From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots

Achieving general agile whole-body control on humanoid robots remains a major challenge due to diverse motion demands and data conflicts. While existing frameworks excel in training single motion-specific policies, they struggle to generalize across highly varied behaviors due to conflicting control requirements and mismatched data distributions. In this work, we propose BumbleBee (BB), an expert-generalist learning framework that combines motion clustering and sim-to-real adaptation to overcome these challenges. BB first leverages an autoencoder-based clustering method to group behaviorally similar motions using motion features and motion descriptions. Expert policies are then trained within each cluster and refined with real-world data through iterative delta action modeling to bridge the sim-to-real gap. Finally, these experts are distilled into a unified generalist controller that preserves agility and robustness across all motion types. Experiments on two simulations and a real humanoid robot demonstrate that BB achieves state-of-the-art general whole-body control, setting a new benchmark for agile, robust, and generalizable humanoid performance in the real world.

RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control

This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion generation methods achieve semantic alignment between language and motion, they often produce kinematically or physically infeasible motions unsuitable for real-world deployment. To bridge this sim-to-real gap, we propose Reinforcement Learning from Physical Feedback (RLPF), a novel framework that integrates physics-aware motion evaluation with text-conditioned motion generation. RLPF employs a motion tracking policy to assess feasibility in a physics simulator, generating rewards for fine-tuning the motion generator. Furthermore, RLPF introduces an alignment verification module to preserve semantic fidelity to text instructions. This joint optimization ensures both physical plausibility and instruction alignment. Extensive experiments show that RLPF greatly outperforms baseline methods in generating physically feasible motions while maintaining semantic correspondence with text instruction, enabling successful deployment on real humanoid robots.

JAEGER: Dual-Level Humanoid Whole-Body Controller

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. This separation alleviates the dimensionality curse and improves fault tolerance. JAEGER supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. To train the controller, we utilize a human motion dataset (AMASS), retargeting human poses to humanoid poses through an efficient retargeting network, and employ a curriculum learning approach. This method performs supervised learning for initialization, followed by reinforcement learning for further exploration. We conduct our experiments on two humanoid platforms and demonstrate the superiority of our approach against state-of-the-art methods in both simulation and real environments.

High-Quality Pseudo-Label Generation Based on Visual Prompt Assisted Cloud Model Update

Generating high-quality pseudo-labels on the cloud is crucial for cloud-edge object detection, especially in dynamic traffic monitoring where data distributions evolve. Existing methods often assume reliable cloud models, neglecting potential errors or struggling with complex distribution shifts. This paper proposes Cloud-Adaptive High-Quality Pseudo-label generation (CA-HQP), addressing these limitations by incorporating a learnable Visual Prompt Generator (VPG) and dual feature alignment into cloud model updates. The VPG enables parameter-efficient adaptation by injecting visual prompts, enhancing flexibility without extensive fine-tuning. CA-HQP mitigates domain discrepancies via two feature alignment techniques: global Domain Query Feature Alignment (DQFA) capturing scene-level shifts, and fine-grained Temporal Instance-Aware Feature Embedding Alignment (TIAFA) addressing instance variations. Experiments on the Bellevue traffic dataset demonstrate that CA-HQP significantly improves pseudo-label quality compared to existing methods, leading to notable performance gains for the edge model and showcasing CA-HQP's adaptation effectiveness. Ablation studies validate each component (DQFA, TIAFA, VPG) and the synergistic effect of combined alignment strategies, highlighting the importance of adaptive cloud updates and domain adaptation for robust object detection in evolving scenarios. CA-HQP provides a promising solution for enhancing cloud-edge object detection systems in real-world applications.

Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills

Building autonomous robotic agents capable of achieving human-level performance in real-world embodied tasks is an ultimate goal in humanoid robot research. Recent advances have made significant progress in high-level cognition with Foundation Models (FMs) and low-level skill development for humanoid robots. However, directly combining these components often results in poor robustness and efficiency due to compounding errors in long-horizon tasks and the varied latency of different modules. We introduce Being-0, a hierarchical agent framework that integrates an FM with a modular skill library. The FM handles high-level cognitive tasks such as instruction understanding, task planning, and reasoning, while the skill library provides stable locomotion and dexterous manipulation for low-level control. To bridge the gap between these levels, we propose a novel Connector module, powered by a lightweight vision-language model (VLM). The Connector enhances the FM's embodied capabilities by translating language-based plans into actionable skill commands and dynamically coordinating locomotion and manipulation to improve task success. With all components, except the FM, deployable on low-cost onboard computation devices, Being-0 achieves efficient, real-time performance on a full-sized humanoid robot equipped with dexterous hands and active vision. Extensive experiments in large indoor environments demonstrate Being-0's effectiveness in solving complex, long-horizon tasks that require challenging navigation and manipulation subtasks. For further details and videos, visit https://beingbeyond.github.io/being-0.

Vulnerability of Text-to-Image Models to Prompt Template Stealing: A Differential Evolution Approach

Prompt trading has emerged as a significant intellectual property concern in recent years, where vendors entice users by showcasing sample images before selling prompt templates that can generate similar images. This work investigates a critical security vulnerability: attackers can steal prompt templates using only a limited number of sample images. To investigate this threat, we introduce Prism, a prompt-stealing benchmark consisting of 50 templates and 450 images, organized into Easy and Hard difficulty levels. To identify the vulnerabity of VLMs to prompt stealing, we propose EvoStealer, a novel template stealing method that operates without model fine-tuning by leveraging differential evolution algorithms. The system first initializes population sets using multimodal large language models (MLLMs) based on predefined patterns, then iteratively generates enhanced offspring through MLLMs. During evolution, EvoStealer identifies common features across offspring to derive generalized templates. Our comprehensive evaluation conducted across open-source (INTERNVL2-26B) and closed-source models (GPT-4o and GPT-4o-mini) demonstrates that EvoStealer's stolen templates can reproduce images highly similar to originals and effectively generalize to other subjects, significantly outperforming baseline methods with an average improvement of over 10%. Moreover, our cost analysis reveals that EvoStealer achieves template stealing with negligible computational expenses. Our code and dataset are available at https://github.com/whitepagewu/evostealer.

Extract Information from Hybrid Long Documents Leveraging LLMs: A Framework and Dataset

Large Language Models (LLMs) demonstrate exceptional performance in textual understanding and tabular reasoning tasks. However, their ability to comprehend and analyze hybrid text, containing textual and tabular data, remains unexplored. The hybrid text often appears in the form of hybrid long documents (HLDs), which far exceed the token limit of LLMs. Consequently, we apply an Automated Information Extraction framework (AIE) to enable LLMs to process the HLDs and carry out experiments to analyse four important aspects of information extraction from HLDs. Given the findings: 1) The effective way to select and summarize the useful part of a HLD. 2) An easy table serialization way is enough for LLMs to understand tables. 3) The naive AIE has adaptability in many complex scenarios. 4) The useful prompt engineering to enhance LLMs on HLDs. To address the issue of dataset scarcity in HLDs and support future work, we also propose the Financial Reports Numerical Extraction (FINE) dataset. The dataset and code are publicly available in the attachments.

SELU: Self-Learning Embodied MLLMs in Unknown Environments

Recently, multimodal large language models (MLLMs) have demonstrated strong visual understanding and decision-making capabilities, enabling the exploration of autonomously improving MLLMs in unknown environments. However, external feedback like human or environmental feedback is not always available. To address this challenge, existing methods primarily focus on enhancing the decision-making capabilities of MLLMs through voting and scoring mechanisms, while little effort has been paid to improving the environmental comprehension of MLLMs in unknown environments. To fully unleash the self-learning potential of MLLMs, we propose a novel actor-critic self-learning paradigm, dubbed SELU, inspired by the actor-critic paradigm in reinforcement learning. The critic employs self-asking and hindsight relabeling to extract knowledge from interaction trajectories collected by the actor, thereby augmenting its environmental comprehension. Simultaneously, the actor is improved by the self-feedback provided by the critic, enhancing its decision-making. We evaluate our method in the AI2-THOR and VirtualHome environments, and SELU achieves critic improvements of approximately 28% and 30%, and actor improvements of about 20% and 24% via self-learning.

A Clustering Method with Graph Maximum Decoding Information

The clustering method based on graph models has garnered increased attention for its widespread applicability across various knowledge domains. Its adaptability to integrate seamlessly with other relevant applications endows the graph model-based clustering analysis with the ability to robustly extract "natural associations" or "graph structures" within datasets, facilitating the modelling of relationships between data points. Despite its efficacy, the current clustering method utilizing the graph-based model overlooks the uncertainty associated with random walk access between nodes and the embedded structural information in the data. To address this gap, we present a novel Clustering method for Maximizing Decoding Information within graph-based models, named CMDI. CMDI innovatively incorporates two-dimensional structural information theory into the clustering process, consisting of two phases: graph structure extraction and graph vertex partitioning. Within CMDI, graph partitioning is reformulated as an abstract clustering problem, leveraging maximum decoding information to minimize uncertainty associated with random visits to vertices. Empirical evaluations on three real-world datasets demonstrate that CMDI outperforms classical baseline methods, exhibiting a superior decoding information ratio (DI-R). Furthermore, CMDI showcases heightened efficiency, particularly when considering prior knowledge (PK). These findings underscore the effectiveness of CMDI in enhancing decoding information quality and computational efficiency, positioning it as a valuable tool in graph-based clustering analyses.

A Survey on Game Playing Agents and Large Models: Methods, Applications, and Challenges

The swift evolution of Large-scale Models (LMs), either language-focused or multi-modal, has garnered extensive attention in both academy and industry. But despite the surge in interest in this rapidly evolving area, there are scarce systematic reviews on their capabilities and potential in distinct impactful scenarios. This paper endeavours to help bridge this gap, offering a thorough examination of the current landscape of LM usage in regards to complex game playing scenarios and the challenges still open. Here, we seek to systematically review the existing architectures of LM-based Agents (LMAs) for games and summarize their commonalities, challenges, and any other insights. Furthermore, we present our perspective on promising future research avenues for the advancement of LMs in games. We hope to assist researchers in gaining a clear understanding of the field and to generate more interest in this highly impactful research direction. A corresponding resource, continuously updated, can be found in our GitHub repository.