UCS: Estimating Unseen Coverage for Improved In-Context Learning

In-context learning (ICL) performance depends critically on which demonstrations are placed in the prompt, yet most existing selectors prioritize heuristic notions of relevance or diversity and provide limited insight into the coverage of a demonstration set. We propose Unseen Coverage Selection (UKS), a training-free, subset-level coverage prior motivated by the principle that a good demonstration set should expose the model to latent cluster unrevealed by the currently selected subset. UCS operationalizes this idea by (1) inducing discrete latent clusters from model-consistent embeddings and (2) estimating the number of unrevealed clusters within a candidate subset via a Smoothed Good--Turing estimator from its empirical frequency spectrum. Unlike previous selection methods, UCS is coverage-based and training-free, and can be seamlessly combined with both query-dependent and query-independent selection baselines via a simple regularized objective. Experiments on multiple intent-classification and reasoning benchmarks with frontier Large Language Models show that augmenting strong baselines with UCS consistently improves ICL accuracy by up to 2-6% under the same selection budget, while also yielding insights into task- and model-level latent cluster distributions. Code is available at https://github.com/Raina-Xin/UCS.

TensorHub: Scalable and Elastic Weight Transfer for LLM RL Training

Modern LLM reinforcement learning (RL) workloads require a highly efficient weight transfer system to scale training across heterogeneous computational resources. However, existing weight transfer approaches either fail to provide flexibility for dynamically scaling clusters or incur fundamental data movement overhead, resulting in poor performance. We introduce Reference-Oriented Storage (ROS), a new storage abstraction for RL weight transfer that exploits the highly replicated model weights in place. ROS presents the illusion that certain versions of the model weights are stored and can be fetched on demand. Underneath, ROS does not physically store any copies of the weights; instead, it tracks the workers that hold these weights on GPUs for inference. Upon request, ROS directly uses them to serve reads. We build TensorHub, a production-quality system that extends the ROS idea with topology-optimized transfer, strong consistency, and fault tolerance. Evaluation shows that TensorHub fully saturates RDMA bandwidth and adapts to three distinct rollout workloads with minimal engineering effort. Specifically, TensorHub reduces total GPU stall time by up to 6.7x for standalone rollouts, accelerates weight update for elastic rollout by 4.8x, and cuts cross-datacenter rollout stall time by 19x. TensorHub has been deployed in production to support cutting-edge RL training.

SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Driving

End-to-end multi-modal planning has been widely adopted to model the uncertainty of driving behavior, typically by scoring candidate trajectories and selecting the optimal one. Existing approaches generally fall into two categories: scoring a large static trajectory vocabulary, or scoring a small set of dynamically generated proposals. While static vocabularies often suffer from coarse discretization of the action space, dynamic proposals provide finer-grained precision and have shown stronger empirical performance on existing benchmarks. However, it remains unclear whether dynamic generation is fundamentally necessary, or whether static vocabularies can already achieve comparable performance when they are sufficiently dense to cover the action space. In this work, we start with a systematic scaling study of Hydra-MDP, a representative scoring-based method, revealing that performance consistently improves as trajectory anchors become denser, without exhibiting saturation before computational constraints are reached. Motivated by this observation, we propose SparseDriveV2 to push the performance boundary of scoring-based planning through two complementary innovations: (1) a scalable vocabulary representation with a factorized structure that decomposes trajectories into geometric paths and velocity profiles, enabling combinatorial coverage of the action space, and (2) a scalable scoring strategy with coarse factorized scoring over paths and velocity profiles followed by fine-grained scoring on a small set of composed trajectories. By combining these two techniques, SparseDriveV2 achieves 92.0 PDMS and 90.1 EPDMS on NAVSIM, with 89.15 Driving Score and 70.00 Success Rate on Bench2Drive with a lightweight ResNet-34 as backbone. Code and model are released at https://github.com/swc-17/SparseDriveV2.

Project Imaging-X: A Survey of 1000+ Open-Access Medical Imaging Datasets for Foundation Model Development

Foundation models have demonstrated remarkable success across diverse domains and tasks, primarily due to the thrive of large-scale, diverse, and high-quality datasets. However, in the field of medical imaging, the curation and assembling of such medical datasets are highly challenging due to the reliance on clinical expertise and strict ethical and privacy constraints, resulting in a scarcity of large-scale unified medical datasets and hindering the development of powerful medical foundation models. In this work, we present the largest survey to date of medical image datasets, covering over 1,000 open-access datasets with a systematic catalog of their modalities, tasks, anatomies, annotations, limitations, and potential for integration. Our analysis exposes a landscape that is modest in scale, fragmented across narrowly scoped tasks, and unevenly distributed across organs and modalities, which in turn limits the utility of existing medical image datasets for developing versatile and robust medical foundation models. To turn fragmentation into scale, we propose a metadata-driven fusion paradigm (MDFP) that integrates public datasets with shared modalities or tasks, thereby transforming multiple small data silos into larger, more coherent resources. Building on MDFP, we release an interactive discovery portal that enables end-to-end, automated medical image dataset integration, and compile all surveyed datasets into a unified, structured table that clearly summarizes their key characteristics and provides reference links, offering the community an accessible and comprehensive repository. By charting the current terrain and offering a principled path to dataset consolidation, our survey provides a practical roadmap for scaling medical imaging corpora, supporting faster data discovery, more principled dataset creation, and more capable medical foundation models.

Temporally Decoupled Diffusion Planning for Autonomous Driving

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities, overlooking heterogeneous temporal dependencies where near-term plans are constrained by instantaneous dynamics and far-term plans by navigational goals. To address this, we propose Temporally Decoupled Diffusion Model (TDDM), which reformulates trajectory generation via a noise-as-mask paradigm. By partitioning trajectories into segments with independent noise levels, we implicitly treat high noise as information voids and weak noise as contextual cues. This compels the model to reconstruct corrupted near-term states by leveraging internal correlations with better-preserved temporal contexts. Architecturally, we introduce a Temporally Decoupled Adaptive Layer Normalization (TD-AdaLN) to inject segment-specific timesteps. During inference, our Asymmetric Temporal Classifier-Free Guidance utilizes weakly noised far-term priors to guide immediate path generation. Evaluations on the nuPlan benchmark show TDDM approaches or exceeds state-of-the-art baselines, particularly excelling in the challenging Test14-hard subset.

Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer from inadequately compressed representations, limited spatial understanding, and underutilized temporal dynamics, resulting in sub-optimal planning under constrained data and compute budgets. Latent-WAM addresses these limitations with two core modules: a Spatial-Aware Compressive World Encoder (SCWE) that distills geometric knowledge from a foundation model and compresses multi-view images into compact scene tokens via learnable queries, and a Dynamic Latent World Model (DLWM) that employs a causal Transformer to autoregressively predict future world status conditioned on historical visual and motion representations. Extensive experiments on NAVSIM v2 and HUGSIM demonstrate new state-of-the-art results: 89.3 EPDMS on NAVSIM v2 and 28.9 HD-Score on HUGSIM, surpassing the best prior perception-free method by 3.2 EPDMS with significantly less training data and a compact 104M-parameter model.

MCLR: Improving Conditional Modeling in Visual Generative Models via Inter-Class Likelihood-Ratio Maximization and Establishing the Equivalence between Classifier-Free Guidance and Alignment Objectives

Diffusion models have achieved state-of-the-art performance in generative modeling, but their success often relies heavily on classifier-free guidance (CFG), an inference-time heuristic that modifies the sampling trajectory. From a theoretical perspective, diffusion models trained with standard denoising score matching (DSM) are expected to recover the target data distribution, raising the question of why inference-time guidance is necessary in practice. In this work, we ask whether the DSM training objective can be modified in a principled manner such that standard reverse-time sampling, without inference-time guidance, yields effects comparable to CFG. We identify insufficient inter-class separation as a key limitation of standard diffusion models. To address this, we propose MCLR, a principled alignment objective that explicitly maximizes inter-class likelihood-ratios during training. Models fine-tuned with MCLR exhibit CFG-like improvements under standard sampling, achieving comparable qualitative and quantitative gains without requiring inference-time guidance. Beyond empirical benefits, we provide a theoretical result showing that the CFG-guided score is exactly the optimal solution to a weighted MCLR objective. This establishes a formal equivalence between classifier-free guidance and alignment-based objectives, offering a mechanistic interpretation of CFG.

Trojan's Whisper: Stealthy Manipulation of OpenClaw through Injected Bootstrapped Guidance

Autonomous coding agents are increasingly integrated into software development workflows, offering capabilities that extend beyond code suggestion to active system interaction and environment management. OpenClaw, a representative platform in this emerging paradigm, introduces an extensible skill ecosystem that allows third-party developers to inject behavioral guidance through lifecycle hooks during agent initialization. While this design enhances automation and customization, it also opens a novel and unexplored attack surface. In this paper, we identify and systematically characterize guidance injection, a stealthy attack vector that embeds adversarial operational narratives into bootstrap guidance files. Unlike traditional prompt injection, which relies on explicit malicious instructions, guidance injection manipulates the agent's reasoning context by framing harmful actions as routine best practices. These narratives are automatically incorporated into the agent's interpretive framework and influence future task execution without raising suspicion.We construct 26 malicious skills spanning 13 attack categories including credential exfiltration, workspace destruction, privilege escalation, and persistent backdoor installation. We evaluate them using ORE-Bench, a realistic developer workspace benchmark we developed. Across 52 natural user prompts and six state-of-the-art LLM backends, our attacks achieve success rates from 16.0% to 64.2%, with the majority of malicious actions executed autonomously without user confirmation. Furthermore, 94% of our malicious skills evade detection by existing static and LLM-based scanners. Our findings reveal fundamental tensions in the design of autonomous agent ecosystems and underscore the urgent need for defenses based on capability isolation, runtime policy enforcement, and transparent guidance provenance.

AndroTMem: From Interaction Trajectories to Anchored Memory in Long-Horizon GUI Agents

Long-horizon GUI agents are a key step toward real-world deployment, yet effective interaction memory under prevailing paradigms remains under-explored. Replaying full interaction sequences is redundant and amplifies noise, while summaries often erase dependency-critical information and traceability. We present AndroTMem, a diagnostic framework for anchored memory in long-horizon Android GUI agents. Its core benchmark, AndroTMem-Bench, comprises 1,069 tasks with 34,473 interaction steps (avg. 32.1 per task, max. 65). We evaluate agents with TCR (Task Complete Rate), focusing on tasks whose completion requires carrying forward critical intermediate state; AndroTMem-Bench is designed to enforce strong step-to-step causal dependencies, making sparse yet essential intermediate states decisive for downstream actions and centering interaction memory in evaluation. Across open- and closed-source GUI agents, we observe a consistent pattern: as interaction sequences grow longer, performance drops are driven mainly by within-task memory failures, not isolated perception errors or local action mistakes. Guided by this diagnosis, we propose Anchored State Memory (ASM), which represents interaction sequences as a compact set of causally linked intermediate-state anchors to enable subgoal-targeted retrieval and attribution-aware decision making. Across multiple settings and 12 evaluated GUI agents, ASM consistently outperforms full-sequence replay and summary-based baselines, improving TCR by 5%-30.16% and AMS by 4.93%-24.66%, indicating that anchored, structured memory effectively mitigates the interaction-memory bottleneck in long-horizon GUI tasks. The code, benchmark, and related resources are publicly available at [https://github.com/CVC2233/AndroTMem](https://github.com/CVC2233/AndroTMem).

OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation

Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in visuo-tactile manipulation, progress is constrained by two persistent limitations: existing datasets are small in scale and narrow in task coverage, and current methods treat tactile signals as passive observations rather than using them to model contact dynamics or enable closed-loop control explicitly. In this paper, we present \textbf{OmniViTac}, a large-scale visuo-tactile-action dataset comprising $21{,}000+$ trajectories across $86$ tasks and $100+$ objects, organized into six physics-grounded interaction patterns. Building on this dataset, we propose \textbf{OmniVTA}, a world-model-based visuo-tactile manipulation framework that integrates four tightly coupled modules: a self-supervised tactile encoder, a two-stream visuo-tactile world model for predicting short-horizon contact evolution, a contact-aware fusion policy for action generation, and a 60Hz reflexive controller that corrects deviations between predicted and observed tactile signals in a closed loop. Real-robot experiments across all six interaction categories show that OmniVTA outperforms existing methods and generalizes well to unseen objects and geometric configurations, confirming the value of combining predictive contact modeling with high-frequency tactile feedback for contact-rich manipulation. All data, models, and code will be made publicly available on the project website at https://mrsecant.github.io/OmniVTA.