AURORA:Automated Training Framework of Universal Process Reward Models via Ensemble Prompting and Reverse Verification

The reasoning capabilities of advanced large language models (LLMs) like o1 have revolutionized artificial intelligence applications. Nevertheless, evaluating and optimizing complex reasoning processes remain significant challenges due to diverse policy distributions and the inherent limitations of human effort and accuracy. In this paper, we present AURORA, a novel automated framework for training universal process reward models (PRMs) using ensemble prompting and reverse verification. The framework employs a two-phase approach: First, it uses diverse prompting strategies and ensemble methods to perform automated annotation and evaluation of processes, ensuring robust assessments for reward learning. Second, it leverages practical reference answers for reverse verification, enhancing the model's ability to validate outputs and improving training accuracy. To assess the framework's performance, we extend beyond the existing ProcessBench benchmark by introducing UniversalBench, which evaluates reward predictions across full trajectories under diverse policy distribtion with long Chain-of-Thought (CoT) outputs. Experimental results demonstrate that AURORA enhances process evaluation accuracy, improves PRMs' accuracy for diverse policy distributions and long-CoT responses. The project will be open-sourced at https://auroraprm.github.io/. The Universal-PRM-7B is available at https://huggingface.co/infly/Universal-PRM-7B.

ACECODER: Acing Coder RL via Automated Test-Case Synthesis

Most progress in recent coder models has been driven by supervised fine-tuning (SFT), while the potential of reinforcement learning (RL) remains largely unexplored, primarily due to the lack of reliable reward data/model in the code domain. In this paper, we address this challenge by leveraging automated large-scale test-case synthesis to enhance code model training. Specifically, we design a pipeline that generates extensive (question, test-cases) pairs from existing code data. Using these test cases, we construct preference pairs based on pass rates over sampled programs to train reward models with Bradley-Terry loss. It shows an average of 10-point improvement for Llama-3.1-8B-Ins and 5-point improvement for Qwen2.5-Coder-7B-Ins through best-of-32 sampling, making the 7B model on par with 236B DeepSeek-V2.5. Furthermore, we conduct reinforcement learning with both reward models and test-case pass rewards, leading to consistent improvements across HumanEval, MBPP, BigCodeBench, and LiveCodeBench (V4). Notably, we follow the R1-style training to start from Qwen2.5-Coder-base directly and show that our RL training can improve model on HumanEval-plus by over 25\% and MBPP-plus by 6\% for merely 80 optimization steps. We believe our results highlight the huge potential of reinforcement learning in coder models.

Passive Six-Dimensional Movable Antenna (6DMA)-Assisted Multiuser Communication

Six-dimensional movable antenna (6DMA) is a promising solution for enhancing wireless network capacity through the adjustment of both three-dimensional (3D) positions and 3D rotations of distributed antenna surfaces. Previous works mainly consider 6DMA surfaces composed of active antenna elements, thus termed as active 6DMA. In this letter, we propose a new passive 6DMA system consisting of distributed passive intelligent reflecting surfaces (IRSs) that can be adjusted in terms of 3D position and 3D rotation. Specifically, we study a passive 6DMA-aided multiuser uplink system and aim to maximize the users' achievable sum rate by jointly optimizing the 3D positions, 3D rotations, and reflection coefficients of all passive 6DMA surfaces, as well as the receive beamforming matrix at the base station (BS). To solve this challenging non-convex optimization problem, we propose an alternating optimization (AO) algorithm that decomposes it into three subproblems and solves them alternately in an iterative manner. Numerical results are presented to investigate the performance of the proposed passive 6DMA system under different configurations and demonstrate its superior performance over the traditional fixed-IRS counterpart for both directive and isotropic radiation patterns of passive reflecting elements.

Can Medical Vision-Language Pre-training Succeed with Purely Synthetic Data?

Medical Vision-Language Pre-training (MedVLP) has made significant progress in enabling zero-shot tasks for medical image understanding. However, training MedVLP models typically requires large-scale datasets with paired, high-quality image-text data, which are scarce in the medical domain. Recent advancements in Large Language Models (LLMs) and diffusion models have made it possible to generate large-scale synthetic image-text pairs. This raises the question: *Can MedVLP succeed using purely synthetic data?* To address this, we use off-the-shelf generative models to create synthetic radiology reports and paired Chest X-ray (CXR) images, and propose an automated pipeline to build a diverse, high-quality synthetic dataset, enabling a rigorous study that isolates model and training settings, focusing entirely from the data perspective. Our results show that MedVLP models trained *exclusively on synthetic data* outperform those trained on real data by **3.8%** in averaged AUC on zero-shot classification. Moreover, using a combination of synthetic and real data leads to a further improvement of **9.07%**. Additionally, MedVLP models trained on synthetic or mixed data consistently outperform those trained on real data in zero-shot grounding, as well as in fine-tuned classification and segmentation tasks. Our analysis suggests MedVLP trained on well-designed synthetic data can outperform models trained on real datasets, which may be limited by low-quality samples and long-tailed distributions.

RenderWorld: World Model with Self-Supervised 3D Label

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we propose RenderWorld, a vision-only end-to-end autonomous driving framework, which generates 3D occupancy labels using a self-supervised gaussian-based Img2Occ Module, then encodes the labels by AM-VAE, and uses world model for forecasting and planning. RenderWorld employs Gaussian Splatting to represent 3D scenes and render 2D images greatly improves segmentation accuracy and reduces GPU memory consumption compared with NeRF-based methods. By applying AM-VAE to encode air and non-air separately, RenderWorld achieves more fine-grained scene element representation, leading to state-of-the-art performance in both 4D occupancy forecasting and motion planning from autoregressive world model.

Benchmarking and Boosting Radiology Report Generation for 3D High-Resolution Medical Images

Automatic radiology report generation can significantly benefit the labor-intensive process of report writing by radiologists, especially for 3D radiographs like CT scans, which are crucial for broad clinical diagnostics yet underexplored compared to 2D radiographs. Existing methods often handle 3D volumes either slice-wise or with aggressive downsampling due to current GPU memory limitations, which results in a loss of the inherent 3D nature and critical details. To overcome these issues, we introduce a novel framework that efficiently and effectively generates radiology reports for high-resolution (HR) 3D volumes, based on large language models (LLMs). Specifically, our framework utilizes low-resolution (LR) visual tokens as queries to mine information from HR tokens, preserving detailed HR information while reducing computational costs by only processing HR informed LR visual queries. Further benefiting the field, we curate and release BIMCV-RG, a new dataset with 5,328 HR 3D volumes and paired reports, establishing the first benchmarks for report generation from 3D HR medical images. Our method consistently surpasses existing methods on this benchmark across three different settings: normal-resolution, high-resolution inputs, and zero-shot domain transfer, all at an acceptable computational cost, trainable on a single A100-80G.

Intelligent Reflecting Surface-Aided Radar Spoofing

Electronic countermeasure (ECM) technology plays a critical role in modern electronic warfare, which can interfere with enemy radar detection systems by noise or deceptive signals. However, the conventional active jamming strategy incurs additional hardware and power costs and has the potential threat of exposing the target itself. To tackle the above challenges, we propose a new intelligent reflecting surface (IRS)-aided radar spoofing strategy in this letter, where IRS is deployed on the surface of a target to help eliminate the signals reflected towards the hostile radar to shield the target, while simultaneously redirecting its reflected signal towards a surrounding clutter to generate deceptive angle-of-arrival (AoA) sensing information for the radar. We optimize the IRS's reflection to maximize the received signal power at the radar from the direction of the selected clutter subject to the constraint that its received power from the direction of the target is lower than a given detection threshold. We first solve this non-convex optimization problem using the semidefinite relaxation (SDR) method and further propose a lower-complexity solution for real-time implementation. Simulation results validate the efficacy of our proposed IRS-aided spoofing system as compared to various benchmark schemes.

You Only Scan Once: A Dynamic Scene Reconstruction Pipeline for 6-DoF Robotic Grasping of Novel Objects

In the realm of robotic grasping, achieving accurate and reliable interactions with the environment is a pivotal challenge. Traditional methods of grasp planning methods utilizing partial point clouds derived from depth image often suffer from reduced scene understanding due to occlusion, ultimately impeding their grasping accuracy. Furthermore, scene reconstruction methods have primarily relied upon static techniques, which are susceptible to environment change during manipulation process limits their efficacy in real-time grasping tasks. To address these limitations, this paper introduces a novel two-stage pipeline for dynamic scene reconstruction. In the first stage, our approach takes scene scanning as input to register each target object with mesh reconstruction and novel object pose tracking. In the second stage, pose tracking is still performed to provide object poses in real-time, enabling our approach to transform the reconstructed object point clouds back into the scene. Unlike conventional methodologies, which rely on static scene snapshots, our method continuously captures the evolving scene geometry, resulting in a comprehensive and up-to-date point cloud representation. By circumventing the constraints posed by occlusion, our method enhances the overall grasp planning process and empowers state-of-the-art 6-DoF robotic grasping algorithms to exhibit markedly improved accuracy.

DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose Estimation

Category-level object pose estimation involves estimating the 6D pose and the 3D metric size of objects from predetermined categories. While recent approaches take categorical shape prior information as reference to improve pose estimation accuracy, the single-stage network design and training manner lead to sub-optimal performance since there are two distinct tasks in the pipeline. In this paper, the advantage of two-stage pipeline over single-stage design is discussed. To this end, we propose a two-stage deformation-and registration pipeline called DR-Pose, which consists of completion-aided deformation stage and scaled registration stage. The first stage uses a point cloud completion method to generate unseen parts of target object, guiding subsequent deformation on the shape prior. In the second stage, a novel registration network is designed to extract pose-sensitive features and predict the representation of object partial point cloud in canonical space based on the deformation results from the first stage. DR-Pose produces superior results to the state-of-the-art shape prior-based methods on both CAMERA25 and REAL275 benchmarks. Codes are available at https://github.com/Zray26/DR-Pose.git.

Grounded Image Text Matching with Mismatched Relation Reasoning

This paper introduces Grounded Image Text Matching with Mismatched Relation (GITM-MR), a novel visual-linguistic joint task that evaluates the relation understanding capabilities of transformer-based pre-trained models. GITM-MR requires a model to first determine if an expression describes an image, then localize referred objects or ground the mismatched parts of the text. We provide a benchmark for evaluating pre-trained models on this task, with a focus on the challenging settings of limited data and out-of-distribution sentence lengths. Our evaluation demonstrates that pre-trained models lack data efficiency and length generalization ability. To address this, we propose the Relation-sensitive Correspondence Reasoning Network (RCRN), which incorporates relation-aware reasoning via bi-directional message propagation guided by language structure. RCRN can be interpreted as a modular program and delivers strong performance in both length generalization and data efficiency.