FOCUS: DLLMs Know How to Tame Their Compute Bound

Diffusion Large Language Models (DLLMs) offer a compelling alternative to Auto-Regressive models, but their deployment is constrained by high decoding cost. In this work, we identify a key inefficiency in DLLM decoding: while computation is parallelized over token blocks, only a small subset of tokens is decodable at each diffusion step, causing most compute to be wasted on non-decodable tokens. We further observe a strong correlation between attention-derived token importance and token-wise decoding probability. Based on this insight, we propose FOCUS -- an inference system designed for DLLMs. By dynamically focusing computation on decodable tokens and evicting non-decodable ones on-the-fly, FOCUS increases the effective batch size, alleviating compute limitations and enabling scalable throughput. Empirical evaluations demonstrate that FOCUS achieves up to 3.52$\times$ throughput improvement over the production-grade engine LMDeploy, while preserving or improving generation quality across multiple benchmarks. The FOCUS system is publicly available on GitHub: https://github.com/sands-lab/FOCUS.

Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Exploration

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but also to leverage long-term episodic memory to optimize decision-making. However, existing mainstream one-shot embodied tasks primarily focus on task completion results, neglecting the crucial process of exploration and memory utilization. To address this, we propose Long-term Memory Embodied Exploration (LMEE), which aims to unify the agent's exploratory cognition and decision-making behaviors to promote lifelong learning.We further construct a corresponding dataset and benchmark, LMEE-Bench, incorporating multi-goal navigation and memory-based question answering to comprehensively evaluate both the process and outcome of embodied exploration. To enhance the agent's memory recall and proactive exploration capabilities, we propose MemoryExplorer, a novel method that fine-tunes a multimodal large language model through reinforcement learning to encourage active memory querying. By incorporating a multi-task reward function that includes action prediction, frontier selection, and question answering, our model achieves proactive exploration. Extensive experiments against state-of-the-art embodied exploration models demonstrate that our approach achieves significant advantages in long-horizon embodied tasks.

EscherVerse: An Open World Benchmark and Dataset for Teleo-Spatial Intelligence with Physical-Dynamic and Intent-Driven Understanding

The ability to reason about spatial dynamics is a cornerstone of intelligence, yet current research overlooks the human intent behind spatial changes. To address these limitations, we introduce Teleo-Spatial Intelligence (TSI), a new paradigm that unifies two critical pillars: Physical-Dynamic Reasoning--understanding the physical principles of object interactions--and Intent-Driven Reasoning--inferring the human goals behind these actions. To catalyze research in TSI, we present EscherVerse, consisting of a large-scale, open-world benchmark (Escher-Bench), a dataset (Escher-35k), and models (Escher series). Derived from real-world videos, EscherVerse moves beyond constrained settings to explicitly evaluate an agent's ability to reason about object permanence, state transitions, and trajectory prediction in dynamic, human-centric scenarios. Crucially, it is the first benchmark to systematically assess Intent-Driven Reasoning, challenging models to connect physical events to their underlying human purposes. Our work, including a novel data curation pipeline, provides a foundational resource to advance spatial intelligence from passive scene description toward a holistic, purpose-driven understanding of the world.

FLEG: Feed-Forward Language Embedded Gaussian Splatting from Any Views

We present FLEG, a feed-forward network that reconstructs language-embedded 3D Gaussians from any views. Previous straightforward solutions combine feed-forward reconstruction with Gaussian heads but suffer from fixed input views and insufficient 3D training data. In contrast, we propose a 3D-annotation-free training framework for 2D-to-3D lifting from arbitrary uncalibrated and unposed multi-view images. Since the framework does not require 3D annotations, we can leverage large-scale video data with easily obtained 2D instance information to enrich semantic embedding. We also propose an instance-guided contrastive learning to align 2D semantics with the 3D representations. In addition, to mitigate the high memory and computational cost of dense views, we further propose a geometry-semantic hierarchical sparsification strategy. Our FLEG efficiently reconstructs language-embedded 3D Gaussian representation in a feed-forward manner from arbitrary sparse or dense views, jointly producing accurate geometry, high-fidelity appearance, and language-aligned semantics. Extensive experiments show that it outperforms existing methods on various related tasks. Project page: https://fangzhou2000.github.io/projects/fleg.

KOSS: Kalman-Optimal Selective State Spaces for Long-Term Sequence Modeling

Recent selective state space models (SSMs), such as Mamba and Mamba-2, have demonstrated strong performance in sequence modeling owing to input-dependent selection mechanisms. However, these mechanisms lack theoretical grounding and cannot support context-aware selection from latent state dynamics. To address these limitations, we propose KOSS, a Kalman-optimal Selective State Space model that formulates selection as latent state uncertainty minimization. Derived from estimation theory, KOSS adopts a continuous-time latent update driven by a Kalman gain that dynamically modulates information propagation based on content and context, enabling a closed-loop, context-aware selectivity mechanism. To ensure stable computation and near-linear scalability, KOSS employs global spectral differentiation for frequency-domain derivative estimation, along with a segment-wise scan for hardware-efficient processing. On a selective copying task with distractors, KOSS achieves over 79\% accuracy while baselines drop below 20\%, demonstrating robust context-aware selection. Furthermore, across nine long-term forecasting benchmarks, KOSS reduces MSE by 2.92--36.23\% and consistently outperforms state-of-the-art models in both accuracy and stability. To assess real-world applicability, a case study on secondary surveillance radar (SSR) tracking confirms KOSS's robustness under irregular intervals and noisy conditions and demonstrates its effectiveness in real-world applications. Finally, supplementary experiments verify Kalman gain convergence and the frequency response of spectral differentiation, providing theoretical support for the proposed closed-loop design.

CaRF: Enhancing Multi-View Consistency in Referring 3D Gaussian Splatting Segmentation

Referring 3D Gaussian Splatting Segmentation (R3DGS) aims to interpret free-form language expressions and localize the corresponding 3D regions in Gaussian fields. While recent advances have introduced cross-modal alignment between language and 3D geometry, existing pipelines still struggle with cross-view consistency due to their reliance on 2D rendered pseudo supervision and view specific feature learning. In this work, we present Camera Aware Referring Field (CaRF), a fully differentiable framework that operates directly in the 3D Gaussian space and achieves multi view consistency. Specifically, CaRF introduces Gaussian Field Camera Encoding (GFCE), which incorporates camera geometry into Gaussian text interactions to explicitly model view dependent variations and enhance geometric reasoning. Building on this, In Training Paired View Supervision (ITPVS) is proposed to align per Gaussian logits across calibrated views during training, effectively mitigating single view overfitting and exposing inter view discrepancies for optimization. Extensive experiments on three representative benchmarks demonstrate that CaRF achieves average improvements of 16.8%, 4.3%, and 2.0% in mIoU over state of the art methods on the Ref LERF, LERF OVS, and 3D OVS datasets, respectively. Moreover, this work promotes more reliable and view consistent 3D scene understanding, with potential benefits for embodied AI, AR/VR interaction, and autonomous perception.

An Empirical Study on Failures in Automated Issue Solving

Automated issue solving seeks to autonomously identify and repair defective code snippets across an entire codebase. SWE-Bench has emerged as the most widely adopted benchmark for evaluating progress in this area. While LLM-based agentic tools show great promise, they still fail on a substantial portion of tasks. Moreover, current evaluations primarily report aggregate issue-solving rates, which obscure the underlying causes of success and failure, making it challenging to diagnose model weaknesses or guide targeted improvements. To bridge this gap, we first analyze the performance and efficiency of three SOTA tools, spanning both pipeline-based and agentic architectures, in automated issue solving tasks of SWE-Bench-Verified under varying task characteristics. Furthermore, to move from high-level performance metrics to underlying cause analysis, we conducted a systematic manual analysis of 150 failed instances. From this analysis, we developed a comprehensive taxonomy of failure modes comprising 3 primary phases, 9 main categories, and 25 fine-grained subcategories. Then we systematically analyze the distribution of the identified failure modes, the results reveal distinct failure fingerprints between the two architectural paradigms, with the majority of agentic failures stemming from flawed reasoning and cognitive deadlocks. Motivated by these insights, we propose a collaborative Expert-Executor framework. It introduces a supervisory Expert agent tasked with providing strategic oversight and course-correction for a primary Executor agent. This architecture is designed to correct flawed reasoning and break the cognitive deadlocks that frequently lead to failure. Experiments show that our framework solves 22.2% of previously intractable issues for a leading single agent. These findings pave the way for building more robust agents through diagnostic evaluation and collaborative design.

LidarPainter: One-Step Away From Any Lidar View To Novel Guidance

Dynamic driving scene reconstruction is of great importance in fields like digital twin system and autonomous driving simulation. However, unacceptable degradation occurs when the view deviates from the input trajectory, leading to corrupted background and vehicle models. To improve reconstruction quality on novel trajectory, existing methods are subject to various limitations including inconsistency, deformation, and time consumption. This paper proposes LidarPainter, a one-step diffusion model that recovers consistent driving views from sparse LiDAR condition and artifact-corrupted renderings in real-time, enabling high-fidelity lane shifts in driving scene reconstruction. Extensive experiments show that LidarPainter outperforms state-of-the-art methods in speed, quality and resource efficiency, specifically 7 x faster than StreetCrafter with only one fifth of GPU memory required. LidarPainter also supports stylized generation using text prompts such as "foggy" and "night", allowing for a diverse expansion of the existing asset library.

UniForward: Unified 3D Scene and Semantic Field Reconstruction via Feed-Forward Gaussian Splatting from Only Sparse-View Images

We propose a feed-forward Gaussian Splatting model that unifies 3D scene and semantic field reconstruction. Combining 3D scenes with semantic fields facilitates the perception and understanding of the surrounding environment. However, key challenges include embedding semantics into 3D representations, achieving generalizable real-time reconstruction, and ensuring practical applicability by using only images as input without camera parameters or ground truth depth. To this end, we propose UniForward, a feed-forward model to predict 3D Gaussians with anisotropic semantic features from only uncalibrated and unposed sparse-view images. To enable the unified representation of the 3D scene and semantic field, we embed semantic features into 3D Gaussians and predict them through a dual-branch decoupled decoder. During training, we propose a loss-guided view sampler to sample views from easy to hard, eliminating the need for ground truth depth or masks required by previous methods and stabilizing the training process. The whole model can be trained end-to-end using a photometric loss and a distillation loss that leverages semantic features from a pre-trained 2D semantic model. At the inference stage, our UniForward can reconstruct 3D scenes and the corresponding semantic fields in real time from only sparse-view images. The reconstructed 3D scenes achieve high-quality rendering, and the reconstructed 3D semantic field enables the rendering of view-consistent semantic features from arbitrary views, which can be further decoded into dense segmentation masks in an open-vocabulary manner. Experiments on novel view synthesis and novel view segmentation demonstrate that our method achieves state-of-the-art performances for unifying 3D scene and semantic field reconstruction.

SHTOcc: Effective 3D Occupancy Prediction with Sparse Head and Tail Voxels

3D occupancy prediction has attracted much attention in the field of autonomous driving due to its powerful geometric perception and object recognition capabilities. However, existing methods have not explored the most essential distribution patterns of voxels, resulting in unsatisfactory results. This paper first explores the inter-class distribution and geometric distribution of voxels, thereby solving the long-tail problem caused by the inter-class distribution and the poor performance caused by the geometric distribution. Specifically, this paper proposes SHTOcc (Sparse Head-Tail Occupancy), which uses sparse head-tail voxel construction to accurately identify and balance key voxels in the head and tail classes, while using decoupled learning to reduce the model's bias towards the dominant (head) category and enhance the focus on the tail class. Experiments show that significant improvements have been made on multiple baselines: SHTOcc reduces GPU memory usage by 42.2%, increases inference speed by 58.6%, and improves accuracy by about 7%, verifying its effectiveness and efficiency. The code is available at https://github.com/ge95net/SHTOcc