JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.

LoopGuard: Breaking Self-Reinforcing Attention Loops via Dynamic KV Cache Intervention

Through systematic experiments on long-context generation, we observe a damaging failure mode in which decoding can collapse into persistent repetition loops. We find that this degeneration is driven by collapsed attention patterns, where a subset of heads locks onto a narrow suffix of the history, and is further stabilized by inference-time KV cache reuse. Crucially, since many existing KV cache policies rely on attention-based importance, this collapse can produce spuriously high scores for repetitive tokens, causing cache management to inadvertently amplify repetition. To study this phenomenon in a controlled and reproducible manner, we introduce LoopBench, a benchmark with explicit loop-inducing conditions and loop-oriented metrics that quantify repetition severity and generation instability beyond downstream task scores. Building on these insights, we propose LoopGuard, a lightweight, plug-in KV cache guard that detects loop onset online and disrupts the feedback cycle by pruning repetitive tail spans under a fixed cache budget. Experiments on LoopBench show that LoopGuard reduces loop incidence by over 90 percentage points, while restoring output diversity and reducing token waste.

When Can You Poison Rewards? A Tight Characterization of Reward Poisoning in Linear MDPs

We study reward poisoning attacks in reinforcement learning (RL), where an adversary manipulates rewards within constrained budgets to force the target RL agent to adopt a policy that aligns with the attacker's objectives. Prior works on reward poisoning mainly focused on sufficient conditions to design a successful attacker, while only a few studies discussed the infeasibility of targeted attacks. This paper provides the first precise necessity and sufficiency characterization of the attackability of a linear MDP under reward poisoning attacks. Our characterization draws a bright line between the vulnerable RL instances, and the intrinsically robust ones which cannot be attacked without large costs even running vanilla non-robust RL algorithms. Our theory extends beyond linear MDPs -- by approximating deep RL environments as linear MDPs, we show that our theoretical framework effectively distinguishes the attackability and efficiently attacks the vulnerable ones, demonstrating both the theoretical and practical significance of our characterization.

SiamGM: Siamese Geometry-Aware and Motion-Guided Network for Real-Time Satellite Video Object Tracking

Single object tracking in satellite videos is inherently challenged by small target, blurred background, large aspect ratio changes, and frequent visual occlusions. These constraints often cause appearance-based trackers to accumulate errors and lose targets irreversibly. To systematically mitigate both spatial ambiguities and temporal information loss, we propose SiamGM, a novel geometry-aware and motion-guided Siamese network. From a spatial perspective, we introduce an Inter-Frame Graph Attention (IFGA) module, closely integrated with an Aspect Ratio-Constrained Label Assignment (LA) method, establishing fine-grained topological correspondences and explicitly preventing surrounding background noise. From a temporal perspective, we introduce the Motion Vector-Guided Online Tracking Optimization method. By adopting the Normalized Peak-to-Sidelobe Ratio (nPSR) as a dynamic confidence indicator, we propose an Online Motion Model Refinement (OMMR) strategy to utilize historical trajectory information. Evaluations on two challenging SatSOT and SV248S benchmarks confirm that SiamGM outperforms most state-of-the-art trackers in both precision and success metrics. Notably, the proposed components of SiamGM introduce virtually no computational overhead, enabling real-time tracking at 130 frames per second (FPS). Codes and tracking results are available at https://github.com/wenzx18/SiamGM.

FastCode: Fast and Cost-Efficient Code Understanding and Reasoning

Repository-scale code reasoning is a cornerstone of modern AI-assisted software engineering, enabling Large Language Models (LLMs) to handle complex workflows from program comprehension to complex debugging. However, balancing accuracy with context cost remains a significant bottleneck, as existing agentic approaches often waste computational resources through inefficient, iterative full-text exploration. To address this, we introduce FastCode, a framework that decouples repository exploration from content consumption. FastCode utilizes a structural scouting mechanism to navigate a lightweight semantic-structural map of the codebase, allowing the system to trace dependencies and pinpoint relevant targets without the overhead of full-text ingestion. By leveraging structure-aware navigation tools regulated by a cost-aware policy, the framework constructs high-value contexts in a single, optimized step. Extensive evaluations on the SWE-QA, LongCodeQA, LOC-BENCH, and GitTaskBench benchmarks demonstrate that FastCode consistently outperforms state-of-the-art baselines in reasoning accuracy while significantly reducing token consumption, validating the efficiency of scouting-first strategies for large-scale code reasoning. Source code is available at https://github.com/HKUDS/FastCode.

Joint Optimization of Model Partitioning and Resource Allocation for Anti-Jamming Collaborative Inference Systems

With the increasing computational demands of deep neural network (DNN) inference on resource-constrained devices, DNN partitioning-based device-edge collaborative inference has emerged as a promising paradigm. However, the transmission of intermediate feature data is vulnerable to malicious jamming, which significantly degrades the overall inference performance. To counter this threat, this letter focuses on an anti-jamming collaborative inference system in the presence of a malicious jammer. In this system, a DNN model is partitioned into two distinct segments, which are executed by wireless devices and edge servers, respectively. We first analyze the effects of jamming and DNN partitioning on inference accuracy via data regression. Based on this, our objective is to maximize the system's revenue of delay and accuracy (RDA) under inference accuracy and computing resource constraints by jointly optimizing computation resource allocation, devices' transmit power, and DNN partitioning. To address the mixed-integer nonlinear programming problem, we propose an efficient alternating optimization-based algorithm, which decomposes the problem into three subproblems that are solved via Karush-Kuhn-Tucker conditions, convex optimization methods, and a quantum genetic algorithm, respectively. Extensive simulations demonstrate that our proposed scheme outperforms baselines in terms of RDA.

Benchmarking at the Edge of Comprehension

As frontier Large Language Models (LLMs) increasingly saturate new benchmarks shortly after they are published, benchmarking itself is at a juncture: if frontier models keep improving, it will become increasingly hard for humans to generate discriminative tasks, provide accurate ground-truth answers, or evaluate complex solutions. If benchmarking becomes infeasible, our ability to measure any progress in AI is at stake. We refer to this scenario as the post-comprehension regime. In this work, we propose Critique-Resilient Benchmarking, an adversarial framework designed to compare models even when full human understanding is infeasible. Our technique relies on the notion of critique-resilient correctness: an answer is deemed correct if no adversary has convincingly proved otherwise. Unlike standard benchmarking, humans serve as bounded verifiers and focus on localized claims, which preserves evaluation integrity beyond full comprehension of the task. Using an itemized bipartite Bradley-Terry model, we jointly rank LLMs by their ability to solve challenging tasks and to generate difficult yet solvable questions. We showcase the effectiveness of our method in the mathematical domain across eight frontier LLMs, showing that the resulting scores are stable and correlate with external capability measures. Our framework reformulates benchmarking as an adversarial generation-evaluation game in which humans serve as final adjudicators.

HoloBrain-0 Technical Report

In this work, we introduce HoloBrain-0, a comprehensive Vision-Language-Action (VLA) framework that bridges the gap between foundation model research and reliable real-world robot deployment. The core of our system is a novel VLA architecture that explicitly incorporates robot embodiment priors, including multi-view camera parameters and kinematic descriptions (URDF), to enhance 3D spatial reasoning and support diverse embodiments. We validate this design through a scalable ``pre-train then post-train" paradigm, achieving state-of-the-art results on simulation benchmarks such as RoboTwin 2.0, LIBERO, and GenieSim, as well as strong results on challenging long-horizon real-world manipulation tasks. Notably, our efficient 0.2B-parameter variant rivals significantly larger baselines, enabling low-latency on-device deployment. To further accelerate research and practical adoption, we fully open-source the entire HoloBrain ecosystem, which includes: (1) powerful pre-trained VLA foundations; (2) post-trained checkpoints for multiple simulation suites and real-world tasks; and (3) RoboOrchard, a full-stack VLA infrastructure for data curation, model training and deployment. Together with standardized data collection protocols, this release provides the community with a complete, reproducible path toward high-performance robotic manipulation.

AlgoVeri: An Aligned Benchmark for Verified Code Generation on Classical Algorithms

Vericoding refers to the generation of formally verified code from rigorous specifications. Recent AI models show promise in vericoding, but a unified methodology for cross-paradigm evaluation is lacking. Existing benchmarks test only individual languages/tools (e.g., Dafny, Verus, and Lean) and each covers very different tasks, so the performance numbers are not directly comparable. We address this gap with AlgoVeri, a benchmark that evaluates vericoding of $77$ classical algorithms in Dafny, Verus, and Lean. By enforcing identical functional contracts, AlgoVeri reveals critical capability gaps in verification systems. While frontier models achieve tractable success in Dafny ($40.3$% for Gemini-3 Flash), where high-level abstractions and SMT automation simplify the workflow, performance collapses under the systems-level memory constraints of Verus ($24.7$%) and the explicit proof construction required by Lean (7.8%). Beyond aggregate metrics, we uncover a sharp divergence in test-time compute dynamics: Gemini-3 effectively utilizes iterative repair to boost performance (e.g., tripling pass rates in Dafny), whereas GPT-OSS saturates early. Finally, our error analysis shows that language design affects the refinement trajectory: while Dafny allows models to focus on logical correctness, Verus and Lean trap models in persistent syntactic and semantic barriers. All data and evaluation code can be found at https://github.com/haoyuzhao123/algoveri.

Tail-Aware Post-Training Quantization for 3D Geometry Models

The burgeoning complexity and scale of 3D geometry models pose significant challenges for deployment on resource-constrained platforms. While Post-Training Quantization (PTQ) enables efficient inference without retraining, conventional methods, primarily optimized for 2D Vision Transformers, fail to transfer effectively to 3D models due to intricate feature distributions and prohibitive calibration overhead. To address these challenges, we propose TAPTQ, a Tail-Aware Post-Training Quantization pipeline specifically engineered for 3D geometric learning. Our contribution is threefold: (1) To overcome the data-scale bottleneck in 3D datasets, we develop a progressive coarse-to-fine calibration construction strategy that constructs a highly compact subset to achieve both statistical purity and geometric representativeness. (2) We reformulate the quantization interval search as an optimization problem and introduce a ternary-search-based solver, reducing the computational complexity from $\mathcal{O}(N)$ to $\mathcal{O}(\log N)$ for accelerated deployment. (3) To mitigate quantization error accumulation, we propose TRE-Guided Module-wise Compensation, which utilizes a Tail Relative Error (TRE) metric to adaptively identify and rectify distortions in modules sensitive to long-tailed activation outliers. Extensive experiments on the VGGT and Pi3 benchmarks demonstrate that TAPTQ consistently outperforms state-of-the-art PTQ methods in accuracy while significantly reducing calibration time. The code will be released soon.