextual metadata, discovers recurring field structures, and materializes them for analytical access. At inference time, a memory-aware planner decomposes queries into retrieval and analytic operations and routes each operation to the appropriate tools. Experiments on two long-term multimodal memory benchmarks, MemEye and MemGallery, show that AdaMM improves performance by up to 11.3\% and 7.3\%, respectively.