RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids

While generative models have become effective at producing human-like motions from text, transferring these motions to humanoid robots for physical execution remains challenging. Existing pipelines are often limited by retargeting, where kinematic quality is undermined by physical infeasibility, contact-transition errors, and the high cost of real-world dynamical data. We present a unified latent-driven framework that bridges natural language and whole-body humanoid locomotion through a retarget-free, physics-optimized pipeline. Rather than treating generation and control as separate stages, our key insight is to couple them bidirectionally under physical constraints.We introduce a Physical Plausibility Optimization (PP-Opt) module as the coupling interface. In the forward direction, PP-Opt refines a teacher-student distillation policy with a plausibility-centric reward to suppress artifacts such as floating, skating, and penetration. In the backward direction, it converts reward-optimized simulation rollouts into high-quality explicit motion data, which is used to fine-tune the motion generator toward a more physically plausible latent distribution. This bidirectional design forms a self-improving cycle: the generator learns a physically grounded latent space, while the controller learns to execute latent-conditioned behaviors with dynamical integrity.Extensive experiments on the Unitree G1 humanoid show that our bidirectional optimization improves tracking accuracy and success rates. Across IsaacLab and MuJoCo, the implicit latent-driven pipeline consistently outperforms conventional explicit retargeting baselines in both precision and stability. By coupling diffusion-based motion generation with physical plausibility optimization, our framework provides a practical path toward deployable text-guided humanoid intelligence.

VisBrowse-Bench: Benchmarking Visual-Native Search for Multimodal Browsing Agents

The rapid advancement of Multimodal Large Language Models (MLLMs) has enabled browsing agents to acquire and reason over multimodal information in the real world. But existing benchmarks suffer from two limitations: insufficient evaluation of visual reasoning ability and the neglect of native visual information of web pages in the reasoning chains. To address these challenges, we introduce a new benchmark for visual-native search, VisBrowse-Bench. It contains 169 VQA instances covering multiple domains and evaluates the models' visual reasoning capabilities during the search process through multimodal evidence cross-validation via text-image retrieval and joint reasoning. These data were constructed by human experts using a multi-stage pipeline and underwent rigorous manual verification. We additionally propose an agent workflow that can effectively drive the browsing agent to actively collect and reason over visual information during the search process. We comprehensively evaluated both open-source and closed-source models in this workflow. Experimental results show that even the best-performing model, Claude-4.6-Opus only achieves an accuracy of 47.6%, while the proprietary Deep Research model, o3-deep-research only achieves an accuracy of 41.1%. The code and data can be accessed at: https://github.com/ZhengboZhang/VisBrowse-Bench

YOLO-NAS-Bench: A Surrogate Benchmark with Self-Evolving Predictors for YOLO Architecture Search

Neural Architecture Search (NAS) for object detection is severely bottlenecked by high evaluation cost, as fully training each candidate YOLO architecture on COCO demands days of GPU time. Meanwhile, existing NAS benchmarks largely target image classification, leaving the detection community without a comparable benchmark for NAS evaluation. To address this gap, we introduce YOLO-NAS-Bench, the first surrogate benchmark tailored to YOLO-style detectors. YOLO-NAS-Bench defines a search space spanning channel width, block depth, and operator type across both backbone and neck, covering the core modules of YOLOv8 through YOLO12. We sample 1,000 architectures via random, stratified, and Latin Hypercube strategies, train them on COCO-mini, and build a LightGBM surrogate predictor. To sharpen the predictor in the high-performance regime most relevant to NAS, we propose a Self-Evolving Mechanism that progressively aligns the predictor's training distribution with the high-performance frontier, by using the predictor itself to discover and evaluate informative architectures in each iteration. This method grows the pool to 1,500 architectures and raises the ensemble predictor's R2 from 0.770 to 0.815 and Sparse Kendall Tau from 0.694 to 0.752, demonstrating strong predictive accuracy and ranking consistency. Using the final predictor as the fitness function for evolutionary search, we discover architectures that surpass all official YOLOv8-YOLO12 baselines at comparable latency on COCO-mini, confirming the predictor's discriminative power for top-performing detection architectures.

AoE: Always-on Egocentric Human Video Collection for Embodied AI

Embodied foundation models require large-scale, high-quality real-world interaction data for pre-training and scaling. However, existing data collection methods suffer from high infrastructure costs, complex hardware dependencies, and limited interaction scope, making scalable expansion challenging. In fact, humans themselves are ideal physically embodied agents. Therefore, obtaining egocentric real-world interaction data from globally distributed "human agents" offers advantages of low cost and sustainability. To this end, we propose the Always-on Egocentric (AoE) data collection system, which aims to simplify hardware dependencies by leveraging humans themselves and their smartphones, enabling low-cost, highly efficient, and scene-agnostic real-world interaction data collection to address the challenge of data scarcity. Specifically, we first employ an ergonomic neck-mounted smartphone holder to enable low-barrier, large-scale egocentric data collection through a cloud-edge collaborative architecture. Second, we develop a cross-platform mobile APP that leverages on-device compute for real-time processing, while the cloud hosts automated labeling and filtering pipelines that transform raw videos into high-quality training data. Finally, the AoE system supports distributed Ego video data collection by anyone, anytime, and anywhere. We evaluate AoE on data preprocessing quality and downstream tasks, demonstrating that high-quality egocentric data significantly boosts real-world generalization.

Beyond Next-Token Alignment: Distilling Multimodal Large Language Models via Token Interactions

Multimodal Large Language Models (MLLMs) demonstrate impressive cross-modal capabilities, yet their substantial size poses significant deployment challenges. Knowledge distillation (KD) is a promising solution for compressing these models, but existing methods primarily rely on static next-token alignment, neglecting the dynamic token interactions, which embed essential capabilities for multimodal understanding and generation. To this end, we introduce Align-TI, a novel KD framework designed from the perspective of Token Interactions. Our approach is motivated by the insight that MLLMs rely on two primary interactions: vision-instruction token interactions to extract relevant visual information, and intra-response token interactions for coherent generation. Accordingly, Align-TI introduces two components: IVA enables the student model to imitate the teacher's instruction-relevant visual information extract capability by aligning on salient visual regions. TPA captures the teacher's dynamic generative logic by aligning the sequential token-to-token transition probabilities. Extensive experiments demonstrate Align-TI's superiority. Notably, our approach achieves $2.6\%$ relative improvement over Vanilla KD, and our distilled Align-TI-2B even outperforms LLaVA-1.5-7B (a much larger MLLM) by $7.0\%$, establishing a new state-of-the-art distillation framework for training parameter-efficient MLLMs. Code is available at https://github.com/lchen1019/Align-TI.

MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation

Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation due to interface- and dynamics-induced errors. We present MOSAIC, an open-source, full-stack system for humanoid motion tracking and whole-body teleoperation across multiple interfaces. MOSAIC first learns a teleoperation-oriented general motion tracker via RL on a multi-source motion bank with adaptive resampling and rewards that emphasize world-frame motion consistency, which is critical for mobile teleoperation. To bridge the sim-to-real interface gap without sacrificing generality, MOSAIC then performs rapid residual adaptation: an interface-specific policy is trained using minimal interface-specific data, and then distilled into the general tracker through an additive residual module, outperforming naive fine-tuning or continual learning. We validate MOSAIC with systematic ablations, out-of-distribution benchmarking, and real-robot experiments demonstrating robust offline motion replay and online long-horizon teleoperation under realistic latency and noise.

ShapePuri: Shape Guided and Appearance Generalized Adversarial Purification

Deep neural networks demonstrate impressive performance in visual recognition, but they remain vulnerable to adversarial attacks that is imperceptible to the human. Although existing defense strategies such as adversarial training and purification have achieved progress, diffusion-based purification often involves high computational costs and information loss. To address these challenges, we introduce Shape Guided Purification (ShapePuri), a novel defense framework enhances robustness by aligning model representations with stable structural invariants. ShapePuri integrates two components: a Shape Encoding Module (SEM) that provides dense geometric guidance through Signed Distance Functions (SDF), and a Global Appearance Debiasing (GAD) module that mitigates appearance bias via stochastic transformations. In our experiments, ShapePuri achieves $84.06\%$ clean accuracy and $81.64\%$ robust accuracy under the AutoAttack protocol, representing the first defense framework to surpass the $80\%$ threshold on this benchmark. Our approach provides a scalable and efficient adversarial defense that preserves prediction stability during inference without requiring auxiliary modules or additional computational cost.

Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We propose Latent Reasoning VLA (\textbf{LaRA-VLA}), a unified VLA framework that internalizes multi-modal CoT reasoning into continuous latent representations for embodied action. LaRA-VLA performs unified reasoning and prediction in latent space, eliminating explicit CoT generation at inference time and enabling efficient, action-oriented control. To realize latent embodied reasoning, we introduce a curriculum-based training paradigm that progressively transitions from explicit textual and visual CoT supervision to latent reasoning, and finally adapts latent reasoning dynamics to condition action generation. We construct two structured CoT datasets and evaluate LaRA-VLA on both simulation benchmarks and long-horizon real-robot manipulation tasks. Experimental results show that LaRA-VLA consistently outperforms state-of-the-art VLA methods while reducing inference latency by up to 90\% compared to explicit CoT-based approaches, demonstrating latent reasoning as an effective and efficient paradigm for real-time embodied control. Project Page: \href{https://loveju1y.github.io/Latent-Reasoning-VLA/}{LaRA-VLA Website}.

RoboBrain 2.5: Depth in Sight, Time in Mind

We introduce RoboBrain 2.5, a next-generation embodied AI foundation model that advances general perception, spatial reasoning, and temporal modeling through extensive training on high-quality spatiotemporal supervision. Building upon its predecessor, RoboBrain 2.5 introduces two major capability upgrades. Specifically, it unlocks Precise 3D Spatial Reasoning by shifting from 2D pixel-relative grounding to depth-aware coordinate prediction and absolute metric constraint comprehension, generating complete 3D manipulation traces as ordered keypoint sequences under physical constraints. Complementing this spatial precision, the model establishes Dense Temporal Value Estimation that provides dense, step-aware progress prediction and execution state understanding across varying viewpoints, producing stable feedback signals for downstream learning. Together, these upgrades extend the framework toward more physically grounded and execution-aware embodied intelligence for complex, fine-grained manipulation. The code and checkpoints are available at project website: https://superrobobrain.github.io

HOSL: Hybrid-Order Split Learning for Memory-Constrained Edge Training

Split learning (SL) enables collaborative training of large language models (LLMs) between resource-constrained edge devices and compute-rich servers by partitioning model computation across the network boundary. However, existing SL systems predominantly rely on first-order (FO) optimization, which requires clients to store intermediate quantities such as activations for backpropagation. This results in substantial memory overhead, largely negating benefits of model partitioning. In contrast, zeroth-order (ZO) optimization eliminates backpropagation and significantly reduces memory usage, but often suffers from slow convergence and degraded performance. In this work, we propose HOSL, a novel Hybrid-Order Split Learning framework that addresses this fundamental trade-off between memory efficiency and optimization effectiveness by strategically integrating ZO optimization on the client side with FO optimization on the server side. By employing memory-efficient ZO gradient estimation at the client, HOSL eliminates backpropagation and activation storage, reducing client memory consumption. Meanwhile, server-side FO optimization ensures fast convergence and competitive performance. Theoretically, we show that HOSL achieves a $\mathcal{O}(\sqrt{d_c/TQ})$ rate, which depends on client-side model dimension $d_c$ rather than the full model dimension $d$, demonstrating that convergence improves as more computation is offloaded to the server. Extensive experiments on OPT models (125M and 1.3B parameters) across 6 tasks demonstrate that HOSL reduces client GPU memory by up to 3.7$\times$ compared to the FO method while achieving accuracy within 0.20%-4.23% of this baseline. Furthermore, HOSL outperforms the ZO baseline by up to 15.55%, validating the effectiveness of our hybrid strategy for memory-efficient training on edge devices.