UniDDT: Unifying Multimodal Understanding and Generation with Decoupled Diffusion Transformer

Unified Multimodal Models (UMMs) have emerged as a critical direction for general-purpose multimodal intelligence, integrating understanding and generation into a single framework. However, existing UMMs face prominent challenges: (1) the inherent learning conflicts between visual understanding and generation tasks, leading to suboptimal modeling in both tasks; (2) different understanding and generation visual spaces impeding scalability; (3) over-reliance on task-specific data that neglects the duality of text-image understanding and generation. To address these challenges, we propose UniDDT, which leverages a Noisy ViT encoder along with an LLM to unify semantic encoding for visual generation and understanding tasks, while employing a separate diffusion decoder to decouple diffusion decoding from text decoding. With this Noisy ViT encoder, UniDDT is able to leverage the latent space as a unified visual representation, enabling seamless compatibility between understanding and generation tasks. Thus, the scalability within the generation tasks and the semantic expressiveness within understanding tasks can be balanced. Also, we construct dual data structures from the same image-text pairs, fostering interdependence between the generation and understanding data to exploit their inherent duality. Extensive experiments demonstrate that UniDDT achieves effective unification of multimodal understanding and generation with enhanced semantic consistency and scalability. For visual generation tasks, our UniDDT achieves 0.87 GenEval score and 86.9 DPG overall score. For multimodal understanding tasks, our UniDDT achieves 1699.5 score on MME benchmark and 76.5 overall score on SEEDbench.

VAIC: Vision-Guided Humanoid Agile Object Interaction Control via Decoupled Commands

Humanoid robots hold immense potential for real-world assistance, yet agile interaction with objects in unstructured environments demands tightly coupled whole-body coordination. Despite recent advancements, current controllers face a critical deployment gap. They rely heavily on dense reference trajectories and perfect state observability, which inherently limits physical generalization. We present Vision Guided Agile Interaction Control (VAIC), a unified framework that bridges this gap by operating exclusively on onboard depth, historical proprioception, and a decoupled user command interface. VAIC employs a two-stage distillation paradigm. First, a privileged teacher policy masters diverse interaction skills using precise object kinematics and exact environmental states. Second, a deployable student policy distills these capabilities by replacing full body tracking with velocity targets across multiple axes and an interaction indicator for each frame. The student utilizes a recurrent object adaptation module to implicitly infer unobservable object dynamics from raw depth streams and proprioception. Evaluations and real-world deployments on the humanoid robot demonstrate that a single VAIC policy successfully executes highly diverse dynamic tasks. These tasks include box carrying, cart interaction, and skateboarding, consistently outperforming baselines and advancing autonomous humanoid deployment.

MetaPoint: Unlocking Precise Spatial Control in Agentic Visual Generation

Generative visual models fundamentally struggle with precise spatial control. This arises from a core disconnect: models can process textual descriptions of space but cannot directly map numerical coordinates onto the 2D image canvas. We introduce MetaPoint, a method that bridges this gap by representing a continuous 2D coordinate as a single, special token. Crucially, MetaPoint requires no new architectural components; it directly leverages the model's inherent positional encoding schemes to interpret these coordinates, treating our token as a virtual point on the canvas. This lightweight approach enables pixel-level control of an object's position with one token or its bounding box with two, all without requiring architectural changes or bespoke attention masking. The MetaPoint tokens are designed to be compositional, serving as spatial primitives. This allows a planner agent to decompose a high-level user request into a structured sequence of primitives for the generator. By providing a simple, precise, and scalable building block for spatial control, MetaPoint unlocks more powerful compositional generative agents and enables intuitive, interactive editing systems.

GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images

Converting multi-view RGB observations into simulation-ready 3D environments remains challenging because current reconstruction pipelines produce monolithic scene representations without explicit physical structure. They are typically defined up to an arbitrary global rotation and entangle rigid foreground objects with background geometry, which hinders stable physical interaction. Existing solutions often recover interactivity by replacing reconstructed objects with retrieved CAD assets, but this introduces a slow retrieval-and-replacement stage and weakens scene-specific geometric fidelity. We propose GARDEN, an RGB-only framework that reformulates reconstruction as physically-grounded scene factorization and outputs a structured hybrid scene representation. The key idea is to use gravity as a universal physical prior: we first align the reconstruction to a unified Gravity-View frame to resolve gauge ambiguity, then recover object-centric rigid meshes with accurate 6-DoF placement, and finally remove duplicate object geometry from the background through conditional 3D point classification. The resulting representation combines explicit rigid bodies with a decoupled background, enabling direct physics simulation while preserving visual realism. Experiments on both simulated and real multi-view scenes show that GARDEN improves object placement reliability, disentanglement quality, and rendering-simulation efficiency compared with retrieval-based baselines.

What to Format and How: A Benchmark and Workflow Approach for Document Formatting

Recent advances in large language models (LLMs) have opened up new possibilities for automated document formatting. However, real-world formatting often requires identifying targets based on document content. This content-aware setting remains challenging and underexplored, primarily due to the lack of dedicated evaluation datasets.To enable evaluation in realistic content-aware scenarios, we introduce DocFormBench, a benchmark that extends Text-to-Format evaluation to diverse formatting requirements, along with metrics for both accuracy and efficiency.To mitigate redundant document reading in existing methods during formatting, we propose DocFormFlow, a workflow formatting method that decouples target localization from modification execution into what to format and how. Extensive experiments across multiple LLMs and multimodal models show that DocFormFlow consistently improves formatting accuracy while reducing token consumption compared to representative baselines. Further analysis reveals that precise target localization is the primary factor influencing formatting performance. We hope DocFormBench and DocFormFlow will facilitate future research toward more intelligent and reliable document formatting.

3D Magnetic Field Reconstruction and Mapping with Physics-Informed Neural Networks

Accurate reconstruction of magnetic fields in inaccessible regions is vital for many high-precision experiments in physics. Traditional methods, such as spherical harmonic expansion, often suffer from truncation errors that limit their precision. This study proposes an advanced Physics-Informed Neural Network (PINN) framework for high-precision 3D magnetic field mapping. Unlike conventional data-driven models, the proposed PINN integrates Maxwell's equations directly into the loss function, enforcing divergence-free and curl-free conditions across the entire domain. A key innovation is the inclusion of explicit physics-residual losses at measurement locations, ensuring rigorous physical consistency beyond random collocation sampling. Validation using simulated data achieves a reconstruction accuracy of $10^{-4}$, a tenfold improvement over existing PINN benchmarks. Furthermore, experimental validation using a custom coil assembly demonstrates robust reconstruction with sub-percent relative accuracy, reaching the $10^{-3}$ level under ambient conditions. This AI-driven methodology provides a robust, high-precision solution for field monitoring and measurement in complex experimental environments where direct sensor placement is restricted.

Cluster-Aware Neural Collapse Prompt Tuning for Long-Tailed Generalization of Vision-Language Models

Prompt learning has emerged as an efficient alternative to fine-tuning pre-trained vision-language models (VLMs). Despite its promise, current methods still struggle to maintain tail-class discriminability when adapting to class-imbalanced datasets. In this work, we propose cluster-aware neural collapse prompt tuning (CPT), which enhances the discriminability of tail classes in prompt-tuned VLMs without sacrificing their overall generalization. First, we design a cluster-invariant space by mining semantic assignments from the pre-trained VLM and mapping them to prompt-tuned features. This computes cluster-level boundaries and restricts the constraints to local neighborhoods, which reduces interference with the global semantic structure of the pre-trained VLM. Second, we introduce neural-collapse-driven discriminability optimization with three losses: textual Equiangular Tight Frame (ETF) separation loss, class-wise convergence loss, and rotation stabilization loss. These losses work together to shape intra-cluster geometry for better inter-class separation and intra-class alignment. Extensive experiments on 11 diverse datasets demonstrate that CPT outperforms SOTA methods, with stronger performance on long-tail classes and good generalization to unseen classes.

CoSyncDiT: Cognitive Synchronous Diffusion Transformer for Movie Dubbing

Movie dubbing aims to synthesize speech that preserves the vocal identity of a reference audio while synchronizing with the lip movements in a target video. Existing methods fail to achieve precise lip-sync and lack naturalness due to explicit alignment at the duration level. While implicit alignment solutions have emerged, they remain susceptible to interference from the reference audio, triggering timbre and pronunciation degradation in in-the-wild scenarios. In this paper, we propose a novel flow matching-based movie dubbing framework driven by the Cognitive Synchronous Diffusion Transformer (CoSync-DiT), inspired by the cognitive process of professional actors. This architecture progressively guides the noise-to-speech generative trajectory by executing acoustic style adapting, fine-grained visual calibrating, and time-aware context aligning. Furthermore, we design the Joint Semantic and Alignment Regularization (JSAR) mechanism to simultaneously constrain frame-level temporal consistency on the contextual outputs and semantic consistency on the flow hidden states, ensuring robust alignment. Extensive experiments on both standard benchmarks and challenging in-the-wild dubbing benchmarks demonstrate that our method achieves the state-of-the-art performance across multiple metrics.

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

Weather-Conditioned Branch Routing for Robust LiDAR-Radar 3D Object Detection

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive pipelines, failing to dy-namically adjust modality preferences as environmental conditions change. To bridge this gap, we reformulate multi-modal perception as a weather-conditioned branch routing problem. Instead of computing a single fused output, our framework explicitly maintains three parallel 3D feature streams: a pure LiDAR branch, a pure 4D radar branch, and a condition-gated fusion branch. Guided by a condition token extracted from visual and semantic prompts, a lightweight router dynamically predicts sample-specific weights to softly aggregate these representations. Furthermore, to prevent branch collapse, we introduce a weather-supervised learning strategy with auxiliary classification and diversity regularization to enforce distinct, condition-dependent routing behaviors. Extensive experiments on the K-Radar benchmark demonstrate that our method achieves state-of-the-art performance. Furthermore, it provides explicit and highly interpretable insights into modality preferences, transparently revealing how adaptive routing robustly shifts reliance between LiDAR and 4D radar across diverse adverse-weather scenarios. The source code with be released.