Scalable Trajectory Generation for Whole-Body Mobile Manipulation

Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterity yields a state space that grows combinatorially with scene and object diversity, demanding datasets far larger than those sufficient for fixed-base manipulation. Yet existing acquisition methods, including teleoperation and planning, are either labor-intensive or computationally prohibitive at scale. The core bottleneck is the lack of a scalable pipeline for generating large-scale, physically valid, coordinated trajectory data across diverse embodiments and environments. Here we introduce AutoMoMa, a GPU-accelerated framework that unifies AKR modeling, which consolidates base, arm, and object kinematics into a single chain, with parallelized trajectory optimization. AutoMoMa achieves 5,000 episodes per GPU-hour (over $80\times$ faster than CPU-based baselines), producing a dataset of over 500k physically valid trajectories spanning 330 scenes, diverse articulated objects, and multiple robot embodiments. Prior datasets were forced to compromise on scale, diversity, or kinematic fidelity; AutoMoMa addresses all three simultaneously. Training downstream IL policies further reveals that even a single articulated-object task requires tens of thousands of demonstrations for SOTA methods to reach $\approx 80\%$ success, confirming that data scarcity -- not algorithmic limitations -- has been the binding constraint. AutoMoMa thus bridges high-performance planning and reliable IL-based control, providing the infrastructure previously missing for coordinated mobile manipulation research. By making large-scale, kinematically valid training data practical, AutoMoMa showcases generalizable whole-body robot policies capable of operating in the diverse, unstructured settings of the real world.

Think Through Uncertainty: Improving Long-Form Generation Factuality via Reasoning Calibration

Large language models (LLMs) often hallucinate in long-form generation. Existing approaches mainly improve factuality through post-hoc revision or reinforcement learning (RL) with correctness-based rewards, but they do not teach the model to estimate which parts of its generation are reliable. As a result, models may still state incorrect claims confidently in their responses. Recent advances in reasoning have significantly improved LLM performance, and have been leveraged to estimate confidence by incorporating calibration into RL objectives. However, existing approaches remain limited to a single scalar confidence for the entire response, which is insufficient for long-form generation where uncertainty varies across individual claims. To mitigate this problem, we propose CURE, a framework that improves long-form factuality by teaching LLMs to reason about uncertainty at the claim level. We first introduce a Claim-Aware Reasoning Protocol, which structures outputs into atomic claims paired with explicit confidence estimates. We then develop a multi-stage training pipeline that aligns model confidence with claims' correctness and then optimizes on factuality. The resulting calibrated confidence further enables selective prediction, allowing the model to abstain from uncertain claims at inference time. Experiments on four long-form factuality benchmarks show that CURE consistently improves factual accuracy over competitive supervised and RL baselines, while maintaining factual recall. In particular, it improves claim-level accuracy by up to 39.9% on Biography generation. These gains are accompanied by improved calibration, as reflected by a 16.0% increase in AUROC on FactBench.

Controllable and Verifiable Tool-Use Data Synthesis for Agentic Reinforcement Learning

Existing synthetic tool-use corpora are primarily designed for offline supervised fine-tuning, yet reinforcement learning (RL) requires executable environments that support reward-checkable online rollouts. We propose COVERT, a two-stage pipeline that first generates reliable base tool-use trajectories through self-evolving synthesis with multi-level validation, and then applies oracle-preserving augmentations that systematically increase environmental complexity. These augmentations introduce distractor tools, indirect or ambiguous user queries, and noisy, multi-format, or erroneous tool outputs, while strictly preserving oracle tool calls and final answers as ground truth. This design enables automatic reward computation via reference matching for standard cases and lightweight judge-assisted verification for special behaviors such as error detection, supporting RL optimization of tool-calling policies. On Qwen2.5-Instruct-14B, COVERT-RL improves overall accuracy on BFCL v3 from 56.5 to 59.9 and on ACEBench from 53.0 to 59.3, with minimal regressions on general-ability benchmarks; when stacked on SFT, it further reaches 62.1 and 61.8, confirming additive gains. These results suggest that oracle-preserving synthetic environments offer a practical RL refinement stage, complementary to SFT, for improving tool-use robustness under ambiguity and unreliable tool feedback.

Insights from Visual Cognition: Understanding Human Action Dynamics with Overall Glance and Refined Gaze Transformer

Recently, Transformer has made significant progress in various vision tasks. To balance computation and efficiency in video tasks, recent works heavily rely on factorized or window-based self-attention. However, these approaches split spatiotemporal correlations between regions of interest in videos, limiting the models' ability to capture motion and long-range dependencies. In this paper, we argue that, similar to the human visual system, the importance of temporal and spatial information varies across different time scales, and attention is allocated sparsely over time through glance and gaze behavior. Is equal consideration of time and space crucial for success in video tasks? Motivated by this understanding, we propose a dual-path network called the Overall Glance and Refined Gaze (OG-ReG) Transformer. The Glance path extracts coarse-grained overall spatiotemporal information, while the Gaze path supplements the Glance path by providing local details. Our model achieves state-of-the-art results on the Kinetics-400, Something-Something v2, and Diving-48, demonstrating its competitive performance. The code will be available at https://github.com/linuxsino/OG-ReG.

Physical Sensitivity Kernels Can Emerge in Data-Driven Forward Models: Evidence From Surface-Wave Dispersion

Data-driven neural networks are increasingly used as surrogate forward models in geophysics, but it remains unclear whether they recover only the data mapping or also the underlying physical sensitivity structure. Here we test this question using surface-wave dispersion. By comparing automatically differentiated gradients from a neural-network surrogate with theoretical sensitivity kernels, we show that the learned gradients can recover the main depth-dependent structure of physical kernels across a broad range of periods. This indicates that neural surrogate models can learn physically meaningful differential information, rather than acting as purely black-box predictors. At the same time, strong structural priors in the training distribution can introduce systematic artifacts into the inferred sensitivities. Our results show that neural forward surrogates can recover useful physical information for inversion and uncertainty analysis, while clarifying the conditions under which this differential structure remains physically consistent.

Training LLMs for Multi-Step Tool Orchestration with Constrained Data Synthesis and Graduated Rewards

Multi-step tool orchestration, where LLMs must invoke multiple dependent APIs in the correct order while propagating intermediate outputs, remains challenging. State-of-the-art models frequently fail on full sequence execution, with parameter value errors accounting for a significant portion of failures. Training models to handle such workflows faces two obstacles: existing environments focus on simple per-turn function calls with simulated data, and binary rewards provide no signal for partial correctness. We present a framework addressing both challenges. First, we construct a reinforcement learning environment backed by a large-scale cache of real API responses, enabling a data synthesis pipeline that samples valid multi-step orchestration traces with controllable complexity and significantly higher generation efficiency than unconstrained methods. Second, we propose a graduated reward design that decomposes correctness into atomic validity (individual function call correctness at increasing granularity) and orchestration (correct tool sequencing with dependency respect). On ComplexFuncBench, our approach demonstrates substantial improvements in turn accuracy. Ablation studies confirm both reward components are essential: using either alone significantly degrades performance.

GIP-RAG: An Evidence-Grounded Retrieval-Augmented Framework for Interpretable Gene Interaction and Pathway Impact Analysis

Understanding mechanistic relationships among genes and their impacts on biological pathways is essential for elucidating disease mechanisms and advancing precision medicine. Despite the availability of extensive molecular interaction and pathway data in public databases, integrating heterogeneous knowledge sources and enabling interpretable multi-step reasoning across biological networks remain challenging. We present GIP-RAG (Gene Interaction Prediction through Retrieval-Augmented Generation), a computational framework that combines biomedical knowledge graphs with large language models (LLMs) to infer and interpret gene interactions. The framework constructs a unified gene interaction knowledge graph by integrating curated data from KEGG, WikiPathways, SIGNOR, Pathway Commons, and PubChem. Given user-specified genes, a query-driven module retrieves relevant subgraphs, which are incorporated into structured prompts to guide LLM-based stepwise reasoning. This enables identification of direct and indirect regulatory relationships and generation of mechanistic explanations supported by biological evidence. Beyond pairwise interactions, GIP-RAG includes a pathway-level functional impact module that simulates propagation of gene perturbations through signaling networks and evaluates potential pathway state changes. Evaluation across diverse biological scenarios demonstrates that the framework generates consistent, interpretable, and evidence-supported insights into gene regulatory mechanisms. Overall, GIP-RAG provides a general and interpretable approach for integrating knowledge graphs with retrieval-augmented LLMs to support mechanistic reasoning in complex molecular systems.

Event-Centric Human Value Understanding in News-Domain Texts: An Actor-Conditioned, Multi-Granularity Benchmark

Existing human value datasets do not directly support value understanding in factual news: many are actor-agnostic, rely on isolated utterances or synthetic scenarios, and lack explicit event structure or value direction. We present \textbf{NEVU} (\textbf{N}ews \textbf{E}vent-centric \textbf{V}alue \textbf{U}nderstanding), a benchmark for \emph{actor-conditioned}, \emph{event-centric}, and \emph{direction-aware} human value recognition in factual news. NEVU evaluates whether models can identify value cues, attribute them to the correct actor, and determine value direction from grounded evidence. Built from 2{,}865 English news articles, NEVU organizes annotations at four semantic unit levels (\textbf{Subevent}, \textbf{behavior-based composite event}, \textbf{story-based composite event}, and \textbf{Article}) and labels \mbox{(unit, actor)} pairs for fine-grained evaluation across local and composite contexts. The annotations are produced through an LLM-assisted pipeline with staged verification and targeted human auditing. Using a hierarchical value space with \textbf{54} fine-grained values and \textbf{20} coarse-grained categories, NEVU covers 45{,}793 unit--actor pairs and 168{,}061 directed value instances. We provide unified baselines for proprietary and open-source LLMs, and find that lightweight adaptation (LoRA) consistently improves open-source models, showing that although NEVU is designed primarily as a benchmark, it also supports supervised adaptation beyond prompting-only evaluation. Data availability is described in Appendix~\ref{app:data_code_availability}.

Edge-Assisted Multi-Robot Visual-Inertial SLAM with Efficient Communication

The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited computing, communication and storage capacity of terminal equipment. However, limited bandwidth and extremely long communication links between terminal devices and the cloud result in serious performance degradation of multi-robot SLAM systems. To reduce the computational cost of feature tracking and improve the real-time performance of the robot, a lightweight SLAM method of optical flow tracking based on pyramid IMU prediction is proposed. On this basis, a centralized multi-robot SLAM system based on a robot-edge-cloud layered architecture is proposed to realize real-time collaborative SLAM. It avoids the problems of limited on-board computing resources and low execution efficiency of single robot. In this framework, only the feature points and keyframe descriptors are transmitted and lossless encoding and compression are carried out to realize real-time remote information transmission with limited bandwidth resources. This design reduces the actual bandwidth occupied in the process of data transmission, and does not cause the loss of SLAM accuracy caused by data compression. Through experimental verification on the EuRoC dataset, compared with the current most advanced local feature compression method, our method can achieve lower data volume feature transmission, and compared with the current advanced centralized multi-robot SLAM scheme, it can achieve the same or better positioning accuracy under low computational load.

Beyond Test-Time Training: Learning to Reason via Hardware-Efficient Optimal Control

Associative memory has long underpinned the design of sequential models. Beyond recall, humans reason by projecting future states and selecting goal-directed actions, a capability that modern language models increasingly require but do not natively encode. While prior work uses reinforcement learning or test-time training, planning remains external to the model architecture. We formulate reasoning as optimal control and introduce the Test-Time Control (TTC) layer, which performs finite-horizon LQR planning over latent states at inference time, represents a value function within neural architectures, and leverages it as the nested objective to enable planning before prediction. To ensure scalability, we derive a hardware-efficient LQR solver based on a symplectic formulation and implement it as a fused CUDA kernel, enabling parallel execution with minimal overhead. Integrated as an adapter into pretrained LLMs, TTC layers improve mathematical reasoning performance by up to +27.8% on MATH-500 and 2-3x Pass@8 improvements on AMC and AIME, demonstrating that embedding optimal control as an architectural component provides an effective and scalable mechanism for reasoning beyond test-time training.