Unleashing MLLMs on the Edge: A Unified Framework for Cross-Modal ReID via Adaptive SVD Distillation

Practical cloud-edge deployment of Cross-Modal Re-identification (CM-ReID) faces challenges due to maintaining a fragmented ecosystem of specialized cloud models for diverse modalities. While Multi-Modal Large Language Models (MLLMs) offer strong unification potential, existing approaches fail to adapt them into a single end-to-end backbone and lack effective knowledge distillation strategies for edge deployment. To address these limitations, we propose MLLMEmbed-ReID, a unified framework based on a powerful cloud-edge architecture. First, we adapt a foundational MLLM into a state-of-the-art cloud model. We leverage instruction-based prompting to guide the MLLM in generating a unified embedding space across RGB, infrared, sketch, and text modalities. This model is then trained efficiently with a hierarchical Low-Rank Adaptation finetuning (LoRA-SFT) strategy, optimized under a holistic cross-modal alignment objective. Second, to deploy its knowledge onto an edge-native student, we introduce a novel distillation strategy motivated by the low-rank property in the teacher's feature space. To prioritize essential information, this method employs a Principal Component Mapping loss, while relational structures are preserved via a Feature Relation loss. Our lightweight edge-based model achieves state-of-the-art performance on multiple visual CM-ReID benchmarks, while its cloud-based counterpart excels across all CM-ReID benchmarks. The MLLMEmbed-ReID framework thus presents a complete and effective solution for deploying unified MLLM-level intelligence on resource-constrained devices. The code and models will be open-sourced soon.

Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution

In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a carefully designed training recipe and deployment strategy. Xiaomi-Robotics-0 is first pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, endowing it with broad and generalizable action-generation capabilities while avoiding catastrophic forgetting of the visual-semantic knowledge of the underlying pre-trained VLM. During post-training, we propose several techniques for training the VLA model for asynchronous execution to address the inference latency during real-robot rollouts. During deployment, we carefully align the timesteps of consecutive predicted action chunks to ensure continuous and seamless real-time rollouts. We evaluate Xiaomi-Robotics-0 extensively in simulation benchmarks and on two challenging real-robot tasks that require precise and dexterous bimanual manipulation. Results show that our method achieves state-of-the-art performance across all simulation benchmarks. Moreover, Xiaomi-Robotics-0 can roll out fast and smoothly on real robots using a consumer-grade GPU, achieving high success rates and throughput on both real-robot tasks. To facilitate future research, code and model checkpoints are open-sourced at https://xiaomi-robotics-0.github.io

GigaBrain-0.5M*: a VLA That Learns From World Model-Based Reinforcement Learning

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose \textit{GigaBrain-0.5M*}, a VLA model trained via world model-based reinforcement learning. Built upon \textit{GigaBrain-0.5}, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. \textit{GigaBrain-0.5M*} further integrates world model-based reinforcement learning via \textit{RAMP} (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that \textit{RAMP} achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including \texttt{Laundry Folding}, \texttt{Box Packing}, and \texttt{Espresso Preparation}. Critically, \textit{GigaBrain-0.5M$^*$} exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our \href{https://gigabrain05m.github.io}{project page}.

TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior

Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant challenge. Existing methods typically distill multiple expert policies into a single general policy, which often inevitably leads to performance degradation, particularly on highly dynamic motions. This paper presents TeleGate, a unified whole-body teleoperation framework for humanoid robots that achieves high-precision tracking across various motions while avoiding the performance loss inherent in knowledge distillation. Our key idea is to preserve the full capability of domain-specific expert policies by training a lightweight gating network, which dynamically activates experts in real-time based on proprioceptive states and reference trajectories. Furthermore, to compensate for the absence of future reference trajectories in real-time teleoperation, we introduce a VAE-based motion prior module that extracts implicit future motion intent from historical observations, enabling anticipatory control for motions requiring prediction such as jumping and standing up. We conducted empirical evaluations in simulation and also deployed our technique on the Unitree G1 humanoid robot. Using only 2.5 hours of motion capture data for training, our TeleGate achieves high-precision real-time teleoperation across diverse dynamic motions (e.g., running, fall recovery, and jumping), significantly outperforming the baseline methods in both tracking accuracy and success rate.

E-mem: Multi-agent based Episodic Context Reconstruction for LLM Agent Memory

The evolution of Large Language Model (LLM) agents towards System~2 reasoning, characterized by deliberative, high-precision problem-solving, requires maintaining rigorous logical integrity over extended horizons. However, prevalent memory preprocessing paradigms suffer from destructive de-contextualization. By compressing complex sequential dependencies into pre-defined structures (e.g., embeddings or graphs), these methods sever the contextual integrity essential for deep reasoning. To address this, we propose E-mem, a framework shifting from Memory Preprocessing to Episodic Context Reconstruction. Inspired by biological engrams, E-mem employs a heterogeneous hierarchical architecture where multiple assistant agents maintain uncompressed memory contexts, while a central master agent orchestrates global planning. Unlike passive retrieval, our mechanism empowers assistants to locally reason within activated segments, extracting context-aware evidence before aggregation. Evaluations on the LoCoMo benchmark demonstrate that E-mem achieves over 54\% F1, surpassing the state-of-the-art GAM by 7.75\%, while reducing token cost by over 70\%.

Cognitive Fusion of ZC Sequences and Time-Frequency Images for Out-of-Distribution Detection of Drone Signals

We propose a drone signal out-of-distribution detection (OODD) algorithm based on the cognitive fusion of Zadoff-Chu (ZC) sequences and time-frequency images (TFI). ZC sequences are identified by analyzing the communication protocols of DJI drones, while TFI capture the time-frequency characteristics of drone signals with unknown or non-standard communication protocols. Both modalities are used jointly to enable OODD in the drone remote identification (RID) task. Specifically, ZC sequence features and TFI features are generated from the received radio frequency signals, which are then processed through dedicated feature extraction module to enhance and align them. The resultant multi-modal features undergo multi-modal feature interaction, single-modal feature fusion, and multi-modal feature fusion to produce features that integrate and complement information across modalities. Discrimination scores are computed from the fused features along both spatial and channel dimensions to capture time-frequency characteristic differences dictated by the communication protocols, and these scores will be transformed into adaptive attention weights. The weighted features are then passed through a Softmax function to produce the signal classification results. Simulation results demonstrate that the proposed algorithm outperforms existing algorithms and achieves 1.7% and 7.5% improvements in RID and OODD metrics, respectively. The proposed algorithm also performs strong robustness under varying flight conditions and across different drone types.

Discriminability-Driven Spatial-Channel Selection with Gradient Norm for Drone Signal OOD Detection

We propose a drone signal out-of-distribution (OOD) detection algorithm based on discriminability-driven spatial-channel selection with a gradient norm. Time-frequency image features are adaptively weighted along both spatial and channel dimensions by quantifying inter-class similarity and variance based on protocol-specific time-frequency characteristics. Subsequently, a gradient-norm metric is introduced to measure perturbation sensitivity for capturing the inherent instability of OOD samples, which is then fused with energy-based scores for joint inference. Simulation results demonstrate that the proposed algorithm provides superior discriminative power and robust performance via SNR and various drone types.

Bridging the Knowledge-Action Gap by Evaluating LLMs in Dynamic Dental Clinical Scenarios

The transition of Large Language Models (LLMs) from passive knowledge retrievers to autonomous clinical agents demands a shift in evaluation-from static accuracy to dynamic behavioral reliability. To explore this boundary in dentistry, a domain where high-quality AI advice uniquely empowers patient-participatory decision-making, we present the Standardized Clinical Management & Performance Evaluation (SCMPE) benchmark, which comprehensively assesses performance from knowledge-oriented evaluations (static objective tasks) to workflow-based simulations (multi-turn simulated patient interactions). Our analysis reveals that while models demonstrate high proficiency in static objective tasks, their performance precipitates in dynamic clinical dialogues, identifying that the primary bottleneck lies not in knowledge retention, but in the critical challenges of active information gathering and dynamic state tracking. Mapping "Guideline Adherence" versus "Decision Quality" reveals a prevalent "High Efficacy, Low Safety" risk in general models. Furthermore, we quantify the impact of Retrieval-Augmented Generation (RAG). While RAG mitigates hallucinations in static tasks, its efficacy in dynamic workflows is limited and heterogeneous, sometimes causing degradation. This underscores that external knowledge alone cannot bridge the reasoning gap without domain-adaptive pre-training. This study empirically charts the capability boundaries of dental LLMs, providing a roadmap for bridging the gap between standardized knowledge and safe, autonomous clinical practice.

Task-Driven Prompt Learning: A Joint Framework for Multi-modal Cloud Removal and Segmentation

Optical remote sensing imagery is indispensable for Earth observation, yet persistent cloud occlusion limits its downstream utility. Most cloud removal (CR) methods are optimized for low-level fidelity and can over-smooth textures and boundaries that are critical for analysis-ready data (ARD), leading to a mismatch between visually plausible restoration and semantic utility. To bridge this gap, we propose TDP-CR, a task-driven multimodal framework that jointly performs cloud removal and land-cover segmentation. Central to our approach is a Prompt-Guided Fusion (PGF) mechanism, which utilizes a learnable degradation prompt to encode cloud thickness and spatial uncertainty. By combining global channel context with local prompt-conditioned spatial bias, PGF adaptively integrates Synthetic Aperture Radar (SAR) information only where optical data is corrupted. We further introduce a parameter-efficient two-phase training strategy that decouples reconstruction and semantic representation learning. Experiments on the LuojiaSET-OSFCR dataset demonstrate the superiority of our framework: TDP-CR surpasses heavy state-of-the-art baselines by 0.18 dB in PSNR while using only 15\% of the parameters, and achieves a 1.4\% improvement in mIoU consistently against multi-task competitors, effectively delivering analysis-ready data.

CS-GBA: A Critical Sample-based Gradient-guided Backdoor Attack for Offline Reinforcement Learning

Offline Reinforcement Learning (RL) enables policy optimization from static datasets but is inherently vulnerable to backdoor attacks. Existing attack strategies typically struggle against safety-constrained algorithms (e.g., CQL) due to inefficient random poisoning and the use of easily detectable Out-of-Distribution (OOD) triggers. In this paper, we propose CS-GBA (Critical Sample-based Gradient-guided Backdoor Attack), a novel framework designed to achieve high stealthiness and destructiveness under a strict budget. Leveraging the theoretical insight that samples with high Temporal Difference (TD) errors are pivotal for value function convergence, we introduce an adaptive Critical Sample Selection strategy that concentrates the attack budget on the most influential transitions. To evade OOD detection, we propose a Correlation-Breaking Trigger mechanism that exploits the physical mutual exclusivity of state features (e.g., 95th percentile boundaries) to remain statistically concealed. Furthermore, we replace the conventional label inversion with a Gradient-Guided Action Generation mechanism, which searches for worst-case actions within the data manifold using the victim Q-network's gradient. Empirical results on D4RL benchmarks demonstrate that our method significantly outperforms state-of-the-art baselines, achieving high attack success rates against representative safety-constrained algorithms with a minimal 5% poisoning budget, while maintaining the agent's performance in clean environments.