XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios

The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrations (e.g., the UMI paradigm) offer a scalable alternative to traditional teleoperation, current systems are constrained by sub-optimal hardware ergonomics, open-loop workflows, and a lack of systematic data-mixing strategies. To address these limitations, we present XRZero-G0, a hardware-software co-designed system for embodied data collection and policy learning. The system features an ergonomic, virtual reality interface equipped with a top-view camera and dual specialized grippers to directly improve collection efficiency. To ensure dataset reliability, we propose a closed-loop collection, inspection, training, and evaluation pipeline for non-proprioceptive data. This workflow achieves an 85% data validity rate and establishes a transparent mechanism for quality control. Furthermore, we investigate the empirical scaling behaviors and optimal mixing ratios of robot-free data. Extensive experiments indicate that combining a minimal volume of real-robot data with large-scale robot-free data (e.g., a 10:1 ratio) achieves performance comparable to exclusively real-robot datasets, while reducing acquisition costs by a factor of twenty. Utilizing XRZero-G0, we construct a 2,000-hour robot-free dataset that enables zero-shot cross-embodiment transfer to a target physical robot, demonstrating a highly scalable methodology for generalized real-world manipulation.Our project repository: https://github.com/X-Square-Robot/XRZero-G0

Visual Preference Optimization with Rubric Rewards

The effectiveness of Direct Preference Optimization (DPO) depends on preference data that reflect the quality differences that matter in multimodal tasks. Existing pipelines often rely on off-policy perturbations or coarse outcome-based signals, which are not well suited to fine-grained visual reasoning. We propose rDPO, a preference optimization framework based on instance-specific rubrics. For each image-instruction pair, we create a checklist-style rubric of essential and additional criteria to score responses from any possible policies. The instruction-rubric pool is built offline and reused during the construction of on-policy data. On public reward modeling benchmarks, rubric-based prompting massively improves a 30B-A3B judge and brings it close to GPT-5.4. On public downstream benchmarks, rubric-based filtering raises the macro average to 82.69, whereas outcome-based filtering drops it to 75.82 from 81.14. When evaluating scalability on a comprehensive benchmark, rDPO achieves 61.01, markedly outperforming the style-constrained baseline (52.36) and surpassing the 59.48 base model. Together, these results show that visual preference optimization benefits from combining on-policy data construction with instance-specific criterion-level feedback.

Modality-Agnostic Prompt Learning for Multi-Modal Camouflaged Object Detection

Camouflaged Object Detection (COD) aims to segment objects that blend seamlessly into complex backgrounds, with growing interest in exploiting additional visual modalities to enhance robustness through complementary information. However, most existing approaches generally rely on modality-specific architectures or customized fusion strategies, which limit scalability and cross-modal generalization. To address this, we propose a novel framework that generates modality-agnostic multi-modal prompts for the Segment Anything Model (SAM), enabling parameter-efficient adaptation to arbitrary auxiliary modalities and significantly improving overall performance on COD tasks. Specifically, we model multi-modal learning through interactions between a data-driven content domain and a knowledge-driven prompt domain, distilling task-relevant cues into unified prompts for SAM decoding. We further introduce a lightweight Mask Refine Module to calibrate coarse predictions by incorporating fine-grained prompt cues, leading to more accurate camouflaged object boundaries. Extensive experiments on RGB-Depth, RGB-Thermal, and RGB-Polarization benchmarks validate the effectiveness and generalization of our modality-agnostic framework.

CDPR: Cross-modal Diffusion with Polarization for Reliable Monocular Depth Estimation

Monocular depth estimation is a fundamental yet challenging task in computer vision, especially under complex conditions such as textureless surfaces, transparency, and specular reflections. Recent diffusion-based approaches have significantly advanced performance by reformulating depth prediction as a denoising process in the latent space. However, existing methods rely solely on RGB inputs, which often lack sufficient cues in challenging regions. In this work, we present CDPR - Cross-modal Diffusion with Polarization for Reliable Monocular Depth Estimation - a novel diffusion-based framework that integrates physically grounded polarization priors to enhance estimation robustness. Specifically, we encode both RGB and polarization (AoLP/DoLP) images into a shared latent space via a pre-trained Variational Autoencoder (VAE), and dynamically fuse multi-modal information through a learnable confidence-aware gating mechanism. This fusion module adaptively suppresses noisy signals in polarization inputs while preserving informative cues, particularly around reflective or transparent surfaces, and provides the integrated latent representation for subsequent monocular depth estimation. Beyond depth estimation, we further verify that our framework can be easily generalized to surface normal prediction with minimal modification, showcasing its scalability to general polarization-guided dense prediction tasks. Experiments on both synthetic and real-world datasets validate that CDPR significantly outperforms RGB-only baselines in challenging regions while maintaining competitive performance in standard scenes.

Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring

Geometric Foundation Models (GFMs) have recently advanced monocular SLAM by providing robust, calibration-free 3D priors. However, deploying these models on dense video streams introduces significant computational redundancy. Current GFM-based SLAM systems typically rely on post hoc keyframe selection. Because of this, they must perform expensive dense geometric decoding simply to determine whether a frame contains novel geometry, resulting in late rejection and wasted computation. To mitigate this inefficiency, we propose LeanGate, a lightweight feed-forward frame-gating network. LeanGate predicts a geometric utility score to assess a frame's mapping value prior to the heavy GFM feature extraction and matching stages. As a predictive plug-and-play module, our approach bypasses over 90% of redundant frames. Evaluations on standard SLAM benchmarks demonstrate that LeanGate reduces tracking FLOPs by more than 85% and achieves a 5x end-to-end throughput speedup. Furthermore, it maintains the tracking and mapping accuracy of dense baselines. Project page: https://lean-gate.github.io/

Skill-SD: Skill-Conditioned Self-Distillation for Multi-turn LLM Agents

Reinforcement learning (RL) has been widely used to train LLM agents for multi-turn interactive tasks, but its sample efficiency is severely limited by sparse rewards and long horizons. On-policy self-distillation (OPSD) alleviates this by providing dense token-level supervision from a privileged teacher that has access to ground-truth answers. However, such fixed privileged information cannot capture the diverse valid strategies in agent tasks, and naively combining OPSD with RL often leads to training collapse. To address these limitations, we introduce Skill-SD, a framework that turns the agent's own trajectories into dynamic training-only supervision. Completed trajectories are summarized into compact natural language skills that describe successful behaviors, mistakes, and workflows. These skills serve as dynamic privileged information conditioning only the teacher, while the student always acts under the plain task prompt and learns to internalize the guidance through distillation. To stabilize the training, we derive an importance-weighted reverse-KL loss to provide gradient-correct token-level distillation, and dynamically synchronize the teacher with the improving student. Experimental results on agentic benchmarks demonstrate that Skill-SD substantially outperforms the standard RL baseline, improving both vanilla GRPO (+14.0%/+10.9% on AppWorld/Sokoban) and vanilla OPD (+42.1%/+40.6%). Project page: https://k1xe.github.io/skill-sd/

AIM-Bench: Benchmarking and Improving Affective Image Manipulation via Fine-Grained Hierarchical Control

Affective Image Manipulation (AIM) aims to evoke specific emotions through targeted editing. Current image editing benchmarks primarily focus on object-level modifications in general scenarios, lacking the fine-grained granularity to capture affective dimensions. To bridge this gap, we introduce the first benchmark designed for AIM termed AIM-Bench. This benchmark is built upon a dual-path affective modeling scheme that integrates the Mikels emotion taxonomy with the Valence-Arousal-Dominance framework, enabling high-level semantic and fine-grained continuous manipulation. Through a hierarchical human-in-the-loop workflow, we finally curate 800 high-quality samples covering 8 emotional categories and 5 editing types. To effectively assess performance, we also design a composite evaluation suite combining rule-based and model-based metrics to holistically assess instruction consistency, aesthetics, and emotional expressiveness. Extensive evaluations reveal that current editing models face significant challenges, most notably a prevalent positivity bias, which stemming from inherent imbalances in training data distribution. To tackle this, we propose a scalable data engine utilizing an inverse repainting strategy to construct AIM-40k, a balanced instruction-tuning dataset comprising 40k samples. Concretely, we enhance raw affective images via generative redrawing to establish high-fidelity ground truths, and synthesize input images with divergent emotions and paired precise instructions. Fine-tuning a baseline model on AIM-40k yields a 9.15% relative improvement in overall performance, demonstrating the effectiveness of our AIM-40k. Our data and related code will be made open soon.

When More Thinking Hurts: Overthinking in LLM Test-Time Compute Scaling

Scaling test-time compute through extended chains of thought has become a dominant paradigm for improving large language model reasoning. However, existing research implicitly assumes that longer thinking always yields better results. This assumption remains largely unexamined. We systematically investigate how the marginal utility of additional reasoning tokens changes as compute budgets increase. We find that marginal returns diminish substantially at higher budgets and that models exhibit ``overthinking'', where extended reasoning is associated with abandoning previously correct answers. Furthermore, we show that optimal thinking length varies across problem difficulty, suggesting that uniform compute allocation is suboptimal. Our cost-aware evaluation framework reveals that stopping at moderate budgets can reduce computation significantly while maintaining comparable accuracy.

Learning from Emptiness: De-biasing Listwise Rerankers with Content-Agnostic Probability Calibration

Generative listwise reranking leverages global context for superior retrieval but is plagued by intrinsic position bias, where models exhibit structural sensitivity to input order independent of relevance. Existing mitigations present a dilemma: inference-time aggregation incurs prohibitive latency, while training-based methods often fail to eradicate ingrained priors, particularly in compact models. To resolve this dilemma, we propose CapCal (Content-Agnostic Probability Calibration), a training-free framework that mechanically decouples positional bias from ranking decisions. By estimating the bias distribution via content-free placeholders, CapCal rectifies output logits through an entropy-adaptive contrastive mechanism. Evaluations across 10 benchmarks confirm that CapCal achieves superior performance among training-free methods while preserving single-pass efficiency. Notably, it unlocks the latent potential of lightweight models (e.g., 0.6B), delivering absolute NDCG gains exceeding 10 points and outperforming both permutation-based aggregation and data-augmentation baselines.

Deep Light Pollution Removal in Night Cityscape Photographs

Nighttime photography is severely degraded by light pollution induced by pervasive artificial lighting in urban environments. After long-range scattering and spatial diffusion, unwanted artificial light overwhelms natural night luminance, generates skyglow that washes out the view of stars and celestial objects and produces halos and glow artifacts around light sources. Unlike nighttime dehazing, which aims to improve detail legibility through thick air, the objective of light pollution removal is to restore the pristine night appearance by neutralizing the radiative footprint of ground lighting. In this paper we introduce a physically-based degradation model that adds to the previous ones for nighttime dehazing two critical aspects; (i) anisotropic spread of directional light sources, and (ii) skyglow caused by invisible surface lights behind skylines. In addition, we construct a training strategy that leverages large generative model and synthetic-real coupling to compensate for the scarcity of paired real data and enhance generalization. Extensive experiments demonstrate that the proposed formulation and learning framework substantially reduce light pollution artifacts and better recover authentic night imagery than prior nighttime restoration methods.