RLinf-USER: A Unified and Extensible System for Real-World Online Policy Learning in Embodied AI

Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily accelerated, cheaply reset, or massively replicated, which makes scalable data collection, heterogeneous deployment, and long-horizon effective training difficult. These challenges suggest that real-world policy learning is not only an algorithmic issue but fundamentally a systems problem. We present USER, a Unified and extensible SystEm for Real-world online policy learning. USER treats physical robots as first-class hardware resources alongside GPUs through a unified hardware abstraction layer, enabling automatic discovery, management, and scheduling of heterogeneous robots. To address cloud-edge communication, USER introduces an adaptive communication plane with tunneling-based networking, distributed data channels for traffic localization, and streaming-multiprocessor-aware weight synchronization to regulate GPU-side overhead. On top of this infrastructure, USER organizes learning as a fully asynchronous framework with a persistent, cache-aware buffer, enabling efficient long-horizon experiments with robust crash recovery and reuse of historical data. In addition, USER provides extensible abstractions for rewards, algorithms, and policies, supporting online imitation or reinforcement learning of CNN/MLP, generative policies, and large vision-language-action (VLA) models within a unified pipeline. Results in both simulation and the real world show that USER enables multi-robot coordination, heterogeneous manipulators, edge-cloud collaboration with large models, and long-running asynchronous training, offering a unified and extensible systems foundation for real-world online policy learning.

Robust Pedestrian Detection with Uncertain Modality

Existing cross-modal pedestrian detection (CMPD) employs complementary information from RGB and thermal-infrared (TIR) modalities to detect pedestrians in 24h-surveillance systems.RGB captures rich pedestrian details under daylight, while TIR excels at night. However, TIR focuses primarily on the person's silhouette, neglecting critical texture details essential for detection. While the near-infrared (NIR) captures texture under low-light conditions, which effectively alleviates performance issues of RGB and detail loss in TIR, thereby reducing missed detections. To this end, we construct a new Triplet RGB-NIR-TIR (TRNT) dataset, comprising 8,281 pixel-aligned image triplets, establishing a comprehensive foundation for algorithmic research. However, due to the variable nature of real-world scenarios, imaging devices may not always capture all three modalities simultaneously. This results in input data with unpredictable combinations of modal types, which challenge existing CMPD methods that fail to extract robust pedestrian information under arbitrary input combinations, leading to significant performance degradation. To address these challenges, we propose the Adaptive Uncertainty-aware Network (AUNet) for accurately discriminating modal availability and fully utilizing the available information under uncertain inputs. Specifically, we introduce Unified Modality Validation Refinement (UMVR), which includes an uncertainty-aware router to validate modal availability and a semantic refinement to ensure the reliability of information within the modality. Furthermore, we design a Modality-Aware Interaction (MAI) module to adaptively activate or deactivate its internal interaction mechanisms per UMVR output, enabling effective complementary information fusion from available modalities.

How Implicit Bias Accumulates and Propagates in LLM Long-term Memory

Long-term memory mechanisms enable Large Language Models (LLMs) to maintain continuity and personalization across extended interaction lifecycles, but they also introduce new and underexplored risks related to fairness. In this work, we study how implicit bias, defined as subtle statistical prejudice, accumulates and propagates within LLMs equipped with long-term memory. To support systematic analysis, we introduce the Decision-based Implicit Bias (DIB) Benchmark, a large-scale dataset comprising 3,776 decision-making scenarios across nine social domains, designed to quantify implicit bias in long-term decision processes. Using a realistic long-horizon simulation framework, we evaluate six state-of-the-art LLMs integrated with three representative memory architectures on DIB and demonstrate that LLMs' implicit bias does not remain static but intensifies over time and propagates across unrelated domains. We further analyze mitigation strategies and show that a static system-level prompting baseline provides limited and short-lived debiasing effects. To address this limitation, we propose Dynamic Memory Tagging (DMT), an agentic intervention that enforces fairness constraints at memory write time. Extensive experimental results show that DMT substantially reduces bias accumulation and effectively curtails cross-domain bias propagation.

WenetSpeech-Wu: Datasets, Benchmarks, and Models for a Unified Chinese Wu Dialect Speech Processing Ecosystem

Speech processing for low-resource dialects remains a fundamental challenge in developing inclusive and robust speech technologies. Despite its linguistic significance and large speaker population, the Wu dialect of Chinese has long been hindered by the lack of large-scale speech data, standardized evaluation benchmarks, and publicly available models. In this work, we present WenetSpeech-Wu, the first large-scale, multi-dimensionally annotated open-source speech corpus for the Wu dialect, comprising approximately 8,000 hours of diverse speech data. Building upon this dataset, we introduce WenetSpeech-Wu-Bench, the first standardized and publicly accessible benchmark for systematic evaluation of Wu dialect speech processing, covering automatic speech recognition (ASR), Wu-to-Mandarin translation, speaker attribute prediction, speech emotion recognition, text-to-speech (TTS) synthesis, and instruction-following TTS (instruct TTS). Furthermore, we release a suite of strong open-source models trained on WenetSpeech-Wu, establishing competitive performance across multiple tasks and empirically validating the effectiveness of the proposed dataset. Together, these contributions lay the foundation for a comprehensive Wu dialect speech processing ecosystem, and we open-source proposed datasets, benchmarks, and models to support future research on dialectal speech intelligence.

Beyond Seen Bounds: Class-Centric Polarization for Single-Domain Generalized Deep Metric Learning

Single-domain generalized deep metric learning (SDG-DML) faces the dual challenge of both category and domain shifts during testing, limiting real-world applications. Therefore, aiming to learn better generalization ability on both unseen categories and domains is a realistic goal for the SDG-DML task. To deliver the aspiration, existing SDG-DML methods employ the domain expansion-equalization strategy to expand the source data and generate out-of-distribution samples. However, these methods rely on proxy-based expansion, which tends to generate samples clustered near class proxies, failing to simulate the broad and distant domain shifts encountered in practice. To alleviate the problem, we propose CenterPolar, a novel SDG-DML framework that dynamically expands and constrains domain distributions to learn a generalizable DML model for wider target domain distributions. Specifically, \textbf{CenterPolar} contains two collaborative class-centric polarization phases: (1) Class-Centric Centrifugal Expansion ($C^3E$) and (2) Class-Centric Centripetal Constraint ($C^4$). In the first phase, $C^3E$ drives the source domain distribution by shifting the source data away from class centroids using centrifugal expansion to generalize to more unseen domains. In the second phase, to consolidate domain-invariant class information for the generalization ability to unseen categories, $C^4$ pulls all seen and unseen samples toward their class centroids while enforcing inter-class separation via centripetal constraint. Extensive experimental results on widely used CUB-200-2011 Ext., Cars196 Ext., DomainNet, PACS, and Office-Home datasets demonstrate the superiority and effectiveness of our CenterPolar over existing state-of-the-art methods. The code will be released after acceptance.

ORBIT: On-policy Exploration-Exploitation for Controllable Multi-Budget Reasoning

Recent Large Reasoning Models (LRMs) achieve strong performance by leveraging long-form Chain-of-Thought (CoT) reasoning, but uniformly applying overlong reasoning at inference time incurs substantial and often unnecessary computational cost. To address this, prior work explores various strategies to infer an appropriate reasoning budget from the input. However, such approaches are unreliable in the worst case, as estimating the minimal required reasoning effort is fundamentally difficult, and they implicitly fix the trade-off between reasoning cost and accuracy during training, limiting flexibility under varying deployment scenarios. Motivated by these limitations, we propose ORBIT, a controllable multi-budget reasoning framework with well-separated reasoning modes triggered by input. ORBIT employs multi-stage reinforcement learning to discover Pareto-optimal reasoning behaviors at each effort, followed by on-policy distillation to fuse these behaviors into a single unified model. Experiments show that ORBIT achieves (1) controllable reasoning behavior over multiple modes, (2) competitive reasoning density within each mode, and (3) integration of these frontier policies into a single unified student model while preserving clear mode separation and high per-mode performance.

AppellateGen: A Benchmark for Appellate Legal Judgment Generation

Legal judgment generation is a critical task in legal intelligence. However, existing research in legal judgment generation has predominantly focused on first-instance trials, relying on static fact-to-verdict mappings while neglecting the dialectical nature of appellate (second-instance) review. To address this, we introduce AppellateGen, a benchmark for second-instance legal judgment generation comprising 7,351 case pairs. The task requires models to draft legally binding judgments by reasoning over the initial verdict and evidentiary updates, thereby modeling the causal dependency between trial stages. We further propose a judicial Standard Operating Procedure (SOP)-based Legal Multi-Agent System (SLMAS) to simulate judicial workflows, which decomposes the generation process into discrete stages of issue identification, retrieval, and drafting. Experimental results indicate that while SLMAS improves logical consistency, the complexity of appellate reasoning remains a substantial challenge for current LLMs. The dataset and code are publicly available at: https://anonymous.4open.science/r/AppellateGen-5763.

SD2AIL: Adversarial Imitation Learning from Synthetic Demonstrations via Diffusion Models

Adversarial Imitation Learning (AIL) is a dominant framework in imitation learning that infers rewards from expert demonstrations to guide policy optimization. Although providing more expert demonstrations typically leads to improved performance and greater stability, collecting such demonstrations can be challenging in certain scenarios. Inspired by the success of diffusion models in data generation, we propose SD2AIL, which utilizes synthetic demonstrations via diffusion models. We first employ a diffusion model in the discriminator to generate synthetic demonstrations as pseudo-expert data that augment the expert demonstrations. To selectively replay the most valuable demonstrations from the large pool of (pseudo-) expert demonstrations, we further introduce a prioritized expert demonstration replay strategy (PEDR). The experimental results on simulation tasks demonstrate the effectiveness and robustness of our method. In particular, in the Hopper task, our method achieves an average return of 3441, surpassing the state-of-the-art method by 89. Our code will be available at https://github.com/positron-lpc/SD2AIL.

MuseCPBench: an Empirical Study of Music Editing Methods through Music Context Preservation

Music editing plays a vital role in modern music production, with applications in film, broadcasting, and game development. Recent advances in music generation models have enabled diverse editing tasks such as timbre transfer, instrument substitution, and genre transformation. However, many existing works overlook the evaluation of their ability to preserve musical facets that should remain unchanged during editing a property we define as Music Context Preservation (MCP). While some studies do consider MCP, they adopt inconsistent evaluation protocols and metrics, leading to unreliable and unfair comparisons. To address this gap, we introduce the first MCP evaluation benchmark, MuseCPBench, which covers four categories of musical facets and enables comprehensive comparisons across five representative music editing baselines. Through systematic analysis along musical facets, methods, and models, we identify consistent preservation gaps in current music editing methods and provide insightful explanations. We hope our findings offer practical guidance for developing more effective and reliable music editing strategies with strong MCP capability

EntroPIC: Towards Stable Long-Term Training of LLMs via Entropy Stabilization with Proportional-Integral Control

Long-term training of large language models (LLMs) requires maintaining stable exploration to prevent the model from collapsing into sub-optimal behaviors. Entropy is crucial in this context, as it controls exploration and helps avoid premature convergence to sub-optimal solutions. However, existing reinforcement learning methods struggle to maintain an appropriate level of entropy, as the training process involves a mix of positive and negative samples, each affecting entropy in different ways across steps. To address this, we propose Entropy stablilization via Proportional-Integral Control (EntroPIC), a novel method that adaptively adjusts the influence of positive and negative samples by dynamically tuning their loss coefficients. This approach stabilizes entropy throughout training, ensuring efficient exploration and steady progress. We provide a comprehensive theoretical analysis for both on-policy and off-policy learning settings, demonstrating that EntroPIC is effective at controlling entropy in large-scale LLM training. Experimental results show that our method successfully maintains desired entropy levels, enabling stable and optimal RL training for LLMs.