WaveComm: Lightweight Communication for Collaborative Perception via Wavelet Feature Distillation

In multi-agent collaborative sensing systems, substantial communication overhead from information exchange significantly limits scalability and real-time performance, especially in bandwidth-constrained environments. This often results in degraded performance and reduced reliability. To address this challenge, we propose WaveComm, a wavelet-based communication framework that drastically reduces transmission loads while preserving sensing performance in low-bandwidth scenarios. The core innovation of WaveComm lies in decomposing feature maps using Discrete Wavelet Transform (DWT), transmitting only compact low-frequency components to minimize communication overhead. High-frequency details are omitted, and their effects are reconstructed at the receiver side using a lightweight generator. A Multi-Scale Distillation (MSD) Loss is employed to optimize the reconstruction quality across pixel, structural, semantic, and distributional levels. Experiments on the OPV2V and DAIR-V2X datasets for LiDAR-based and camera-based perception tasks demonstrate that WaveComm maintains state-of-the-art performance even when the communication volume is reduced to 86.3% and 87.0% of the original, respectively. Compared to existing approaches, WaveComm achieves competitive improvements in both communication efficiency and perception accuracy. Ablation studies further validate the effectiveness of its key components.

Hyperbolic Multiview Pretraining for Robotic Manipulation

3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to model structural relations among embeddings. As a result, they struggle to learn structured embeddings that are essential for robust spatial perception in robotic applications. To this end, we propose HyperMVP, a self-supervised framework for \underline{Hyper}bolic \underline{M}ulti\underline{V}iew \underline{P}retraining. Hyperbolic space offers geometric properties well suited for capturing structural relations. Methodologically, we extend the masked autoencoder paradigm and design a GeoLink encoder to learn multiview hyperbolic representations. The pretrained encoder is then finetuned with visuomotor policies on manipulation tasks. In addition, we introduce 3D-MOV, a large-scale dataset comprising multiple types of 3D point clouds to support pretraining. We evaluate HyperMVP on COLOSSEUM, RLBench, and real-world scenarios, where it consistently outperforms strong baselines across diverse tasks and perturbation settings. Our results highlight the potential of 3D-aware pretraining in a non-Euclidean space for learning robust and generalizable robotic manipulation policies.

RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation

In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight consists of two components. (a) RoboLight-Real contains 2,800 real-world episodes collected in our custom Light Cube setup, a calibrated system equipped with eight programmable RGB LED lights. It includes structured illumination variation along three independently controlled dimensions: color, direction, and intensity. Each dimension is paired with a dedicated task featuring objects of diverse geometries and materials to induce perceptual challenges. All image data are recorded in high-dynamic-range (HDR) format to preserve radiometric accuracy. Leveraging the linearity of light transport, we introduce (b) RoboLight-Synthetic, comprising 196,000 episodes synthesized through interpolation in the HDR image space of RoboLight-Real. In principle, RoboLight-Synthetic can be arbitrarily expanded by refining the interpolation granularity. We further verify the dataset quality through qualitative analysis and real-world policy roll-outs, analyzing task difficulty, distributional diversity, and the effectiveness of synthesized data. We additionally demonstrate three representative use cases of the proposed dataset. The full dataset, along with the system software and hardware design, will be released as open-source to support continued research.

U-Harmony: Enhancing Joint Training for Segmentation Models with Universal Harmonization

In clinical practice, medical segmentation datasets are often limited and heterogeneous, with variations in modalities, protocols, and anatomical targets across institutions. Existing deep learning models struggle to jointly learn from such diverse data, often sacrificing either generalization or domain-specific knowledge. To overcome these challenges, we propose a joint training method called Universal Harmonization (U-Harmony), which can be integrated into deep learning-based architectures with a domain-gated head, enabling a single segmentation model to learn from heterogeneous datasets simultaneously. By integrating U-Harmony, our approach sequentially normalizes and then denormalizes feature distributions to mitigate domain-specific variations while preserving original dataset-specific knowledge. More appealingly, our framework also supports universal modality adaptation, allowing the seamless learning of new imaging modalities and anatomical classes. Extensive experiments on cross-institutional brain lesion datasets demonstrate the effectiveness of our approach, establishing a new benchmark for robust and adaptable 3D medical image segmentation models in real-world clinical settings.

Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation from an algorithmic perspective and organizes recent learning-based approaches within a unified abstraction of high-level planning and low-level control. At the high level, we extend the classical notion of task planning to include reasoning over language, code, motion, affordances, and 3D representations, emphasizing their role in structured and long-horizon decision making. At the low level, we propose a training-paradigm-oriented taxonomy for learning-based control, organizing existing methods along input modeling, latent representation learning, and policy learning. Finally, we identify open challenges and prospective research directions related to scalability, data efficiency, multimodal physical interaction, and safety. Together, these analyses aim to clarify the design space of modern foundation models for robotic manipulation.

Every Step Evolves: Scaling Reinforcement Learning for Trillion-Scale Thinking Model

We present Ring-1T, the first open-source, state-of-the-art thinking model with a trillion-scale parameter. It features 1 trillion total parameters and activates approximately 50 billion per token. Training such models at a trillion-parameter scale introduces unprecedented challenges, including train-inference misalignment, inefficiencies in rollout processing, and bottlenecks in the RL system. To address these, we pioneer three interconnected innovations: (1) IcePop stabilizes RL training via token-level discrepancy masking and clipping, resolving instability from training-inference mismatches; (2) C3PO++ improves resource utilization for long rollouts under a token budget by dynamically partitioning them, thereby obtaining high time efficiency; and (3) ASystem, a high-performance RL framework designed to overcome the systemic bottlenecks that impede trillion-parameter model training. Ring-1T delivers breakthrough results across critical benchmarks: 93.4 on AIME-2025, 86.72 on HMMT-2025, 2088 on CodeForces, and 55.94 on ARC-AGI-v1. Notably, it attains a silver medal-level result on the IMO-2025, underscoring its exceptional reasoning capabilities. By releasing the complete 1T parameter MoE model to the community, we provide the research community with direct access to cutting-edge reasoning capabilities. This contribution marks a significant milestone in democratizing large-scale reasoning intelligence and establishes a new baseline for open-source model performance.

Beyond Benchmark: LLMs Evaluation with an Anthropomorphic and Value-oriented Roadmap

For Large Language Models (LLMs), a disconnect persists between benchmark performance and real-world utility. Current evaluation frameworks remain fragmented, prioritizing technical metrics while neglecting holistic assessment for deployment. This survey introduces an anthropomorphic evaluation paradigm through the lens of human intelligence, proposing a novel three-dimensional taxonomy: Intelligence Quotient (IQ)-General Intelligence for foundational capacity, Emotional Quotient (EQ)-Alignment Ability for value-based interactions, and Professional Quotient (PQ)-Professional Expertise for specialized proficiency. For practical value, we pioneer a Value-oriented Evaluation (VQ) framework assessing economic viability, social impact, ethical alignment, and environmental sustainability. Our modular architecture integrates six components with an implementation roadmap. Through analysis of 200+ benchmarks, we identify key challenges including dynamic assessment needs and interpretability gaps. It provides actionable guidance for developing LLMs that are technically proficient, contextually relevant, and ethically sound. We maintain a curated repository of open-source evaluation resources at: https://github.com/onejune2018/Awesome-LLM-Eval.

Beyond Scaling Law: A Data-Efficient Distillation Framework for Reasoning

Large language models (LLMs) demonstrate remarkable reasoning capabilities in tasks such as algorithmic coding and mathematical problem-solving. Recent methods have improved reasoning through expanded corpus and multistage training combining reinforcement learning and supervised fine-tuning. Although some methods suggest that small but targeted dataset can incentivize reasoning via only distillation, a reasoning scaling laws is still taking shape, increasing computational costs. To address this, we propose a data-efficient distillation framework (DED) that optimizes the Pareto frontier of reasoning distillation. Inspired by the on-policy learning and diverse roll-out strategies of reinforcement learning, the key idea of our approach is threefold: (1) We identify that benchmark scores alone do not determine an effective teacher model. Through comprehensive comparisons of leading reasoning LLMs, we develop a method to select an optimal teacher model. (2) While scaling distillation can enhance reasoning, it often degrades out-of-domain performance. A carefully curated, smaller corpus achieves a balanced trade-off between in-domain and out-of-domain capabilities. (3) Diverse reasoning trajectories encourage the student model to develop robust reasoning skills. We validate our method through evaluations on mathematical reasoning (AIME 2024/2025, MATH-500) and code generation (LiveCodeBench), achieving state-of-the-art results with only 0.8k carefully curated examples, bypassing the need for extensive scaling. Our systematic analysis demonstrates that DED outperforms existing methods by considering factors beyond superficial hardness, token length, or teacher model capability. This work offers a practical and efficient pathway to advanced reasoning while preserving general capabilities.

Quality-of-Service Aware LLM Routing for Edge Computing with Multiple Experts

Large Language Models (LLMs) have demonstrated remarkable capabilities, leading to a significant increase in user demand for LLM services. However, cloud-based LLM services often suffer from high latency, unstable responsiveness, and privacy concerns. Therefore, multiple LLMs are usually deployed at the network edge to boost real-time responsiveness and protect data privacy, particularly for many emerging smart mobile and IoT applications. Given the varying response quality and latency of LLM services, a critical issue is how to route user requests from mobile and IoT devices to an appropriate LLM service (i.e., edge LLM expert) to ensure acceptable quality-of-service (QoS). Existing routing algorithms fail to simultaneously address the heterogeneity of LLM services, the interference among requests, and the dynamic workloads necessary for maintaining long-term stable QoS. To meet these challenges, in this paper we propose a novel deep reinforcement learning (DRL)-based QoS-aware LLM routing framework for sustained high-quality LLM services. Due to the dynamic nature of the global state, we propose a dynamic state abstraction technique to compactly represent global state features with a heterogeneous graph attention network (HAN). Additionally, we introduce an action impact estimator and a tailored reward function to guide the DRL agent in maximizing QoS and preventing latency violations. Extensive experiments on both Poisson and real-world workloads demonstrate that our proposed algorithm significantly improves average QoS and computing resource efficiency compared to existing baselines.

Step-Audio 2 Technical Report

This paper presents Step-Audio 2, an end-to-end multi-modal large language model designed for industry-strength audio understanding and speech conversation. By integrating a latent audio encoder and reasoning-centric reinforcement learning (RL), Step-Audio 2 achieves promising performance in automatic speech recognition (ASR) and audio understanding. To facilitate genuine end-to-end speech conversation, Step-Audio 2 incorporates the generation of discrete audio tokens into language modeling, significantly enhancing its responsiveness to paralinguistic information such as speaking styles and emotions. To effectively leverage the rich textual and acoustic knowledge in real-world data, Step-Audio 2 integrates retrieval-augmented generation (RAG) and is able to call external tools such as web search to mitigate hallucination and audio search to switch timbres. Trained on millions of hours of speech and audio data, Step-Audio 2 delivers intelligence and expressiveness across diverse conversational scenarios. Evaluation results demonstrate that Step-Audio 2 achieves state-of-the-art performance on various audio understanding and conversational benchmarks compared to other open-source and commercial solutions. Please visit https://github.com/stepfun-ai/Step-Audio2 for more information.