MCTS-Judge: Test-Time Scaling in LLM-as-a-Judge for Code Correctness Evaluation

The LLM-as-a-Judge paradigm shows promise for evaluating generative content but lacks reliability in reasoning-intensive scenarios, such as programming. Inspired by recent advances in reasoning models and shifts in scaling laws, we pioneer bringing test-time computation into LLM-as-a-Judge, proposing MCTS-Judge, a resource-efficient, System-2 thinking framework for code correctness evaluation. MCTS-Judge leverages Monte Carlo Tree Search (MCTS) to decompose problems into simpler, multi-perspective evaluations. Through a node-selection strategy that combines self-assessment based on historical actions in the current trajectory and the Upper Confidence Bound for Trees based on prior rollouts, MCTS-Judge balances global optimization and refinement of the current trajectory. We further designed a high-precision, unit-test-level reward mechanism to encourage the Large Language Model (LLM) to perform line-by-line analysis. Extensive experiments on three benchmarks and five LLMs demonstrate the effectiveness of MCTS-Judge, which improves the base model's accuracy from 41% to 80%, surpassing the o1-series models with 3x fewer tokens. Further evaluations validate the superiority of its reasoning trajectory in logic, analytics, thoroughness, and overall quality, while revealing the test-time scaling law of the LLM-as-a-Judge paradigm.

Hierarchical Trajectory (Re)Planning for a Large Scale Swarm

We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing the workspace, and computing collision-free paths for robots within each cell in parallel. Distributed trajectory optimization generates a deadlock-free trajectory for efficient execution and maintains the control feasibility even when the optimization fails. Our hierarchical approach combines the benefits of both centralized and decentralized methods, achieving a high task success rate while providing real-time replanning capability. Compared to decentralized approaches, our approach effectively avoids deadlocks and collisions, significantly increasing the task success rate. We demonstrate the real-time performance of our algorithm with up to 142 robots in simulation, and a representative 24 physical Crazyflie nano-quadrotor experiment.

Make-A-Character 2: Animatable 3D Character Generation From a Single Image

This report introduces Make-A-Character 2, an advanced system for generating high-quality 3D characters from single portrait photographs, ideal for game development and digital human applications. Make-A-Character 2 builds upon its predecessor by incorporating several significant improvements for image-based head generation. We utilize the IC-Light method to correct non-ideal illumination in input photos and apply neural network-based color correction to harmonize skin tones between the photos and game engine renders. We also employ the Hierarchical Representation Network to capture high-frequency facial structures and conduct adaptive skeleton calibration for accurate and expressive facial animations. The entire image-to-3D-character generation process takes less than 2 minutes. Furthermore, we leverage transformer architecture to generate co-speech facial and gesture actions, enabling real-time conversation with the generated character. These technologies have been integrated into our conversational AI avatar products.

UAVs Meet LLMs: Overviews and Perspectives Toward Agentic Low-Altitude Mobility

Low-altitude mobility, exemplified by unmanned aerial vehicles (UAVs), has introduced transformative advancements across various domains, like transportation, logistics, and agriculture. Leveraging flexible perspectives and rapid maneuverability, UAVs extend traditional systems' perception and action capabilities, garnering widespread attention from academia and industry. However, current UAV operations primarily depend on human control, with only limited autonomy in simple scenarios, and lack the intelligence and adaptability needed for more complex environments and tasks. The emergence of large language models (LLMs) demonstrates remarkable problem-solving and generalization capabilities, offering a promising pathway for advancing UAV intelligence. This paper explores the integration of LLMs and UAVs, beginning with an overview of UAV systems' fundamental components and functionalities, followed by an overview of the state-of-the-art in LLM technology. Subsequently, it systematically highlights the multimodal data resources available for UAVs, which provide critical support for training and evaluation. Furthermore, it categorizes and analyzes key tasks and application scenarios where UAVs and LLMs converge. Finally, a reference roadmap towards agentic UAVs is proposed, aiming to enable UAVs to achieve agentic intelligence through autonomous perception, memory, reasoning, and tool utilization. Related resources are available at https://github.com/Hub-Tian/UAVs_Meet_LLMs.

Efficient Video Face Enhancement with Enhanced Spatial-Temporal Consistency

As a very common type of video, face videos often appear in movies, talk shows, live broadcasts, and other scenes. Real-world online videos are often plagued by degradations such as blurring and quantization noise, due to the high compression ratio caused by high communication costs and limited transmission bandwidth. These degradations have a particularly serious impact on face videos because the human visual system is highly sensitive to facial details. Despite the significant advancement in video face enhancement, current methods still suffer from $i)$ long processing time and $ii)$ inconsistent spatial-temporal visual effects (e.g., flickering). This study proposes a novel and efficient blind video face enhancement method to overcome the above two challenges, restoring high-quality videos from their compressed low-quality versions with an effective de-flickering mechanism. In particular, the proposed method develops upon a 3D-VQGAN backbone associated with spatial-temporal codebooks recording high-quality portrait features and residual-based temporal information. We develop a two-stage learning framework for the model. In Stage \Rmnum{1}, we learn the model with a regularizer mitigating the codebook collapse problem. In Stage \Rmnum{2}, we learn two transformers to lookup code from the codebooks and further update the encoder of low-quality videos. Experiments conducted on the VFHQ-Test dataset demonstrate that our method surpasses the current state-of-the-art blind face video restoration and de-flickering methods on both efficiency and effectiveness. Code is available at \url{https://github.com/Dixin-Lab/BFVR-STC}.

Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding

Lifelong Multi-Agent Path Finding (LMAPF) is a variant of MAPF where agents are continually assigned new goals, necessitating frequent re-planning to accommodate these dynamic changes. Recently, this field has embraced learning-based methods, which reactively generate single-step actions based on individual local observations. However, it is still challenging for them to match the performance of the best search-based algorithms, especially in large-scale settings. This work proposes an imitation-learning-based LMAPF solver that introduces a novel communication module and systematic single-step collision resolution and global guidance techniques. Our proposed solver, Scalable Imitation Learning for LMAPF (SILLM), inherits the fast reasoning speed of learning-based methods and the high solution quality of search-based methods with the help of modern GPUs. Across six large-scale maps with up to 10,000 agents and varying obstacle structures, SILLM surpasses the best learning- and search-based baselines, achieving average throughput improvements of 137.7% and 16.0%, respectively. Furthermore, SILLM also beats the winning solution of the 2023 League of Robot Runners, an international LMAPF competition sponsored by Amazon Robotics. Finally, we validated SILLM with 10 real robots and 100 virtual robots in a mockup warehouse environment.

WorldCuisines: A Massive-Scale Benchmark for Multilingual and Multicultural Visual Question Answering on Global Cuisines

Vision Language Models (VLMs) often struggle with culture-specific knowledge, particularly in languages other than English and in underrepresented cultural contexts. To evaluate their understanding of such knowledge, we introduce WorldCuisines, a massive-scale benchmark for multilingual and multicultural, visually grounded language understanding. This benchmark includes a visual question answering (VQA) dataset with text-image pairs across 30 languages and dialects, spanning 9 language families and featuring over 1 million data points, making it the largest multicultural VQA benchmark to date. It includes tasks for identifying dish names and their origins. We provide evaluation datasets in two sizes (12k and 60k instances) alongside a training dataset (1 million instances). Our findings show that while VLMs perform better with correct location context, they struggle with adversarial contexts and predicting specific regional cuisines and languages. To support future research, we release a knowledge base with annotated food entries and images along with the VQA data.

DelTA: An Online Document-Level Translation Agent Based on Multi-Level Memory

Large language models (LLMs) have achieved reasonable quality improvements in machine translation (MT). However, most current research on MT-LLMs still faces significant challenges in maintaining translation consistency and accuracy when processing entire documents. In this paper, we introduce DelTA, a Document-levEL Translation Agent designed to overcome these limitations. DelTA features a multi-level memory structure that stores information across various granularities and spans, including Proper Noun Records, Bilingual Summary, Long-Term Memory, and Short-Term Memory, which are continuously retrieved and updated by auxiliary LLM-based components. Experimental results indicate that DelTA significantly outperforms strong baselines in terms of translation consistency and quality across four open/closed-source LLMs and two representative document translation datasets, achieving an increase in consistency scores by up to 4.58 percentage points and in COMET scores by up to 3.16 points on average. DelTA employs a sentence-by-sentence translation strategy, ensuring no sentence omissions and offering a memory-efficient solution compared to the mainstream method. Furthermore, DelTA improves pronoun translation accuracy, and the summary component of the agent also shows promise as a tool for query-based summarization tasks. We release our code and data at https://github.com/YutongWang1216/DocMTAgent.

Herald: A Natural Language Annotated Lean 4 Dataset

Verifiable formal languages like Lean have profoundly impacted mathematical reasoning, particularly through the use of large language models (LLMs) for automated reasoning. A significant challenge in training LLMs for these formal languages is the lack of parallel datasets that align natural language with formal language proofs. To address this challenge, this paper introduces a novel framework for translating the Mathlib4 corpus (a unified library of mathematics in formal language Lean 4) into natural language. Building upon this, we employ a dual augmentation strategy that combines tactic-based and informal-based approaches, leveraging the Lean-jixia system, a Lean 4 analyzer. We present the results of this pipeline on Mathlib4 as Herald (Hierarchy and Retrieval-based Translated Lean Dataset). We also propose the Herald Translator, which is fine-tuned on Herald. Herald translator achieves a 93.2% accuracy (Pass@128) on formalizing statements in the miniF2F-test and a 22.5% accuracy on our internal graduate-level textbook dataset, outperforming InternLM2-Math-Plus-7B (74.0% and 7.5%) and TheoremLlama (50.1% and 4.0%). Furthermore, we propose a section-level translation framework for real-world applications. As a direct application of Herald translator, we have successfully translated a template section in the Stack project, marking a notable progress in the automatic formalization of graduate-level mathematical literature. Our model, along with the datasets, will be open-sourced to the public soon.

MambaOcc: Visual State Space Model for BEV-based Occupancy Prediction with Local Adaptive Reordering

Occupancy prediction has attracted intensive attention and shown great superiority in the development of autonomous driving systems. The fine-grained environmental representation brought by occupancy prediction in terms of both geometry and semantic information has facilitated the general perception and safe planning under open scenarios. However, it also brings high computation costs and heavy parameters in existing works that utilize voxel-based 3d dense representation and Transformer-based quadratic attention. To address these challenges, in this paper, we propose a Mamba-based occupancy prediction method (MambaOcc) adopting BEV features to ease the burden of 3D scenario representation, and linear Mamba-style attention to achieve efficient long-range perception. Besides, to address the sensitivity of Mamba to sequence order, we propose a local adaptive reordering (LAR) mechanism with deformable convolution and design a hybrid BEV encoder comprised of convolution layers and Mamba. Extensive experiments on the Occ3D-nuScenes dataset demonstrate that MambaOcc achieves state-of-the-art performance in terms of both accuracy and computational efficiency. For example, compared to FlashOcc, MambaOcc delivers superior results while reducing the number of parameters by 42\% and computational costs by 39\%. Code will be available at https://github.com/Hub-Tian/MambaOcc.