CAMEL: Confidence-Gated Reflection for Reward Modeling

Reward models play a fundamental role in aligning large language models with human preferences. Existing methods predominantly follow two paradigms: scalar discriminative preference models, which are efficient but lack interpretability, and generative judging models, which offer richer reasoning at the cost of higher computational overhead. We observe that the log-probability margin between verdict tokens strongly correlates with prediction correctness, providing a reliable proxy for instance difficulty without additional inference cost. Building on this insight, we propose CAMEL, a confidence-gated reflection framework that performs a lightweight single-token preference decision first and selectively invokes reflection only for low-confidence instances. To induce effective self-correction, we train the model via reinforcement learning with counterfactual prefix augmentation, which exposes the model to diverse initial verdicts and encourages genuine revision. Empirically, CAMEL achieves state-of-the-art performance on three widely used reward-model benchmarks with 82.9% average accuracy, surpassing the best prior model by 3.2% and outperforming 70B-parameter models using only 14B parameters, while establishing a strictly better accuracy-efficiency Pareto frontier.

Learning Physical Principles from Interaction: Self-Evolving Planning via Test-Time Memory

Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction and stability in general terms; however, they often cannot predict how a specific ball will roll on a particular surface or which stone will provide a stable foundation without direct experience. We present PhysMem, a memory framework that enables VLM robot planners to learn physical principles from interaction at test time, without updating model parameters. The system records experiences, generates candidate hypotheses, and verifies them through targeted interaction before promoting validated knowledge to guide future decisions. A central design choice is verification before application: the system tests hypotheses against new observations rather than applying retrieved experience directly, reducing rigid reliance on prior experience when physical conditions change. We evaluate PhysMem on three real-world manipulation tasks and simulation benchmarks across four VLM backbones. On a controlled brick insertion task, principled abstraction achieves 76% success compared to 23% for direct experience retrieval, and real-world experiments show consistent improvement over 30-minute deployment sessions.

HBVLA: Pushing 1-Bit Post-Training Quantization for Vision-Language-Action Models

Vision-Language-Action (VLA) models enable instruction-following embodied control, but their large compute and memory footprints hinder deployment on resource-constrained robots and edge platforms. While reducing weights to 1-bit precision through binarization can greatly improve efficiency, existing methods fail to narrow the distribution gap between binarized and full-precision weights, causing quantization errors to accumulate under long-horizon closed-loop execution and severely degrade actions. To fill this gap, we propose HBVLA, a VLA-tailored binarization framework. First, we use a policy-aware enhanced Hessian to identify weights that are truly critical for action generation. Then, we employ a sparse orthogonal transform for non-salient weights to induce a low-entropy intermediate state. Finally, we quantize both salient and non-salient weights in the Harr domain with group-wise 1-bit quantization. We have evaluated our approach on different VLAs: on LIBERO, quantized OpenVLA-OFT retains 92.2% of full-precision performance; on SimplerEnv, quantized CogAct retains 93.6%, significantly outperforming state-of-the-art binarization methods. We further validate our method on real-world evaluation suite and the results show that HBVLA incurs only marginal success-rate degradation compared to the full-precision model, demonstrating robust deployability under tight hardware constraints. Our work provides a practical foundation for ultra-low-bit quantization of VLAs, enabling more reliable deployment on hardware-limited robotic platforms.

K-Sort Eval: Efficient Preference Evaluation for Visual Generation via Corrected VLM-as-a-Judge

The rapid development of visual generative models raises the need for more scalable and human-aligned evaluation methods. While the crowdsourced Arena platforms offer human preference assessments by collecting human votes, they are costly and time-consuming, inherently limiting their scalability. Leveraging vision-language model (VLMs) as substitutes for manual judgments presents a promising solution. However, the inherent hallucinations and biases of VLMs hinder alignment with human preferences, thus compromising evaluation reliability. Additionally, the static evaluation approach lead to low efficiency. In this paper, we propose K-Sort Eval, a reliable and efficient VLM-based evaluation framework that integrates posterior correction and dynamic matching. Specifically, we curate a high-quality dataset from thousands of human votes in K-Sort Arena, with each instance containing the outputs and rankings of K models. When evaluating a new model, it undergoes (K+1)-wise free-for-all comparisons with existing models, and the VLM provide the rankings. To enhance alignment and reliability, we propose a posterior correction method, which adaptively corrects the posterior probability in Bayesian updating based on the consistency between the VLM prediction and human supervision. Moreover, we propose a dynamic matching strategy, which balances uncertainty and diversity to maximize the expected benefit of each comparison, thus ensuring more efficient evaluation. Extensive experiments show that K-Sort Eval delivers evaluation results consistent with K-Sort Arena, typically requiring fewer than 90 model runs, demonstrating both its efficiency and reliability.

Time-Annealed Perturbation Sampling: Diverse Generation for Diffusion Language Models

Diffusion language models (Diffusion-LMs) introduce an explicit temporal dimension into text generation, yet how this structure can be leveraged to control generation diversity for exploring multiple valid semantic or reasoning paths remains underexplored. In this paper, we show that Diffusion-LMs, like diffusion models in image generation, exhibit a temporal division of labor: early denoising steps largely determine the global semantic structure, while later steps focus on local lexical refinement. Building on this insight, we propose Time-Annealed Perturbation Sampling (TAPS), a training-free inference strategy that encourages semantic branching early in the diffusion process while progressively reducing perturbations to preserve fluency and instruction adherence. TAPS is compatible with both non-autoregressive and semi-autoregressive Diffusion backbones, demonstrated on LLaDA and TraDo in our paper, and consistently improves output diversity across creative writing and reasoning benchmarks without compromising generation quality.

DiffuSpeech: Silent Thought, Spoken Answer via Unified Speech-Text Diffusion

Current speech language models generate responses directly without explicit reasoning, leading to errors that cannot be corrected once audio is produced. We introduce \textbf{``Silent Thought, Spoken Answer''} -- a paradigm where speech LLMs generate internal text reasoning alongside spoken responses, with thinking traces informing speech quality. To realize this, we present \method{}, the first diffusion-based speech-text language model supporting both understanding and generation, unifying discrete text and tokenized speech under a single masked diffusion framework. Unlike autoregressive approaches, \method{} jointly generates reasoning traces and speech tokens through iterative denoising, with modality-specific masking schedules. We also construct \dataset{}, the first speech QA dataset with paired text reasoning traces, containing 26K samples totaling 319 hours. Experiments show \method{} achieves state-of-the-art speech-to-speech QA accuracy, outperforming the best baseline by up to 9 points, while attaining the best TTS quality among generative models (6.2\% WER) and preserving language understanding (66.2\% MMLU). Ablations confirm that both the diffusion architecture and thinking traces contribute to these gains.

MoST: Mixing Speech and Text with Modality-Aware Mixture of Experts

We present MoST (Mixture of Speech and Text), a novel multimodal large language model that seamlessly integrates speech and text processing through our proposed Modality-Aware Mixture of Experts (MAMoE) architecture. While current multimodal models typically process diverse modality representations with identical parameters, disregarding their inherent representational differences, we introduce specialized routing pathways that direct tokens to modality-appropriate experts based on input type. MAMoE simultaneously enhances modality-specific learning and cross-modal understanding through two complementary components: modality-specific expert groups that capture domain-specific patterns and shared experts that facilitate information transfer between modalities. Building on this architecture, we develop an efficient transformation pipeline that adapts the pretrained MoE language model through strategic post-training on ASR and TTS datasets, followed by fine-tuning with a carefully curated speech-text instruction dataset. A key feature of this pipeline is that it relies exclusively on fully accessible, open-source datasets to achieve strong performance and data efficiency. Comprehensive evaluations across ASR, TTS, audio language modeling, and spoken question answering benchmarks show that MoST consistently outperforms existing models of comparable parameter counts. Our ablation studies confirm that the modality-specific routing mechanism and shared experts design significantly contribute to performance gains across all tested domains. To our knowledge, MoST represents the first fully open-source speech-text LLM built on a Mixture of Experts architecture. \footnote{We release MoST model, training code, inference code, and training data at https://github.com/NUS-HPC-AI-Lab/MoST

Neural Value Iteration

The value function of a POMDP exhibits the piecewise-linear-convex (PWLC) property and can be represented as a finite set of hyperplanes, known as $α$-vectors. Most state-of-the-art POMDP solvers (offline planners) follow the point-based value iteration scheme, which performs Bellman backups on $α$-vectors at reachable belief points until convergence. However, since each $α$-vector is $|S|$-dimensional, these methods quickly become intractable for large-scale problems due to the prohibitive computational cost of Bellman backups. In this work, we demonstrate that the PWLC property allows a POMDP's value function to be alternatively represented as a finite set of neural networks. This insight enables a novel POMDP planning algorithm called \emph{Neural Value Iteration}, which combines the generalization capability of neural networks with the classical value iteration framework. Our approach achieves near-optimal solutions even in extremely large POMDPs that are intractable for existing offline solvers.

Robot Learning from a Physical World Model

We introduce PhysWorld, a framework that enables robot learning from video generation through physical world modeling. Recent video generation models can synthesize photorealistic visual demonstrations from language commands and images, offering a powerful yet underexplored source of training signals for robotics. However, directly retargeting pixel motions from generated videos to robots neglects physics, often resulting in inaccurate manipulations. PhysWorld addresses this limitation by coupling video generation with physical world reconstruction. Given a single image and a task command, our method generates task-conditioned videos and reconstructs the underlying physical world from the videos, and the generated video motions are grounded into physically accurate actions through object-centric residual reinforcement learning with the physical world model. This synergy transforms implicit visual guidance into physically executable robotic trajectories, eliminating the need for real robot data collection and enabling zero-shot generalizable robotic manipulation. Experiments on diverse real-world tasks demonstrate that PhysWorld substantially improves manipulation accuracy compared to previous approaches. Visit \href{https://pointscoder.github.io/PhysWorld_Web/}{the project webpage} for details.

FOCUS: Efficient Keyframe Selection for Long Video Understanding

Multimodal large language models (MLLMs) represent images and video frames as visual tokens. Scaling from single images to hour-long videos, however, inflates the token budget far beyond practical limits. Popular pipelines therefore either uniformly subsample or apply keyframe selection with retrieval-style scoring using smaller vision-language models. However, these keyframe selection methods still rely on pre-filtering before selection to reduce the inference cost and can miss the most informative moments. We propose FOCUS, Frame-Optimistic Confidence Upper-bound Selection, a training-free, model-agnostic keyframe selection module that selects query-relevant frames under a strict token budget. FOCUS formulates keyframe selection as a combinatorial pure-exploration (CPE) problem in multi-armed bandits: it treats short temporal clips as arms, and uses empirical means and Bernstein confidence radius to identify informative regions while preserving exploration of uncertain areas. The resulting two-stage exploration-exploitation procedure reduces from a sequential policy with theoretical guarantees, first identifying high-value temporal regions, then selecting top-scoring frames within each region On two long-video question-answering benchmarks, FOCUS delivers substantial accuracy improvements while processing less than 2% of video frames. For videos longer than 20 minutes, it achieves an 11.9% gain in accuracy on LongVideoBench, demonstrating its effectiveness as a keyframe selection method and providing a simple and general solution for scalable long-video understanding with MLLMs.