Inject Once Survive Later: Backdooring Vision-Language-Action Models to Persist Through Downstream Fine-tuning

Vision-Language-Action (VLA) models have become foundational to modern embodied AI systems. By integrating visual perception, language understanding, and action planning, they enable general-purpose task execution across diverse environments. Despite their importance, the security of VLA models remains underexplored -- particularly in the context of backdoor attacks, which pose realistic threats in physical-world deployments. While recent methods attempt to inject backdoors into VLA models, these backdoors are easily erased during downstream adaptation, as user-side fine-tuning with clean data significantly alters model parameters, rendering them impractical for real-world applications. To address these challenges, we propose INFUSE (INjection into Fine-tUne-inSensitive modulEs), the first backdoor attack framework for VLA base models that remains effective even with arbitrary user fine-tuning. INFUSE begins by analyzing parameter sensitivity across diverse fine-tuning scenarios to identify modules that remain largely unchanged -- the fine-tune-insensitive modules. It then injects backdoors into these stable modules while freezing the rest, ensuring malicious behavior persists after extensive user fine-tuning. Comprehensive experiments across multiple VLA architectures demonstrate INFUSE's effectiveness. After user-side fine-tuning, INFUSE maintains mean attack success rates of 91.0% on simulation environments and 79.8% on real-world robot tasks, substantially surpassing BadVLA (38.8% and 36.6%, respectively), while preserving clean-task performance comparable to standard models. These results uncover a critical threat: backdoors implanted before distribution can persist through fine-tuning and remain effective at deployment.

Learning to Accelerate Vision-Language-Action Models through Adaptive Visual Token Caching

Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic manipulation tasks, yet their substantial computational overhead remains a critical obstacle to real-world deployment. Improving inference efficiency is therefore essential for practical robotic applications. Existing acceleration methods often rely on heuristic or static strategies--such as rule-based token caching or pruning--that are decoupled from task objectives and fail to adapt to dynamic scene changes. In this work, we reformulate inference acceleration as a learnable policy optimization problem and propose a novel framework that integrates a dynamic, task-aware decision-making process directly into the VLA model. At its core are two lightweight, cooperative modules: a Cached Token Selector, which determines which tokens should be reused, and a Cache Ratio Predictor, which controls how many tokens to reuse. Training these modules is non-trivial due to their discrete decisions. We address this by adopting a differentiable relaxation that allows gradient-based end-to-end optimization. Extensive experiments on the LIBERO and SIMPLER benchmarks, as well as real-robot evaluations, show that our method achieves a 1.76x wall-clock inference speedup while simultaneously improving the average success rate by 1.9 percentage points (from 75.0% to 76.9%) on LIBERO and by 5.0 percentage points on real-world tasks, significantly outperforming existing baselines. This work highlights the potential of learning task-aware computational allocation policies, paving the way for VLA models that are both powerful and efficient.

PersonalAlign: Hierarchical Implicit Intent Alignment for Personalized GUI Agent with Long-Term User-Centric Records

While GUI agents have shown strong performance under explicit and completion instructions, real-world deployment requires aligning with users' more complex implicit intents. In this work, we highlight Hierarchical Implicit Intent Alignment for Personalized GUI Agent (PersonalAlign), a new agent task that requires agents to leverage long-term user records as persistent context to resolve omitted preferences in vague instructions and anticipate latent routines by user state for proactive assistance. To facilitate this study, we introduce AndroidIntent, a benchmark designed to evaluate agents' ability in resolving vague instructions and providing proactive suggestions through reasoning over long-term user records. We annotated 775 user-specific preferences and 215 routines from 20k long-term records across different users for evaluation. Furthermore, we introduce Hierarchical Intent Memory Agent (HIM-Agent), which maintains a continuously updating personal memory and hierarchically organizes user preferences and routines for personalization. Finally, we evaluate a range of GUI agents on AndroidIntent, including GPT-5, Qwen3-VL, and UI-TARS, further results show that HIM-Agent significantly improves both execution and proactive performance by 15.7% and 7.3%.

SemanticVLA: Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation

Vision-Language-Action (VLA) models have advanced in robotic manipulation, yet practical deployment remains hindered by two key limitations: 1) perceptual redundancy, where irrelevant visual inputs are processed inefficiently, and 2) superficial instruction-vision alignment, which hampers semantic grounding of actions. In this paper, we propose SemanticVLA, a novel VLA framework that performs Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation. Specifically: 1) To sparsify redundant perception while preserving semantic alignment, Semantic-guided Dual Visual Pruner (SD-Pruner) performs: Instruction-driven Pruner (ID-Pruner) extracts global action cues and local semantic anchors in SigLIP; Spatial-aggregation Pruner (SA-Pruner) compacts geometry-rich features into task-adaptive tokens in DINOv2. 2) To exploit sparsified features and integrate semantics with spatial geometry, Semantic-complementary Hierarchical Fuser (SH-Fuser) fuses dense patches and sparse tokens across SigLIP and DINOv2 for coherent representation. 3) To enhance the transformation from perception to action, Semantic-conditioned Action Coupler (SA-Coupler) replaces the conventional observation-to-DoF approach, yielding more efficient and interpretable behavior modeling for manipulation tasks. Extensive experiments on simulation and real-world tasks show that SemanticVLA sets a new SOTA in both performance and efficiency. SemanticVLA surpasses OpenVLA on LIBERO benchmark by 21.1% in success rate, while reducing training cost and inference latency by 3.0-fold and 2.7-fold.SemanticVLA is open-sourced and publicly available at https://github.com/JiuTian-VL/SemanticVLA

CogVLA: Cognition-Aligned Vision-Language-Action Model via Instruction-Driven Routing & Sparsification

Recent Vision-Language-Action (VLA) models built on pre-trained Vision-Language Models (VLMs) require extensive post-training, resulting in high computational overhead that limits scalability and deployment.We propose CogVLA, a Cognition-Aligned Vision-Language-Action framework that leverages instruction-driven routing and sparsification to improve both efficiency and performance. CogVLA draws inspiration from human multimodal coordination and introduces a 3-stage progressive architecture. 1) Encoder-FiLM based Aggregation Routing (EFA-Routing) injects instruction information into the vision encoder to selectively aggregate and compress dual-stream visual tokens, forming a instruction-aware latent representation. 2) Building upon this compact visual encoding, LLM-FiLM based Pruning Routing (LFP-Routing) introduces action intent into the language model by pruning instruction-irrelevant visually grounded tokens, thereby achieving token-level sparsity. 3) To ensure that compressed perception inputs can still support accurate and coherent action generation, we introduce V-L-A Coupled Attention (CAtten), which combines causal vision-language attention with bidirectional action parallel decoding. Extensive experiments on the LIBERO benchmark and real-world robotic tasks demonstrate that CogVLA achieves state-of-the-art performance with success rates of 97.4% and 70.0%, respectively, while reducing training costs by 2.5-fold and decreasing inference latency by 2.8-fold compared to OpenVLA. CogVLA is open-sourced and publicly available at https://github.com/JiuTian-VL/CogVLA.

Incorporating Legal Logic into Deep Learning: An Intelligent Approach to Probation Prediction

Probation is a crucial institution in modern criminal law, embodying the principles of fairness and justice while contributing to the harmonious development of society. Despite its importance, the current Intelligent Judicial Assistant System (IJAS) lacks dedicated methods for probation prediction, and research on the underlying factors influencing probation eligibility remains limited. In addition, probation eligibility requires a comprehensive analysis of both criminal circumstances and remorse. Much of the existing research in IJAS relies primarily on data-driven methodologies, which often overlooks the legal logic underpinning judicial decision-making. To address this gap, we propose a novel approach that integrates legal logic into deep learning models for probation prediction, implemented in three distinct stages. First, we construct a specialized probation dataset that includes fact descriptions and probation legal elements (PLEs). Second, we design a distinct probation prediction model named the Multi-Task Dual-Theory Probation Prediction Model (MT-DT), which is grounded in the legal logic of probation and the \textit{Dual-Track Theory of Punishment}. Finally, our experiments on the probation dataset demonstrate that the MT-DT model outperforms baseline models, and an analysis of the underlying legal logic further validates the effectiveness of the proposed approach.

Bootstrapping Grounded Chain-of-Thought in Multimodal LLMs for Data-Efficient Model Adaptation

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities in interpreting images using natural language. However, without using large-scale datasets for retraining, these models are difficult to adapt to specialized vision tasks, e.g., chart understanding. This problem is caused by a mismatch between pre-training and downstream datasets: pre-training datasets primarily concentrate on scenes and objects but contain limited information about specialized, non-object images, such as charts and tables. In this paper, we share an interesting finding that training an MLLM with Chain-of-Thought (CoT) reasoning data can facilitate model adaptation in specialized vision tasks, especially under data-limited regimes. However, we identify a critical issue within CoT data distilled from pre-trained MLLMs, i.e., the data often contains multiple factual errors in the reasoning steps. To address the problem, we propose Grounded Chain-of-Thought (GCoT), a simple bootstrapping-based approach that aims to inject grounding information (i.e., bounding boxes) into CoT data, essentially making the reasoning steps more faithful to input images. We evaluate our approach on five specialized vision tasks, which cover a variety of visual formats including charts, tables, receipts, and reports. The results demonstrate that under data-limited regimes our approach significantly improves upon fine-tuning and distillation.

Multimodal Large Language Models-Enabled UAV Swarm: Towards Efficient and Intelligent Autonomous Aerial Systems

Recent breakthroughs in multimodal large language models (MLLMs) have endowed AI systems with unified perception, reasoning and natural-language interaction across text, image and video streams. Meanwhile, Unmanned Aerial Vehicle (UAV) swarms are increasingly deployed in dynamic, safety-critical missions that demand rapid situational understanding and autonomous adaptation. This paper explores potential solutions for integrating MLLMs with UAV swarms to enhance the intelligence and adaptability across diverse tasks. Specifically, we first outline the fundamental architectures and functions of UAVs and MLLMs. Then, we analyze how MLLMs can enhance the UAV system performance in terms of target detection, autonomous navigation, and multi-agent coordination, while exploring solutions for integrating MLLMs into UAV systems. Next, we propose a practical case study focused on the forest fire fighting. To fully reveal the capabilities of the proposed framework, human-machine interaction, swarm task planning, fire assessment, and task execution are investigated. Finally, we discuss the challenges and future research directions for the MLLMs-enabled UAV swarm. An experiment illustration video could be found online at https://youtu.be/zwnB9ZSa5A4.

Mirage-1: Augmenting and Updating GUI Agent with Hierarchical Multimodal Skills

Recent efforts to leverage the Multi-modal Large Language Model (MLLM) as GUI agents have yielded promising outcomes. However, these agents still struggle with long-horizon tasks in online environments, primarily due to insufficient knowledge and the inherent gap between offline and online domains. In this paper, inspired by how humans generalize knowledge in open-ended environments, we propose a Hierarchical Multimodal Skills (HMS) module to tackle the issue of insufficient knowledge. It progressively abstracts trajectories into execution skills, core skills, and ultimately meta-skills, providing a hierarchical knowledge structure for long-horizon task planning. To bridge the domain gap, we propose the Skill-Augmented Monte Carlo Tree Search (SA-MCTS) algorithm, which efficiently leverages skills acquired in offline environments to reduce the action search space during online tree exploration. Building on HMS, we propose Mirage-1, a multimodal, cross-platform, plug-and-play GUI agent. To validate the performance of Mirage-1 in real-world long-horizon scenarios, we constructed a new benchmark, AndroidLH. Experimental results show that Mirage-1 outperforms previous agents by 32\%, 19\%, 15\%, and 79\% on AndroidWorld, MobileMiniWob++, Mind2Web-Live, and AndroidLH, respectively. Project page: https://cybertronagent.github.io/Mirage-1.github.io/

Optimus-3: Towards Generalist Multimodal Minecraft Agents with Scalable Task Experts

Recently, agents based on multimodal large language models (MLLMs) have achieved remarkable progress across various domains. However, building a generalist agent with capabilities such as perception, planning, action, grounding, and reflection in open-world environments like Minecraft remains challenges: insufficient domain-specific data, interference among heterogeneous tasks, and visual diversity in open-world settings. In this paper, we address these challenges through three key contributions. 1) We propose a knowledge-enhanced data generation pipeline to provide scalable and high-quality training data for agent development. 2) To mitigate interference among heterogeneous tasks, we introduce a Mixture-of-Experts (MoE) architecture with task-level routing. 3) We develop a Multimodal Reasoning-Augmented Reinforcement Learning approach to enhance the agent's reasoning ability for visual diversity in Minecraft. Built upon these innovations, we present Optimus-3, a general-purpose agent for Minecraft. Extensive experimental results demonstrate that Optimus-3 surpasses both generalist multimodal large language models and existing state-of-the-art agents across a wide range of tasks in the Minecraft environment. Project page: https://cybertronagent.github.io/Optimus-3.github.io/