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Authors: Tao Lin ×
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01.
arXiv (CS.CV) 2026-06-16

LOCUS: Local Visual Cue Search for Enhancing Fine-Grained Perception in Multimodal Large Language Models

Multimodal Large Language Models (MLLMs) remain unreliable on fine-grained visual perception, even when high-resolution inputs preserve the necessary local details. We identify this limitation as visual context rot: decisive evidence may exist in the full image, yet fail to be reliably selected and used amid redundant visual context. We propose LOCUS (LOcal visual CUe Search), a training framework that teaches MLLMs to internalize local evidence search through a verifiable proxy task. During training, LOCUS provides a local crop as a visual cue and optimizes the model to recover its spatial support in the full image using an IoU-based reward. The visual cue is used only during training, leaving the standard image-question inference interface unchanged. Experiments across fine-grained perception, hallucination, general understanding, and reasoning benchmarks show that LOCUS improves localization-sensitive visual understanding while preserving broad capabilities. Attention analyses further indicate stronger focus on task-relevant evidence regions, suggesting that training-time visual cue search provides an effective route to internalized fine-grained evidence selection.

02.
arXiv (CS.AI) 2026-06-19

SoftSkill: Behavioral Compression for Contextual Adaptation

arXiv:2606.20333v1 Announce Type: new Abstract: Agent skills are commonly deployed as natural-language Markdown files that encode answer policies, evidence-use habits, and task procedures. These files are readable and portable, but they are consumed indirectly: for each task instance, a frozen language model must translate a long textual artifact into generation-time behavior. This paper asks whether a natural-language skill can instead initialize a compact continuous context object, refined by a trainable soft delta while the base model remains frozen. We propose SoftSkill, a frozen-backbone method that tunes such soft skills with next-token prediction and deploys them as latent behavioral priors at inference time. In our main single-round setting, a length-32 SoftSkill prefix on Qwen3.5-4B improves over no-skill prompting by 8.3 points on SearchQA, 42.1 points on LiveMath, and 1.3 points on DocVQA. Relative to SkillOpt, SoftSkill improves accuracy by 5.2 points on SearchQA and 12.5 points on LiveMath, while replacing hundreds to thousands of Markdown skill tokens with a few virtual tokens. We further study agentic execution as a harder boundary case, where sparse trajectory imitation provides useful signal but does not yet robustly compress long-horizon procedural behavior. More broadly, the results suggest that some task skills are better treated not as additional Markdown to be reinterpreted at inference time, but as compact latent controls over how a frozen model enters the task.

03.
arXiv (CS.CL) 2026-06-18

BCL: Bayesian In-Context Learning Framework for Information Extraction

Existing information extraction (IE) tasks increasingly adopt in-context learning (ICL) with large language models. However, current approaches either show inconsistent performance across model scales or lack systematic optimization and generalizability. Building on this, we propose BCL (Bayesian In-Context Learning Framework for Information Extraction), the first optimization framework that uses particle filtering with Bayesian updates to systematically refine label representations across IE tasks. Through four steps initialization, observation, weight update, and resampling, BCL generalizes to both sequence labeling and relation classification paradigms. Extensive experiments demonstrate substantial and consistent improvements over existing approaches.

04.
arXiv (CS.CV) 2026-06-18

Visual-OPSD: Cross-Modal On-Policy Self-Distillation for Efficient Unified Multimodal Reasoning

Unified multimodal models (UMMs) interleave generated ''visual thoughts'' (VTs) with text reasoning to improve spatial tasks. This incurs roughly an order-of-magnitude inference cost from multi-step diffusion. We find this cost yields limited direct benefit. On ThinkMorph, removing or noising VTs barely changes accuracy across nine benchmarks. Once rendered, attention concentrates on the VT regardless of content. Yet a KL diagnostic shows that conditioning on a privileged VT trace shifts the model's completion distribution. This suggests the generation pathway encodes useful reasoning beyond the rendered pixels. Motivated by this gap, we propose Visual On-Policy Self-Distillation(Visual-OPSD). Teacher and student share identical weights but differ in context: the teacher sees privileged VTs while the student sees only the question. Token-level JSD distillation on on-policy student trajectories transfers the teacher's reasoning to a text-only student. Across nine benchmarks, Visual-OPSD improves over its generative teacher by $+3.40$pp with $14.3\times$ speedup (10.0s vs. 142.8s per sample) and outperforms same-scale VLMs by $+63.83$pp on VSP. A Gaussian-noise control ($+0.40$pp vs. $+10.28$pp for real VTs) and $58.4\%$ closure of the KL gap confirm that gains come from the semantic content of the generation pathway.

05.
arXiv (CS.AI) 2026-06-24

PixJail: Self-Evolving Paper-to-Pipeline Reproduction for Text-to-Image Jailbreak Evaluation

arXiv:2606.24081v1 Announce Type: cross Abstract: As Text-to-Image (T2I) jailbreak techniques evolve rapidly, existing benchmarks and reproduction workflows often struggle to keep pace. More importantly, T2I jailbreak evaluation is not a single prompt-level test, but a pipeline-level problem shaped by multiple stages, including prompt transformation, image generation, safety filtering, and multimodal judging. This makes results across papers difficult to reliably reproduce and fairly compare. To bridge this gap, we propose PixJail, a self-evolving paper-to-pipeline agent framework for reproducible T2I jailbreak evaluation. Given a T2I jailbreak paper and optional reference code, PixJail rapidly constructs a paper-specific attack module and a runnable evaluation pipeline under a unified contract, while faithfully reproducing the original experimental results. PixJail further maintains a memory bank that stores paper digests, attack evolution patterns, reusable templates, failure cases, and versioned artifacts, enabling future reproduction efforts to reuse prior experience. We reproduce eleven representative T2I jailbreak methods, including both code-available and code-unavailable papers. Under their original settings, our framework accurately recovers prior results with minimal error (2.1\% average, 0\% median). We hope that PixJail can serve as a unified foundation for future T2I jailbreak reproduction and evaluation, significantly reducing manual effort.

06.
arXiv (CS.CV) 2026-06-16

Proact-VL: A Proactive VideoLLM for Real-Time AI Companions

Proactive and real-time interactive experiences are essential for human-like AI companions, yet face three key challenges: (1) achieving low-latency inference under continuous streaming inputs, (2) autonomously deciding when to respond, and (3) controlling both quality and quantity of generated content to meet real-time constraints. In this work, we instantiate AI companions through two gaming scenarios, commentator and guide, selected for their suitability for automatic evaluation. We introduce the Live Gaming Benchmark, a large-scale dataset with three representative scenarios: solo commentary, co-commentary, and user guidance, and present Proact-VL, a general framework that shapes multimodal language models into proactive, real-time interactive agents capable of human-like environment perception and interaction. Extensive experiments show Proact-VL achieves superior response latency and quality while maintaining strong video understanding capabilities, demonstrating its practicality for real-time interactive applications.

07.
arXiv (CS.LG) 2026-06-17

A 3D Isovist World Model – Revealing a City's Unseen Geometry and Its Emergent Cross-City Signature

arXiv:2606.03609v3 Announce Type: replace-cross Abstract: Embodied agents that navigate cities rely on world models that predict how their surroundings will change as they move. But for navigation, what matters is not what the buildings look like; it is where the agent can go. Most world models nonetheless predict appearance, learning how a scene looks rather than the space an agent can move through. Those that do target geometry, such as bird's-eye-view occupancy grids, flatten the three-dimensional environment onto a ground plane, discarding the above-ground and multi-level structure that shapes real navigation. What is missing is a predictive target that captures the navigable geometry an agent actually traverses, without photometric entanglement and without collapsing the third dimension. Our key idea is to model the open volume between buildings, the negative space, encoded as a 3D isovist: a spherical visibility-depth map recording the distance to the nearest surface in every direction. We introduce an embodied world model that predicts the next isovist from a short history of past isovists and a movement action. The prediction is formulated as a depth residual so the decoder inherits sharp building edges, trained with self-rollout scheduled sampling to keep corrupted context on the geometry manifold, and equipped with a persistent latent bird's-eye-view spatial map for cross-path consistency. Our central finding is emergent and unexpected: a single city-blind model trained on Manhattan and Paris develops a cross-city spatial signature, with city identity linearly decodable from its temporal latents far above single-frame baselines, so the signature lives in the learned dynamics rather than in appearance. The representation is lightweight, interpretable, and reproducible, offering a geometric substrate for spatial reasoning in embodied AI, robotics, and urban analysis, released with an open dataset and pipeline.

08.
arXiv (CS.CL) 2026-06-19

PerceptionDLM: Parallel Region Perception with Multimodal Diffusion Language Models

Multimodal large language models (MLLMs) have achieved remarkable progress in visual understanding tasks. However, most existing MLLMs rely on autoregressive generation, which limits their efficiency for perception tasks that require captioning multiple regions. In this work, we propose PerceptionDLM, a multimodal diffusion language model optimized for efficient parallel region perception. Built upon PerceptionDLM-Base, a strong foundational baseline that achieves state-of-the-art performance among open-source diffusion MLLMs, our architecture fully leverages the parallel decoding nature of DLMs. Specifically, we introduce efficient prompting and structured attention masking to enable simultaneous perception of multiple masked regions, allowing the model to generate region descriptions in parallel at both the sequence and token levels. This design significantly improves inference efficiency compared with existing approaches that process regions sequentially. To systematically evaluate the parallelism property of visual perception capability for DLMs, we construct a new Parallel Detailed Localized Captioning Benchmark (ParaDLC-Bench) by scaling the DLC-Bench to include multiple region masks per image, enabling joint evaluation of both caption quality and inference efficiency. Experiments demonstrate that PerceptionDLM maintains competitive performance in region captioning while achieving substantial speed improvements for multi-region perception tasks. Our results highlight the potential of multimodal diffusion language models for efficient, parallel visual perception. To the best of our knowledge, we are the first to achieve parallel region caption and perception by leveraging the advantages of diffusion language models. Code, models, and datasets are released.

09.
arXiv (CS.AI) 2026-06-16

From Tokens to Regions: CUDA-Sensitive Instruction Tuning for GPU Kernel Generation

arXiv:2606.16231v1 Announce Type: cross Abstract: High-performance CUDA kernels are essential for scalable AI systems, while Large Language Models (LLMs) still struggle to generate correct kernels due to strict and implicit execution constraints. Existing LLM-based approaches either rely on costly agentic or reinforcement-learning (RL) pipelines, or adopt supervised fine-tuning (SFT) objectives that fail to explicitly model CUDA sensitivity, namely code tokens or regions tightly coupled with execution constraints. In this work, we investigate CUDA sensitivity from the perspective of token confidence patterns, showing that CUDA sensitivity appears at both token and region levels, where most CUDA-sensitive tokens are predicted with high confidence, while a smaller low-confidence subset forms regions corresponding to execution-critical structures. These findings suggest that effective CUDA kernel generation should both leverage high-confidence CUDA-sensitive tokens and preserve low-confidence CUDA-sensitive regions. Building on these insights, we propose \underline{CUDA-\underline{Se}nsitive Instruction \underline{T}uning (CuSeT)}, a low-cost post-training method within a simple SFT framework. CuSeT follows the principle of ``from tokens to regions'' by combining adaptive token-level masking with region-aware sample reweighting. Experiments show that CuSeT consistently improves functional correctness across multiple model families and scales, outperforming standard SFT and advanced SFT variants, while achieving competitive performance against frontier CUDA kernel generation models with substantially lower inference cost.

10.
arXiv (CS.LG) 2026-06-25

Beyond One-Size-Fits-All: Diagnosis-Driven Online Reinforcement Learning with Offline Priors

arXiv:2606.25527v1 Announce Type: new Abstract: Online reinforcement learning (RL) agents increasingly depend on knowledge acquired offline to achieve practical efficiency. Originally studied in offline-to-online RL, this paradigm now spans foundation model post-training and embodied intelligence, with prior types expanding from offline datasets and pre-trained policies to increasingly diverse knowledge sources such as multimodal foundation models and generative world models. Offline priors have become central to how deep RL is developed and deployed. However, this reliance introduces a challenge that the prevailing benchmark-driven paradigm cannot resolve: because prior validity varies across deployments and shifts during training, no single approach to managing it is universally optimal, and benchmark rankings offer limited guidance for real-world deployments. Rather than pursuing universal solutions, we argue that the field should shift to diagnosis-driven tension management, in which deployment-specific evidence guides how the learner relates to its priors throughout training, enabling both flexible and adaptive deployment. We support this position with a framework characterizing how priors reshape online optimization through three functional roles, controlled experiments demonstrating help-or-hurt reversals, cross-domain evidence from foundation model post-training to embodied intelligence, and engagement with five substantive counterarguments.

11.
arXiv (CS.CV) 2026-06-19

S-Agent: Spatial Tool-Use Elicits Reasoning for Spatial Intelligence

Real-world spatial intelligence requires reasoning over a continuous and evolving 3D world, yet existing VLMs and tool-augmented agents largely remain tied to static, stateless inference from isolated visual observations. We introduce \textsc{S-Agent}, a spatial tool-use agentic paradigm for understanding and reasoning over continuous multi-view images and videos. By formulating spatial reasoning as spatio-temporal evidence accumulation rather than isolated frame-level prediction, \textsc{S-Agent} reshapes spatial perception into scene-centric understanding beyond frame-centric recognition. Specifically, \textsc{S-Agent} casts the VLM as a semantic planner that decides what evidence is needed, while a hierarchy of spatial tools and experts grounds objects in 2D, lifts them into 3D geometric evidence, and aggregates this evidence into high-level spatial knowledge (e.g., counting, measurement, orientation, and relative position). Additionally, a temporal memory mechanism, including Scene Memory for maintaining the evolving scene state and Agent Memory for accumulating reasoning context, enables evidence integration across frames and reasoning steps. Comprehensive experiments on multi-view and video spatial reasoning benchmarks show that \textsc{S-Agent} consistently improves both open-source and closed-source VLMs in a training-free manner. Beyond inference-time augmentation, supervised fine-tuning (SFT) on \textsc{S-Agent}-generated spatial trajectories \textsc{S-300K} yields \textsc{S-Agent-8B}, a compact spatial agent that significantly surpasses similar-scale baselines (e.g., Qwen3-VL-8B) and performs comparably to advanced closed-source models (e.g., GPT-5.4 and Gemini 3).

12.
arXiv (CS.AI) 2026-06-25

MiniOpt: Reasoning to Model and Solve General Optimization Problems with Limited Resources

arXiv:2606.25832v1 Announce Type: cross Abstract: Achieving strong optimization generalization across diverse optimization problems while requiring limited training resources remains a challenging problem for optimization-oriented large language models (LLMs). Existing approaches typically rely on large-scale supervised datasets, costly reasoning annotations, and expensive intermediate step verification, resulting in substantial training overhead. To address these challenges, we propose MiniOpt, a reinforcement learning framework that learns to solve optimization problems through an "reasoning-to-model-and-solve" paradigm. MiniOpt decomposes optimization reasoning into structured optimization modeling and executable solver generation. Building upon this paradigm, we introduce OptReward, a reward function with hierarchical score structure that jointly evaluates formulation and solution, enabling effective policy learning without expert demonstrations. We further develop an optimization-oriented policy optimization strategy that improves exploration efficiency and stabilizes reinforcement learning for compact models. Extensive experiments show that MiniOpt-3B exhibits strong optimization generalization across various optimization types, problem scenarios, and task domains. For models with fewer than 10B parameters, MiniOpt series achieves the highest average solving accuracy (SA). For models with more than 10B parameters, MiniOpt still shows competitive performance. These results suggest that optimization-oriented reward design and reinforcement learning provide an effective pathway for developing compact optimization-specialized language models with strong optimization generalization capabilities. The code is available at https://github.com/Hsiang-1/MiniOpt.

13.
arXiv (CS.LG) 2026-06-25

From Uncertain to Safe: Conformal Adaptation of Diffusion Models for Safe PDE Control

arXiv:2502.02205v4 Announce Type: replace Abstract: The application of deep learning for partial differential equation (PDE)-constrained control is gaining increasing attention. However, existing methods rarely consider safety requirements crucial in real-world applications. To address this limitation, we propose Safe Diffusion Models for PDE Control (SafeDiffCon), which introduce the uncertainty quantile as model uncertainty quantification to achieve optimal control under safety constraints through both post-training and inference phases. Firstly, our approach post-trains a pre-trained diffusion model to generate control sequences that better satisfy safety constraints while achieving improved control objectives via a reweighted diffusion loss, which incorporates the uncertainty quantile estimated using conformal prediction. Secondly, during inference, the diffusion model dynamically adjusts both its generation process and parameters through iterative guidance and fine-tuning, conditioned on control targets while simultaneously integrating the estimated uncertainty quantile. We evaluate SafeDiffCon on three control tasks: 1D Burgers' equation, 2D incompressible fluid, and controlled nuclear fusion problem. Results demonstrate that SafeDiffCon is the only method that satisfies all safety constraints, whereas other classical and deep learning baselines fail. Furthermore, while adhering to safety constraints, SafeDiffCon achieves the best control performance. The code can be found at https://github.com/AI4Science-WestlakeU/safediffcon.

14.
arXiv (CS.CV) 2026-06-11

MFEN:Multi-Frequency Expert Network for Visible-Infrared Person Re-ID

Visible-infrared person re-identification (VI-ReID) is challenging due to the large modality discrepancy between visible and infrared images. We contend that this discrepancy is largely related to differing lighting conditions, including differences in light wavelength and light source type. Recently, frequency-based VI-ReID approaches have achieved notable success because frequency information can better extract identity-relevant contours and details while excluding irrelevant lighting and color. However, existing methods either do not distinguish different frequency bands or focus on only one band, which is insufficient under diverse lighting conditions. To perform comprehensive frequency domain learning, we propose a Multi-Frequency Expert Network (MFEN) that enables multi-frequency modulation and adaptively combines different bands through a mixture-of-experts design. We further introduce Random Frequency Augmentation (RFA) and Frequency Auxiliary Optimization (FAO) to better train MFEN. The three modules are complementary and jointly capture critical frequency-domain details for robust representation learning. Extensive experiments on three VI-ReID datasets demonstrate the effectiveness of our approach.

15.
arXiv (CS.CV) 2026-06-15

Avatar V: Scaling Video-Reference Avatar Video Generation

Generating avatar videos that are not merely visually similar to a target individual but behaviorally recognizable, faithfully reproducing their talking rhythm, gestural tendencies, and expression dynamics, remains an open challenge. Existing methods predominantly condition on single static images, which provide insufficient identity information and cannot capture dynamic motion traits, while standard pixel-level objectives underserve the perceptually critical facial regions that determine avatar fidelity. We present Avatar V, a production-scale framework that addresses these limitations through video-reference-conditioned identity modeling. Rather than compressing identity into fixed-size embeddings, the model conditions directly on the full token sequence of a reference video, learning to reproduce both static identity attributes (facial geometry, skin texture) and dynamic behavioral patterns (talking rhythm, micro-expressions) through attention over the reference context. We introduce Sparse Reference Attention, an asymmetric mechanism achieving linear-complexity conditioning on arbitrarily long references; a motion representation stream enabling closed-loop talking style transfer; and an identity-aware super-resolution refiner inheriting the full reference conditioning. These are supported by a data engine curating 100M+ training clips from 50M raw videos, and a five-stage training pipeline with flow matching pre-training, personality fine-tuning, two-phase distillation (>10x acceleration), and RLHF alignment, deployed across thousands of GPUs. Avatar V generates 1080p videos of unlimited duration, achieving state-of-the-art identity preservation, lip synchronization, and generation quality on our cross-scene benchmark, consistently outperforming leading systems including Seedance 2.0, Kling O3 Pro, Veo 3.1, and OmniHuman 1.5 in both automated metrics and human evaluation.

16.
arXiv (CS.CV) 2026-06-12

MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models

World Action Models (WAMs) present a promising paradigm for robotic control via video prediction. However, current WAMs suffer from fundamental spatial bottlenecks: standard text inputs introduce referential ambiguity in cluttered scenes, while unstructured RGB predictions lack semantic grounding and remain biased by task-irrelevant backgrounds. To overcome these limitations, we introduce MaskWAM, an object-centric world-action model. By jointly integrating masks as both explicit inputs and predictions via a unified Mixture of Transformers (MoT), MaskWAM unlocks robust policy generalization. This design provides two key benefits: (1) predicting future masks yields object-centric semantic supervision that suppresses visual noise, significantly enhancing even standard text-conditioned WAMs; and (2) coupling this predictive supervision with first-frame visual prompts, such as target object masks, establishes a precise spatial anchor that substantially reduces language ambiguity. Crucially, as WAMs are inherently vision-driven architectures, direct mask conditioning yields substantially stronger guidance than text alone, establishing a precise and robust paradigm for manipulating unseen objects. Evaluations on LIBERO, RoboTwin, and real-world tasks demonstrate that MaskWAM significantly outperforms baselines in both language-clear and language-ambiguous tasks.

17.
arXiv (CS.AI) 2026-06-19

SPOT-E: Test-Time Entropy Shaping with Visual Spotlights for Frozen VLMs

arXiv:2606.20244v1 Announce Type: cross Abstract: Vision-language models (VLMs) often underperform on evidence intensive tasks because decisive visual evidence are small, localized, and easy to overlook, leading to failures in evidence readout even when high-level reasoning is intact. Prior inference-time visual interventions can improve grounding without retraining, but they are largely open-loop and lack a mechanism to verify whether highlighted evidence is actually used. We study answer-span prediction entropy as a model-internal feedback signal and show that naive entropy minimization is ambiguous, since low entropy may arise from evidence-grounded confidence or shortcut collapse. To resolve this ambiguity, we introduce low-entropy anchors and an entropy-shaping objective that reduces answer uncertainty while preserving baseline high-confidence tokens. We instantiate this principle in SPOT-E, a plug-and-play test-time method that produces question-conditioned spotlights, optimized per instance via light-weight tuning based on Group Relative Policy Optimization (GRPO). Across all benchmarks and different VLM families, SPOT-E yields consistent gains and improved robustness under visual corruptions. Code is publicly available at: \url{https://github.com/YinBo0927/SPOT-E}

18.
arXiv (CS.AI) 2026-06-18

RODS: Reward-Driven Online Data Synthesis for Multi-Turn Tool-Use Agents

arXiv:2606.19047v1 Announce Type: new Abstract: Multi-turn tool-use RL is bottlenecked by the rapid depletion of informative samples in static datasets. We observe that the gradient signal in GRPO concentrates on tasks with the highest rollout reward variance, a consequence of the Popoviciu upper bound. Consequently, samples near the agent's capability boundary – where successes and failures are roughly balanced – contribute disproportionately large policy gradients. As training progresses, this boundary continuously shifts, which gradually depletes the pool of informative samples in a static dataset. We propose RODS (Reward-driven Online Data Synthesis) to resolve this depletion. RODS closes the loop between RL training and data generation by repurposing the progress reward variance as a practical, zero-cost boundary detector that requires no extra inference beyond the rollouts already computed for training. It continuously identifies such boundary samples, synthesizes new multi-turn variants matching their structural complexity (e.g., API topology and dependency depth) via a skill-aligned resampling pipeline, and manages a dynamic replay buffer that co-evolves with the policy. Starting from 400 human seeds and maintaining an active training pool of ~800 samples, RODS achieves comparable performance to a 17K-sample offline pipeline while requiring roughly 20x fewer trajectories, and improves over fixed-data RL and environment augmentation in our controlled setting.

19.
arXiv (CS.CV) 2026-06-16

Conditional Multi-Event Temporal Grounding in Long-Form Video

Multimodal large language models have made rapid progress in video temporal grounding, yet real-world applications routinely require localizing every event that satisfies compositional temporal and spatial conditions. Existing benchmarks fall short: they localize only a single moment per query, count without temporal conditions, or treat grounding and counting as disjoint tasks. We introduce CoMET-Bench for Conditional Multi-Event Temporal Grounding in long-form video, comprising 2789 queries over 600 videos averaging 33.8 minutes across five real-world domains, with each query composed from 4 temporal conditions, 3 spatial conditions, and a dedicated negative-query subset. We further propose a unified evaluation protocol jointly measuring counting, grounding, and negative-query recognition, including a new Rejection-F1 metric that prevents trivial gaming by lazy "always-empty" models. Benchmarking a broad suite of MLLMs, agent-based, and grounding-specialized methods reveals that existing approaches remain far from solving this task. Building on these findings, we propose CoMET-Agent, a training-free agentic framework that reformulates the task as structured search-and-aggregate, improving F1@0.5 by 6.1% over GPT-5 purely through structural reasoning. Failure analysis further surfaces three open directions: fine-grained entity tracking, position-uniform retrieval, and causal event pairing.

20.
arXiv (CS.AI) 2026-06-15

Hy-Embodied-0.5-VLA: From Vision-Language-Action Models to a Real-World Robot Learning Stack

arXiv:2606.14409v1 Announce Type: cross Abstract: In this report, we present Hy-Embodied-0.5-VLA, abbreviated as HyVLA-0.5, an end-to-end system that spans the full robot learning stack: data collection, model design, continued pre-training and supervised fine-tuning, RL post-training, and real-world deployment. Each component serves a distinct role in this stack.

21.
arXiv (CS.CL) 2026-06-11

SOMA-SQL: Resolving Multi-Source Ambiguity in NL-to-SQL via Synthetic Log and Execution Probing

Natural language interfaces to databases aim to translate user questions into executable SQL, yet remain brittle in real-world settings where questions are underspecified and schemas are large and ambiguous. Ambiguity across user questions, database schemas, and model interpretations are central failure modes in NL2SQL, leading to misaligned intent, incorrect schema grounding, and erroneous SQL generation. Existing approaches rely on human clarification or treat ambiguity as a schema representation problem, but these do not scale nor resolve ambiguity autonomously. We propose SOMA-SQL to automatically resolve ambiguity via targeted synthetic query log and ambiguity-driven probing. SOMA-SQL constructs synthetic query log to ground schema interpretation and guide candidate SQL generation; it then executes targeted probing queries, driven by a structured ambiguity taxonomy and candidate disagreements, to produce disambiguation evidence for final SQL selection and repair. This active approach to ambiguity discovery and resolution generalizes across unseen schemas and query distributions without human-in-the-loop. Experiments on six public benchmarks demonstrate that SOMA-SQL improves execution accuracy by 13.0% on average over state-of-the-art baselines, with gains of up to 16.7% on ambiguous questions.

22.
arXiv (CS.CV) 2026-06-12

PaLMR: Towards Faithful Visual Reasoning via Multimodal Process Alignment

Reinforcement learning has recently improved the reasoning ability of Large Language Models and Multimodal LLMs, yet prevailing reward designs emphasise final-answer correctness and consequently tolerate process hallucinations–cases where models reach the right answer while misperceiving visual evidence. We address this process-level misalignment with PaLMR, a framework that aligns not only outcomes but also the reasoning process itself. PaLMR comprises two complementary components: a perception-aligned data layer that constructs process-aware reasoning data with structured pseudo-ground-truths and verifiable visual facts, and a process-aligned optimisation layer that constructs a hierarchical reward fusion scheme with a process-aware scoring function to encourage visually faithful chains-of-thought and improve training stability. Experiments on Qwen2.5-VL-7B show that our approach substantially reduces reasoning hallucinations and improves visual reasoning fidelity, achieving state-of-the-art results on HallusionBench while maintaining strong performance on MMMU, MathVista, and MathVerse. These findings indicate that PaLMR offers a principled and practical route to process-aligned multimodal reasoning, advancing the reliability and interpretability of MLLMs.

23.
arXiv (CS.CV) 2026-06-25

Causal-rCM: A Unified Teacher-Forcing and Self-Forcing Open Recipe for Autoregressive Diffusion Distillation in Streaming Video Generation and Interactive World Models

Autoregressive video diffusion with causal diffusion transformers has emerged as a major paradigm for real-time streaming video generation and action-conditioned interactive world models. In this work, we extend rCM, an advanced diffusion distillation framework, to autoregressive video diffusion. The core philosophy of rCM lies in the complementarity between forward and reverse divergences, represented by consistency models (CMs) and distribution matching distillation (DMD), respectively, in diffusion distillation. This philosophy naturally carries over to the autoregressive setting, where teacher-forcing (TF) provides an offline, forward-divergence causal training paradigm, while self-forcing (SF) corresponds to an on-policy, reverse-divergence refinement. Our contributions are: (1) through extensive experiments, we show that teacher-forcing CM is currently the best complement to self-forcing DMD as an initialization strategy (2) we present the first implementation of teacher-forcing-based continuous-time CMs (e.g., sCM/MeanFlow) for autoregressive video diffusion, enabled by our custom-mask FlashAttention-2 JVP kernel, achieving 10$\times$ faster convergence compared to discrete-time CMs (dCMs) (3) we introduce Causal-rCM, a leading, unified, and scalable algorithm-infrastructure open recipe for diffusion distillation and causal training (4) we achieve state-of-the-art streaming video generation performance in both frame-wise and chunk-wise settings, using only synthetic data for training. Notably, our distilled 2-step causal Wan2.1-1.3B model achieves a VBench-T2V score of 84.63 with only 1 or 2 sampling steps. We further apply Causal-rCM to Cosmos 3, an advanced omnimodal world foundation model for physical AI with action-conditioned generation capability, enabling an interactive world model.

24.
arXiv (CS.CL) 2026-06-12

Learning to Reason by Analogy via Retrieval-Augmented Reinforcement Fine-Tuning

Retrieval-augmented generation (RAG) has become a standard mechanism for grounding language models in external knowledge, yet conventional retrieval based on lexical or semantic similarity is poorly suited for complex reasoning tasks: a semantically similar problem may demand an entirely different solution strategy, while a superficially different problem may share the same underlying reasoning pattern. We propose Retrieval-Augmented Reinforcement Fine-Tuning (RA-RFT), a post-training framework that teaches language models to reason by analogy. RA-RFT uses gold-relevance distillation to train a retriever that ranks contexts by expected reasoning benefit rather than semantic overlap, and then fine-tunes the policy model via reinforcement fine-tuning methods with retrieved analogous demonstrations, so the model learns to leverage reasoning traces under verifiable outcome rewards. We further analyze the diversity of retrieved contexts and find that reasoning-aware retrieval surfaces complementary solution strategies that provide distinct reasoning scaffolds for individual problems. Across challenging mathematical reasoning benchmarks, RA-RFT consistently outperforms standard reinforcement fine-tuning methods. For example, it improves AIME 2025 average@32 accuracy by 7.1 and 2.8 points over GRPO for Qwen3-1.7B and Qwen3-4B respectively – suggesting that reasoning-aware retrieval is a complementary axis of improvement and orthogonal to advances in reward design or training curricula.

25.
arXiv (CS.CL) 2026-06-11

ResearchClawBench: A Benchmark for End-to-End Autonomous Scientific Research

AI coding agents are increasingly used for scientific work, but their end-to-end autonomous research capability remains difficult to verify. We present ResearchClawBench, a benchmark for evaluating autonomous scientific research across 40 tasks from 10 scientific domains. Each task is grounded in a real published paper, provides related literature and raw data, and hides the target paper during evaluation. Expert-curated multimodal rubrics decompose the target scientific artifacts into weighted criteria, enabling evaluation of target-paper-level re-discovery while leaving room for new discovery. We evaluate seven autonomous research (auto-research) agents under a unified protocol and seventeen native LLMs through the lightweight ResearchHarness. Current systems remain far from reliable re-discovery: the strongest autonomous agent, Claude Code, averages 21.5, and the strongest ResearchHarness LLM, Claude-Opus-4.7, averages 20.7, with an LLM frontier mean of only 26.5. Error analysis shows that failures concentrate in experimental protocol mismatch, evidence mismatch, and missing scientific core. ResearchClawBench provides a reproducible evaluation frontier for measuring progress toward autonomous scientific research.