Graph-based Retrieval-Augmented Generation (GraphRAG) organizes external knowledge as a hierarchical graph, enabling efficient retrieval and aggregation of scattered evidence across multiple documents. However, many existing benchmarks for GraphRAG rely on short, curated passages as external knowledge, failing to adequately evaluate systems in realistic settings involving long contexts and large-scale heterogeneous documents. To bridge this gap, we introduce WildGraphBench, a benchmark designed to assess GraphRAG performance in the wild. We leverage Wikipedia's unique structure, where cohesive narratives are grounded in long and heterogeneous external reference documents, to construct a benchmark reflecting real-word scenarios. Specifically, we sample articles across 12 top-level topics, using their external references as the retrieval corpus and citation-linked statements as ground truth, resulting in 1,100 questions spanning three levels of complexity: single-fact QA, multi-fact QA, and section-level summarization. Experiments across multiple baselines reveal that current GraphRAG pipelines help on multi-fact aggregation when evidence comes from a moderate number of sources, but this aggregation paradigm may overemphasize high-level statements at the expense of fine-grained details, leading to weaker performance on summarization tasks. Project page:https://github.com/BstWPY/WildGraphBench.

Advertising image generation has increasingly focused on online metrics like Click-Through Rate (CTR), yet existing approaches adopt a ``one-size-fits-all" strategy that optimizes for overall CTR while neglecting preference diversity among user groups. This leads to suboptimal performance for specific groups, limiting targeted marketing effectiveness. To bridge this gap, we present \textit{One Size, Many Fits} (OSMF), a unified framework that aligns diverse group-wise click preferences in large-scale advertising image generation. OSMF begins with product-aware adaptive grouping, which dynamically organizes users based on their attributes and product characteristics, representing each group with rich collective preference features. Building on these groups, preference-conditioned image generation employs a Group-aware Multimodal Large Language Model (G-MLLM) to generate tailored images for each group. The G-MLLM is pre-trained to simultaneously comprehend group features and generate advertising images. Subsequently, we fine-tune the G-MLLM using our proposed Group-DPO for group-wise preference alignment, which effectively enhances each group's CTR on the generated images. To further advance this field, we introduce the Grouped Advertising Image Preference Dataset (GAIP), the first large-scale public dataset of group-wise image preferences, including around 600K groups built from 40M users. Extensive experiments demonstrate that our framework achieves the state-of-the-art performance in both offline and online settings. Our code and datasets will be released at https://github.com/JD-GenX/OSMF.

Reconstructing 3D scenes from sparse images remains a challenging task due to the difficulty of recovering accurate geometry and texture without optimization. Recent approaches leverage generalizable models to generate 3D scenes using 3D Gaussian Splatting (3DGS) primitive. However, they often fail to produce continuous surfaces and instead yield discrete, color-biased point clouds that appear plausible at normal resolution but reveal severe artifacts under close-up views. To address this issue, we present SurfSplat, a feedforward framework based on 2D Gaussian Splatting (2DGS) primitive, which provides stronger anisotropy and higher geometric precision. By incorporating a surface continuity prior and a forced alpha blending strategy, SurfSplat reconstructs coherent geometry together with faithful textures. Furthermore, we introduce High-Resolution Rendering Consistency (HRRC), a new evaluation metric designed to evaluate high-resolution reconstruction quality. Extensive experiments on RealEstate10K, DL3DV, and ScanNet demonstrate that SurfSplat consistently outperforms prior methods on both standard metrics and HRRC, establishing a robust solution for high-fidelity 3D reconstruction from sparse inputs. Project page: https://hebing-sjtu.github.io/SurfSplat-website/

Conversational diagnosis requires multi-turn history-taking, where an agent asks clarifying questions to refine differential diagnoses under incomplete information. Existing approaches often rely on the parametric knowledge of a model or assume that patients provide rich and concrete information, which is unrealistic. To address these limitations, we propose a conversational diagnosis system that explores a diagnostic knowledge graph to reason in two steps: (i) generating diagnostic hypotheses from the dialogue context, and (ii) verifying hypotheses through clarifying questions, which are repeated until a final diagnosis is reached. Since evaluating the system requires a realistic patient simulator that responds to the system's questions, we adopt a well-established simulator along with patient profiles from MIMIC-IV. We further adapt it to describe symptoms vaguely to reflect real-world patients during early clinical encounters. Experiments show improved diagnostic accuracy and efficiency over strong baselines, and evaluations by physicians support the realism of our simulator and the clinical utility of the generated questions. Our code will be released upon publication.

Accurate and responsive myoelectric prosthesis control typically relies on complex, dense multi-sensor arrays, which limits consumer accessibility. This paper presents a novel, data-efficient deep learning framework designed to achieve precise and accurate control using minimal sensor hardware. Leveraging an external dataset of 8 subjects, our approach implements a hybrid Transformer optimized for sparse, two-channel surface electromyography (sEMG). Unlike standard architectures that use fixed positional encodings, we integrate Time2Vec learnable temporal embeddings to capture the stochastic temporal warping inherent in biological signals. Furthermore, we employ a normalized additive fusion strategy that aligns the latent distributions of spatial and temporal features, preventing the destructive interference common in standard implementations. A two-stage curriculum learning protocol is utilized to ensure robust feature extraction despite data scarcity. The proposed architecture achieves a state-of-the-art multi-subject F1-score of 95.7% $\pm$ 0.20% for a 10-class movement set, statistically outperforming both a standard Transformer with fixed encodings and a recurrent CNN-LSTM model. Architectural optimization reveals that a balanced allocation of model capacity between spatial and temporal dimensions yields the highest stability. Furthermore, while direct transfer to a new unseen subject led to poor accuracy due to domain shifts, a rapid calibration protocol utilizing only two trials per gesture recovered performance from 21.0% $\pm$ 2.98% to 96.9% $\pm$ 0.52%. By validating that high-fidelity temporal embeddings can compensate for low spatial resolution, this work challenges the necessity of high-density sensing. The proposed framework offers a robust, cost-effective blueprint for next-generation prosthetic interfaces capable of rapid personalization.

Hallucination remains a fundamental challenge for Multimodal Large Language Models (MLLMs). While Direct Preference Optimization (DPO) is a key alignment framework, existing approaches often rely heavily on costly external evaluators for scoring or rewriting, incurring off-policy learnability gaps and discretization loss. Due to the lack of access to internal states, such feedback overlooks the fine-grained conflicts between different modalities that lead to hallucinations during generation. To address this issue, we propose IRIS (Implicit Reward-Guided Internal Sifting), which leverages continuous implicit rewards in the native log-probability space to preserve full information density and capture internal modal competition. This on-policy paradigm eliminates learnability gaps by utilizing self-generated preference pairs. By sifting these pairs based on multimodal implicit rewards, IRIS ensures that optimization is driven by signals that directly resolve modal conflicts. Extensive experiments demonstrate that IRIS achieves highly competitive performance on key hallucination benchmarks using only 5.7k samples, without requiring any external feedback during preference alignment. These results confirm that IRIS provides an efficient and principled paradigm for mitigating MLLM hallucinations.

The proliferation of retrieval-augmented generation (RAG) has established vector databases as critical infrastructure, yet they introduce severe privacy risks via embedding inversion attacks. Existing paradigms face a fundamental trade-off: optimization-based methods require computationally prohibitive queries, while alignment-based approaches hinge on the unrealistic assumption of accessible in-domain training data. These constraints render them ineffective in strict black-box and cross-domain settings. To dismantle these barriers, we introduce Zero2Text, a novel training-free framework based on recursive online alignment. Unlike methods relying on static datasets, Zero2Text synergizes LLM priors with a dynamic ridge regression mechanism to iteratively align generation to the target embedding on-the-fly. We further demonstrate that standard defenses, such as differential privacy, fail to effectively mitigate this adaptive threat. Extensive experiments across diverse benchmarks validate Zero2Text; notably, on MS MARCO against the OpenAI victim model, it achieves 1.8x higher ROUGE-L and 6.4x higher BLEU-2 scores compared to baselines, recovering sentences from unknown domains without a single leaked data pair.

Predicting drug-drug interactions (DDIs) is essential for safe pharmacological treatments. Previous graph neural network (GNN) models leverage molecular structures and interaction networks but mostly rely on linear aggregation and symmetric assumptions, limiting their ability to capture nonlinear and heterogeneous patterns. We propose MGKAN, a Graph Kolmogorov-Arnold Network that introduces learnable basis functions into asymmetric DDI prediction. MGKAN replaces conventional MLP transformations with KAN-driven basis functions, enabling more expressive and nonlinear modeling of drug relationships. To capture pharmacological dependencies, MGKAN integrates three network views-an asymmetric DDI network, a co-interaction network, and a biochemical similarity network-with role-specific embeddings to preserve directional semantics. A fusion module combines linear attention and nonlinear transformation to enhance representational capacity. On two benchmark datasets, MGKAN outperforms seven state-of-the-art baselines. Ablation studies and case studies confirm its predictive accuracy and effectiveness in modeling directional drug effects.

Current test-time scaling (TTS) techniques enhance large language model (LLM) performance by allocating additional computation at inference time, yet they remain insufficient for agentic settings, where actions directly interact with external environments and their effects can be irreversible and costly. We propose ARTIS, Agentic Risk-Aware Test-Time Scaling via Iterative Simulation, a framework that decouples exploration from commitment by enabling test-time exploration through simulated interactions prior to real-world execution. This design allows extending inference-time computation to improve action-level reliability and robustness without incurring environmental risk. We further show that naive LLM-based simulators struggle to capture rare but high-impact failure modes, substantially limiting their effectiveness for agentic decision making. To address this limitation, we introduce a risk-aware tool simulator that emphasizes fidelity on failure-inducing actions via targeted data generation and rebalanced training. Experiments on multi-turn and multi-step agentic benchmarks demonstrate that iterative simulation substantially improves agent reliability, and that risk-aware simulation is essential for consistently realizing these gains across models and tasks.

Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of existing approaches is that task reasoning is implicitly embedded in high-dimensional latent representations, making it challenging to separate task structure from perceptual variability. We introduce Grounded Scene-graph Reasoning (GSR), a structured reasoning paradigm that explicitly models world-state evolution as transitions over semantically grounded scene graphs. By reasoning step-wise over object states and spatial relations, rather than directly mapping perception to actions, GSR enables explicit reasoning about action preconditions, consequences, and goal satisfaction in a physically grounded space. To support learning such reasoning, we construct Manip-Cognition-1.6M, a large-scale dataset that jointly supervises world understanding, action planning, and goal interpretation. Extensive evaluations across RLBench, LIBERO, GSR-benchmark, and real-world robotic tasks show that GSR significantly improves zero-shot generalization and long-horizon task completion over prompting-based baselines. These results highlight explicit world-state representations as a key inductive bias for scalable embodied reasoning.

In this work, we focus on the challenge of temporally consistent human-centric dense prediction across video sequences. Existing models achieve strong per-frame accuracy but often flicker under motion, occlusion, and lighting changes, and they rarely have paired human video supervision for multiple dense tasks. We address this gap with a scalable synthetic data pipeline that generates photorealistic human frames and motion-aligned sequences with pixel-accurate depth, normals, and masks. Unlike prior static data synthetic pipelines, our pipeline provides both frame-level labels for spatial learning and sequence-level supervision for temporal learning. Building on this, we train a unified ViT-based dense predictor that (i) injects an explicit human geometric prior via CSE embeddings and (ii) improves geometry-feature reliability with a lightweight channel reweighting module after feature fusion. Our two-stage training strategy, combining static pretraining with dynamic sequence supervision, enables the model first to acquire robust spatial representations and then refine temporal consistency across motion-aligned sequences. Extensive experiments show that we achieve state-of-the-art performance on THuman2.1 and Hi4D and generalize effectively to in-the-wild videos.

Time series anomaly detection is a critical task across various industrial domains. However, capturing temporal dependencies and multivariate correlations within patch-level representation learning remains underexplored, and reliance on single-scale patterns limits the detection of anomalies across different temporal ranges. Furthermore, focusing on normal data representations makes models vulnerable to distribution shifts at inference time. To address these limitations, we propose Codebook-based Online-adaptive Multi-scale Embedding for Time-series anomaly detection (COMET), which consists of three key components: (1) Multi-scale Patch Encoding captures temporal dependencies and inter-variable correlations across multiple patch scales. (2) Vector-Quantized Coreset learns representative normal patterns via codebook and detects anomalies with a dual-score combining quantization error and memory distance. (3) Online Codebook Adaptation generates pseudo-labels based on codebook entries and dynamically adapts the model at inference through contrastive learning. Experiments on five benchmark datasets demonstrate that COMET achieves the best performance in 36 out of 45 evaluation metrics, validating its effectiveness across diverse environments.

Deep Research Agents (DRAs) have demonstrated remarkable capabilities in autonomous information retrieval and report generation, showing great potential to assist humans in complex research tasks. Current evaluation frameworks primarily rely on LLM-generated references or LLM-derived evaluation dimensions. While these approaches offer scalability, they often lack the reliability of expert-verified content and struggle to provide objective, fine-grained assessments of critical dimensions. To bridge this gap, we introduce Wiki Live Challenge (WLC), a live benchmark that leverages the newest Wikipedia Good Articles (GAs) as expert-level references. Wikipedia's strict standards for neutrality, comprehensiveness, and verifiability serve as a great challenge for DRAs, with GAs representing the pinnacle of which. We curate a dataset of 100 recent Good Articles and propose Wiki Eval, a comprehensive evaluation framework comprising a fine-grained evaluation method with 39 criteria for writing quality and rigorous metrics for factual verifiability. Extensive experiments on various DRA systems demonstrate a significant gap between current DRAs and human expert-level Wikipedia articles, validating the effectiveness of WLC in advancing agent research. We release our benchmark at https://github.com/WangShao2000/Wiki_Live_Challenge

Multimodal time series forecasting is crucial in real-world applications, where decisions depend on both numerical data and contextual signals. The core challenge is to effectively combine temporal numerical patterns with the context embedded in other modalities, such as text. While most existing methods align textual features with time-series patterns one step at a time, they neglect the multiscale temporal influences of contextual information such as time-series cycles and dynamic shifts. This mismatch between local alignment and global textual context can be addressed by spectral decomposition, which separates time series into frequency components capturing both short-term changes and long-term trends. In this paper, we propose SpecTF, a simple yet effective framework that integrates the effect of textual data on time series in the frequency domain. Our method extracts textual embeddings, projects them into the frequency domain, and fuses them with the time series' spectral components using a lightweight cross-attention mechanism. This adaptively reweights frequency bands based on textual relevance before mapping the results back to the temporal domain for predictions. Experimental results demonstrate that SpecTF significantly outperforms state-of-the-art models across diverse multi-modal time series datasets while utilizing considerably fewer parameters. Code is available at https://github.com/hiepnh137/SpecTF.

Generating talking avatars is a fundamental task in video generation. Although existing methods can generate full-body talking avatars with simple human motion, extending this task to grounded human-object interaction (GHOI) remains an open challenge, requiring the avatar to perform text-aligned interactions with surrounding objects. This challenge stems from the need for environmental perception and the control-quality dilemma in GHOI generation. To address this, we propose a novel dual-stream framework, InteractAvatar, which decouples perception and planning from video synthesis for grounded human-object interaction. Leveraging detection to enhance environmental perception, we introduce a Perception and Interaction Module (PIM) to generate text-aligned interaction motions. Additionally, an Audio-Interaction Aware Generation Module (AIM) is proposed to synthesize vivid talking avatars performing object interactions. With a specially designed motion-to-video aligner, PIM and AIM share a similar network structure and enable parallel co-generation of motions and plausible videos, effectively mitigating the control-quality dilemma. Finally, we establish a benchmark, GroundedInter, for evaluating GHOI video generation. Extensive experiments and comparisons demonstrate the effectiveness of our method in generating grounded human-object interactions for talking avatars. Project page: https://interactavatar.github.io

Aggregation query over free text is a long-standing yet underexplored problem. Unlike ordinary question answering, aggregate queries require exhaustive evidence collection and systems are required to "find all," not merely "find one." Existing paradigms such as Text-to-SQL and Retrieval-Augmented Generation fail to achieve this completeness. In this work, we formalize entity-level aggregation querying over text in a corpus-bounded setting with strict completeness requirement. To enable principled evaluation, we introduce AGGBench, a benchmark designed to evaluate completeness-oriented aggregation under realistic large-scale corpus. To accompany the benchmark, we propose DFA (Disambiguation--Filtering--Aggregation), a modular agentic baseline that decomposes aggregation querying into interpretable stages and exposes key failure modes related to ambiguity, filtering, and aggregation. Empirical results show that DFA consistently improves aggregation evidence coverage over strong RAG and agentic baselines. The data and code are available in \href{https://anonymous.4open.science/r/DFA-A4C1}.

Modern vehicles generate thousands of different discrete events known as Diagnostic Trouble Codes (DTCs). Automotive manufacturers use Boolean combinations of these codes, called error patterns (EPs), to characterize system faults and ensure vehicle safety. Yet, EP rules are still manually handcrafted by domain experts, a process that is expensive and prone to errors as vehicle complexity grows. This paper introduces CAREP (Causal Automated Reasoning for Error Patterns), a multi-agent system that automatizes the generation of EP rules from high-dimensional event sequences of DTCs. CAREP combines a causal discovery agent that identifies potential DTC-EP relations, a contextual information agent that integrates metadata and descriptions, and an orchestrator agent that synthesizes candidate boolean rules together with interpretable reasoning traces. Evaluation on a large-scale automotive dataset with over 29,100 unique DTCs and 474 error patterns demonstrates that CAREP can automatically and accurately discover the unknown EP rules, outperforming LLM-only baselines while providing transparent causal explanations. By uniting practical causal discovery and agent-based reasoning, CAREP represents a step toward fully automated fault diagnostics, enabling scalable, interpretable, and cost-efficient vehicle maintenance.

Diffusion Transformers are fundamental for video and image generation, but their efficiency is bottlenecked by the quadratic complexity of attention. While block sparse attention accelerates computation by attending only critical key-value blocks, it suffers from degradation at high sparsity by discarding context. In this work, we discover that attention scores of non-critical blocks exhibit distributional stability, allowing them to be approximated accurately and efficiently rather than discarded, which is essentially important for sparse attention design. Motivated by this key insight, we propose PISA, a training-free Piecewise Sparse Attention that covers the full attention span with sub-quadratic complexity. Unlike the conventional keep-or-drop paradigm that directly drop the non-critical block information, PISA introduces a novel exact-or-approximate strategy: it maintains exact computation for critical blocks while efficiently approximating the remainder through block-wise Taylor expansion. This design allows PISA to serve as a faithful proxy to full attention, effectively bridging the gap between speed and quality. Experimental results demonstrate that PISA achieves 1.91 times and 2.57 times speedups on Wan2.1-14B and Hunyuan-Video, respectively, while consistently maintaining the highest quality among sparse attention methods. Notably, even for image generation on FLUX, PISA achieves a 1.2 times acceleration without compromising visual quality. Code is available at: https://github.com/xie-lab-ml/piecewise-sparse-attention.

Chimeric antigen receptor (CAR)-T and NK cell immunotherapies have transformed cancer treatment, and recent studies suggest that the quality of the CAR-T/NK cell immunological synapse (IS) may serve as a functional biomarker for predicting therapeutic efficacy. Accurate detection and segmentation of CAR-T/NK IS structures using artificial neural networks (ANNs) can greatly increase the speed and reliability of IS quantification. However, a persistent challenge is the limited size of annotated microscopy datasets, which restricts the ability of ANNs to generalize. To address this challenge, we integrate two complementary data-augmentation frameworks. First, we employ Instance Aware Automatic Augmentation (IAAA), an automated, instance-preserving augmentation method that generates synthetic CAR-T/NK IS images and corresponding segmentation masks by applying optimized augmentation policies to original IS data. IAAA supports multiple imaging modalities (e.g., fluorescence and brightfield) and can be applied directly to CAR-T/NK IS images derived from patient samples. In parallel, we introduce a Semantic-Aware AI Augmentation (SAAA) pipeline that combines a diffusion-based mask generator with a Pix2Pix conditional image synthesizer. This second method enables the creation of diverse, anatomically realistic segmentation masks and produces high-fidelity CAR-T/NK IS images aligned with those masks, further expanding the training corpus beyond what IAAA alone can provide. Together, these augmentation strategies generate synthetic images whose visual and structural properties closely match real IS data, significantly improving CAR-T/NK IS detection and segmentation performance. By enhancing the robustness and accuracy of IS quantification, this work supports the development of more reliable imaging-based biomarkers for predicting patient response to CAR-T/NK immunotherapy.

We study solution learning for heat-based equations in self-similar variables (SSV). We develop an SSV training framework compatible with standard neural-operator training. We instantiate this framework on the two-dimensional incompressible Navier-Stokes equations and the one-dimensional viscous Burgers equation, and perform controlled comparisons between models trained in physical coordinates and in the corresponding self-similar coordinates using two simple fully connected architectures (standard multilayer perceptrons and a factorized fully connected network). Across both systems and both architectures, SSV-trained networks consistently deliver substantially more accurate and stable extrapolation beyond the training window and better capture qualitative long-time trends. These results suggest that self-similar coordinates provide a mathematically motivated inductive bias for learning the long-time dynamics of heat-based equations.

Reliable traversability estimation is crucial for autonomous robots to navigate complex outdoor environments safely. Existing self-supervised learning frameworks primarily rely on positive and unlabeled data; however, the lack of explicit negative data remains a critical limitation, hindering the model's ability to accurately identify diverse non-traversable regions. To address this issue, we introduce a method to explicitly construct synthetic negatives, representing plausible but non-traversable, and integrate them into vision-based traversability learning. Our approach is formulated as a training strategy that can be seamlessly integrated into both Positive-Unlabeled (PU) and Positive-Negative (PN) frameworks without modifying inference architectures. Complementing standard pixel-wise metrics, we introduce an object-centric FPR evaluation approach that analyzes predictions in regions where synthetic negatives are inserted. This evaluation provides an indirect measure of the model's ability to consistently identify non-traversable regions without additional manual labeling. Extensive experiments on both public and self-collected datasets demonstrate that our approach significantly enhances robustness and generalization across diverse environments. The source code and demonstration videos will be publicly available.

The prohibitive cost of evaluating Large Language Models (LLMs) necessitates efficient alternatives to full-scale benchmarking. Prevalent approaches address this by identifying a small coreset of items to approximate full-benchmark performance. However, existing methods must estimate a reliable item profile from response patterns across many source models, which becomes statistically unstable when the source pool is small. This dependency is particularly limiting for newly released benchmarks with minimal historical evaluation data. We argue that discrete correctness labels are a lossy view of the model's decision process and fail to capture information encoded in hidden states. To address this, we introduce REPCORE, which aligns heterogeneous hidden states into a unified latent space to construct representative coresets. Using these subsets for performance extrapolation, REPCORE achieves precise estimation accuracy with as few as ten source models. Experiments on five benchmarks and over 200 models show consistent gains over output-based baselines in ranking correlation and estimation accuracy. Spectral analysis further indicates that the aligned representations contain separable components reflecting broad response tendencies and task-specific reasoning patterns.

Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To address this, we present USS-Nav, a lightweight framework that incrementally constructs a Unified Spatio-Semantic scene graph and enables efficient Large Language Model (LLM)-augmented Zero-Shot Object Navigation in unknown environments. Specifically, we introduce an incremental Spatial Connectivity Graph generation method utilizing polyhedral expansion to capture global geometric topology, which is dynamically partitioned into semantic regions via graph clustering. Concurrently, open-vocabulary object semantics are instantiated and anchored to this topology to form a hierarchical environmental representation. Leveraging this hierarchical structure, we present a coarse-to-fine exploration strategy: LLM grounded in the scene graph's semantics to determine global target regions, while a local planner optimizes frontier coverage based on information gain. Experimental results demonstrate that our framework outperforms state-of-the-art methods in terms of computational efficiency and real-time update frequency (15 Hz) on a resource-constrained platform. Furthermore, ablation studies confirm the effectiveness of our framework, showing substantial improvements in Success weighted by Path Length (SPL). The source code will be made publicly available to foster further research.

Embodied AI requires agents to understand goals, plan actions, and execute tasks in simulated environments. We present a comprehensive evaluation of Large Language Models (LLMs) on the VirtualHome benchmark using the Embodied Agent Interface (EAI) framework. We compare two representative 7B-parameter models OPENPANGU-7B and QWEN2.5-7B across four fundamental tasks: Goal Interpretation, Action Sequencing, Subgoal Decomposition, and Transition Modeling. We propose Structured Self-Consistency (SSC), an enhanced decoding strategy that leverages multiple sampling with domain-specific voting mechanisms to improve output quality for structured generation tasks. Experimental results demonstrate that SSC significantly enhances performance, with OPENPANGU-7B excelling at hierarchical planning while QWEN2.5-7B show advantages in action-level tasks. Our analysis reveals complementary strengths across model types, providing insights for future embodied AI system development.

Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a low-cost visuo-tactile gripper designed for stable, robust, and efficient physical interaction. Unlike existing visuo-tactile sensors, LVTG enables more effective and stable grasping of larger and heavier everyday objects, thanks to its enhanced tactile sensing area and greater opening angle. Its surface skin is made of highly wear-resistant material, significantly improving durability and extending operational lifespan. The integration of vision and tactile feedback allows LVTG to provide rich, high-fidelity sensory data, facilitating reliable perception during complex manipulation tasks. Furthermore, LVTG features a modular design that supports rapid maintenance and replacement. To effectively fuse vision and touch, We adopt a CLIP-inspired contrastive learning objective to align tactile embeddings with their corresponding visual observations, enabling a shared cross-modal representation space for visuo-tactile perception. This alignment improves the performance of an Action Chunking Transformer (ACT) policy in contact-rich manipulation, leading to more efficient data collection and more effective policy learning. Compared to the original ACT method, the proposed LVTG with pretraining achieves significantly higher success rates in manipulation tasks.

Interleaved multimodal generation enables capabilities beyond unimodal generation models, such as step-by-step instructional guides, visual planning, and generating visual drafts for reasoning. However, the quality of existing interleaved generation models under general instructions remains limited by insufficient training data and base model capacity. We present DuoGen, a general-purpose interleaved generation framework that systematically addresses data curation, architecture design, and evaluation. On the data side, we build a large-scale, high-quality instruction-tuning dataset by combining multimodal conversations rewritten from curated raw websites, and diverse synthetic examples covering everyday scenarios. Architecturally, DuoGen leverages the strong visual understanding of a pretrained multimodal LLM and the visual generation capabilities of a diffusion transformer (DiT) pretrained on video generation, avoiding costly unimodal pretraining and enabling flexible base model selection. A two-stage decoupled strategy first instruction-tunes the MLLM, then aligns DiT with it using curated interleaved image-text sequences. Across public and newly proposed benchmarks, DuoGen outperforms prior open-source models in text quality, image fidelity, and image-context alignment, and also achieves state-of-the-art performance on text-to-image and image editing among unified generation models. Data and code will be released at https://research.nvidia.com/labs/dir/duogen/.

Solving large-scale capacitated vehicle routing problems (CVRP) is hindered by the high complexity of heuristics and the limited generalization of neural solvers on massive graphs. We propose OD-DEAL, an adversarial learning framework that tightly integrates hybrid genetic search (HGS) and online barycenter clustering (BCC) decomposition, and leverages high-fidelity knowledge distillation to transfer expert heuristic behavior. OD-DEAL trains a graph attention network (GAT)-based generative policy through a minimax game, in which divide-and-conquer strategies from a hybrid expert are distilled into dense surrogate rewards. This enables high-quality, clustering-free inference on large-scale instances. Empirical results demonstrate that OD-DEAL achieves state-of-the-art (SOTA) real-time CVRP performance, solving 10000-node instances with near-constant neural scaling. This uniquely enables the sub-second, heuristic-quality inference required for dynamic large-scale deployment.

This paper proposes a novel Variational Graph-to-Scheduler (VG2S) framework for solving the Job Shop Scheduling Problem (JSSP), a critical task in manufacturing that directly impacts operational efficiency and resource utilization. Conventional Deep Reinforcement Learning (DRL) approaches often face challenges such as non-stationarity during training and limited generalization to unseen problem instances because they optimize representation learning and policy execution simultaneously. To address these issues, we introduce variational inference to the JSSP domain for the first time and derive a probabilistic objective based on the Evidence of Lower Bound (ELBO) with maximum entropy reinforcement learning. By mathematically decoupling representation learning from policy optimization, the VG2S framework enables the agent to learn robust structural representations of scheduling instances through a variational graph encoder. This approach significantly enhances training stability and robustness against hyperparameter variations. Extensive experiments demonstrate that the proposed method exhibits superior zero-shot generalization compared with state-of-the-art DRL baselines and traditional dispatching rules, particularly on large-scale and challenging benchmark instances such as DMU and SWV.

Graph Neural Networks (GNNs) are sensitive to structural noise from adversarial attacks or imperfections. Existing graph contrastive learning (GCL) methods typically rely on either random perturbations (e.g., edge dropping) for diversity or spectral augmentations (e.g., SVD) to preserve structural priors. However, random perturbations are structure-agnostic and may remove critical edges, while SVD-based views often lack sufficient diversity. Integrating these paradigms is challenging as they operate on discrete edge removal and continuous matrix factorization, respectively.We propose SPGCL, a framework for robust GCL via SVD-guided structural perturbation. Leveraging a recently developed SVD-based method that generalizes structural perturbation theory to arbitrary graphs, we design a two-stage strategy: (1) lightweight stochastic edge removal to inject diversity, and (2) truncated SVD to derive a structure-aware scoring matrix for sparse top-$P$ edge recovery. This integration offers three advantages: (1) Robustness to accidental deletion, as important edges can be recovered by SVD-guided scoring; (2) Enrichment with missing links, creating more informative contrastive views by introducing semantically meaningful edges; and (3) Controllable structural discrepancy, ensuring contrastive signals stem from semantic differences rather than edge-number gaps.Furthermore, we incorporate a contrastive fusion module with a global similarity constraint to align embeddings. Extensive experiments on ten benchmark datasets demonstrate that SPGCL consistently improves the robustness and accuracy of GNNs, outperforming state-of-the-art GCL and structure learning methods, validating its effectiveness in integrating previously disparate paradigms.

Adopting large-scale AI models in enterprise information systems is often hindered by high training costs and long development cycles, posing a significant managerial challenge. The standard end-to-end backpropagation (BP) algorithm is a primary driver of modern AI, but it is also the source of inefficiency in training deep networks. This paper introduces a new training methodology, Supervised Contrastive Parallel Learning (SCPL), that addresses this issue by decoupling BP and transforming a long gradient flow into multiple short ones. This design enables the simultaneous computation of parameter gradients in different layers, achieving superior model parallelism and enhancing training throughput. Detailed experiments are presented to demonstrate the efficiency and effectiveness of our model compared to BP, Early Exit, GPipe, and Associated Learning (AL), a state-of-the-art method for decoupling backpropagation. By mitigating a fundamental performance bottleneck, SCPL provides a practical pathway for organizations to develop and deploy advanced information systems more cost-effectively and with greater agility. The experimental code is released for reproducibility. https://github.com/minyaho/scpl/