Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle in long-horizon, memory-dependent tasks with partial observability, occlusions, and multi-stage dependencies. Such tasks require not only precise visuomotor control, but also persistent memory, adaptive task decomposition, and explicit recovery from execution failures. To address these limitations, we propose a dual-system framework for long-horizon embodied manipulation. Our framework explicitly separates high-level semantic reasoning from low-level motor execution. A high-level planner, implemented as a VLM-based agentic module, maintains structured task memory and performs goal decomposition, outcome verification, and error-driven correction. A low-level executor, instantiated as a VLA-based visuomotor controller, carries out each sub-task through diffusion-based action generation conditioned on geometry-preserving filtered observations. Together, the two systems form a closed loop between planning and execution, enabling memory-aware reasoning, adaptive replanning, and robust online recovery. Experiments on representative RMBench tasks show that the proposed framework substantially outperforms representative baselines, achieving a 32.4% average success rate compared with 9.8% for the strongest baseline. Ablation studies further confirm the importance of structured memory and closed-loop recovery for long-horizon manipulation.

Let Geometry GUIDE: Layer-wise Unrolling of Geometric Priors in Multimodal LLMs

Multimodal Large Language Models (MLLMs) have achieved remarkable progress in 2D visual tasks but still exhibit limited physical spatial awareness when processing real-world visual streams. Recently, feed-forward geometric foundation models, which implicitly extract geometric priors, have provided a new pathway to address this issue. However, existing geometry-aware MLLMs are predominantly constrained by the paradigm of single deep-layer extraction and input-level fusion. This flattened fusion leads to the loss of local geometric details and causes semantic mismatches in the early layers. To break this bottleneck, we propose GUIDE (Geometric Unrolling Inside MLLM Early-layers), a progressive geometric priors injection framework. GUIDE performs multi-level sampling within the geometric encoder, comprehensively capturing multi-granularity features ranging from local edges to global topologies. Subsequently, we rigorously align and fuse these multi-level geometric priors step-by-step with the early layers of the MLLM. Building upon the injection of multi-granularity geometric information, this design guides the model to progressively learn the 2D-to-3D transitional process. Furthermore, we introduce a context-aware gating that enables the model to fetch requisite spatial cues based on current semantics, thereby maximizing the utilization efficiency of spatial priors and effectively suppressing redundant geometric noise. Extensive experiments demonstrate that GUIDE significantly outperforms existing baselines on multiple complex spatial reasoning and perception tasks, establishing a novel paradigm for integrating 3D geometric priors into large models.

Linear Attention is Enough in Spatial-Temporal Forecasting

As the most representative scenario of spatial-temporal forecasting tasks, the traffic forecasting task attracted numerous attention from machine learning community due to its intricate correlation both in space and time dimension. Existing methods often treat road networks over time as spatial-temporal graphs, addressing spatial and temporal representations independently. However, these approaches struggle to capture the dynamic topology of road networks, encounter issues with message passing mechanisms and over-smoothing, and face challenges in learning spatial and temporal relationships separately. To address these limitations, we propose treating nodes in road networks at different time steps as independent spatial-temporal tokens and feeding them into a vanilla Transformer to learn complex spatial-temporal patterns, design STformer achieving SOTA. Given its quadratic complexity, we introduce a variant NSTformer based on Nystr$\ddot{o}$m method to approximate self-attention with linear complexity but even slightly better than former in a few cases astonishingly. Extensive experimental results on traffic datasets demonstrate that the proposed method achieves state-of-the-art performance at an affordable computational cost. Our code will be made available.

Augmenting Channel Simulator and Semi- Supervised Learning for Efficient Indoor Positioning

This work aims to tackle the labor-intensive and resource-consuming task of indoor positioning by proposing an efficient approach. The proposed approach involves the introduction of a semi-supervised learning (SSL) with a biased teacher (SSLB) algorithm, which effectively utilizes both labeled and unlabeled channel data. To reduce measurement expenses, unlabeled data is generated using an updated channel simulator (UCHS), and then weighted by adaptive confidence values to simplify the tuning of hyperparameters. Simulation results demonstrate that the proposed strategy achieves superior performance while minimizing measurement overhead and training expense compared to existing benchmarks, offering a valuable and practical solution for indoor positioning.

DGoT: Dynamic Graph of Thoughts for Scientific Abstract Generation

The method of training language models based on domain datasets has obtained significant achievements in the task of generating scientific paper abstracts. However, such models face problems of generalization and expensive training costs. The use of large language models (LLMs) to solve the task of generating paper abstracts saves the cost of model training. However, due to the hallucination problem of LLM, it is often necessary to improve the reliability of the results through multi-round query prompt approach such as Graph of Thoughts (GoT), which also brings additional reasoning costs. In this paper, we propose a Dynamic Graph of Thought (DGoT). It not only inherits the advantages of the existing GoT prompt approach, but also dynamically adjust the graph structure according to data characteristics while reducing model reasoning cost. Experimental results show that our method's cost-effectiveness in abstract generation tasks is only 43.7% to 56.4% of other multi-round query prompt approaches. Our code is available at https://github.com/JayceNing/DGoT.