Daily Papers Arch&EAI

Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment. However, standard offline Supervised Fine-Tuning (SFT) suffers from distribution shifts and catastrophic forgetting of pre-trained capabilities, while online Reinforcement Learning (RL) struggles with sparse rewards and poor sample efficiency. In this paper, we propose On-Policy VLA Distillation (VLA-OPD), a framework bridging the efficiency of SFT with the robustness of RL. Instead of relying on sparse environmental rewards, VLA-OPD leverages an expert teacher to provide dense, token-level supervision on the student's self-generated trajectories. This enables active error correction on policy-induced states while preserving pre-trained general capabilities through gentle alignment. Crucially, we formulate VLA-OPD via a Reverse-KL objective. Unlike standard Forward-KL that induces mode-covering entropy explosion, or Hard-CE that causes premature entropy collapse, our bounded mode-seeking objective ensures stable policy learning by filtering out the teacher's epistemic uncertainty while maintaining action diversity. Experiments on LIBERO and RoboTwin2.0 benchmarks demonstrate that VLA-OPD significantly improves sample efficiency over RL and robustness over SFT, while effectively mitigating catastrophic forgetting during post-training.

Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment.

Quantum machine learning offers the ability to capture complex correlations in high-dimensional feature spaces, crucial for the challenge of detecting beyond the Standard Model physics in collider events, along with the potential for unprecedented computational efficiency in future quantum processors. Near-term utilization of these benefits can be achieved by developing quantum-inspired algorithms for deployment in classical hardware to enable applications at the "edge" of current scientific experiments. This work demonstrates the use of tensor networks for real-time anomaly detection in collider detectors. A spaced matrix product operator (SMPO) is developed that provides sensitivity to a variety beyond the Standard Model benchmarks, and can be implemented in field programmable gate array hardware with resources and latency consistent with trigger deployment. The cascaded SMPO architecture is introduced as an SMPO variation that affords greater flexibility and efficiency in ways that are key to edge applications in resource-constrained environments. These results reveal the benefit and near-term feasibility of deploying quantum-inspired ML in high energy colliders.

Quantum machine learning offers the ability to capture complex correlations in high-dimensional feature spaces, crucial for the challenge of detecting beyond the Standard Model physics in collider events, along with the potential for unprecedented computational efficiency in future quantum processors.

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead, suffer from temporal inconsistency and long-horizon error accumulation, and lack a mechanism to capture environment dynamics without extra modules. To this end, we present MMaDA-VLA, a fully native pre-trained large diffusion VLA model that unifies multi-modal understanding and generation in a single framework. Our key idea is a native discrete diffusion formulation that embeds language, images, and continuous robot controls into one discrete token space and trains a single backbone with masked token denoising to jointly generate a future goal observation and an action chunk in parallel. Iterative denoising enables global, order-free refinement, improving long-horizon consistency while grounding actions in predicted future visual outcomes without auxiliary world models. Experiments across simulation benchmarks and real-world tasks show state-of-the-art performance, achieving 98.0% average success on LIBERO and 4.78 average length on CALVIN.

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions.

Reproducible closed-loop evaluation remains a major bottleneck in Embodied AI such as visual navigation. A promising path forward is high-fidelity simulation that combines photorealistic sensor rendering with geometrically grounded interaction in complex, open-world urban environments. Although recent video-3DGS methods ease open-world scene capturing, they are still unsuitable for benchmarking due to large visual and geometric sim-to-real gaps. To address these challenges, we introduce Wanderland, a real-to-sim framework that features multi-sensor capture, reliable reconstruction, accurate geometry, and robust view synthesis. Using this pipeline, we curate a diverse dataset of indoor-outdoor urban scenes and systematically demonstrate how image-only pipelines scale poorly, how geometry quality impacts novel view synthesis, and how all of these adversely affect navigation policy learning and evaluation reliability. Beyond serving as a trusted testbed for embodied navigation, Wanderland's rich raw sensor data further allows benchmarking of 3D reconstruction and novel view synthesis models. Our work establishes a new foundation for reproducible research in open-world embodied AI. Project website is at https://ai4ce.github.io/wanderland/.

Reproducible closed-loop evaluation remains a major bottleneck in Embodied AI such as visual navigation.

Large language models (LLMs) achieve remarkable performance but demand substantial computational resources, limiting deployment on edge devices and resource-constrained environments. We present TernaryLM, a 132M-parameter transformer trained natively with ternary quantization {-1, 0, +1} (log2(3) ~ 1.58-bit effective precision), achieving significant memory reduction without sacrificing language modeling capability. Unlike post-training quantization approaches that quantize pre-trained full-precision models, TernaryLM learns quantization-aware representations from scratch using straight-through estimators and adaptive per-layer scaling factors. Our experiments demonstrate: (1) validation perplexity of 58.42 on TinyStories with a cross-seed standard deviation of +/- 0.17 PPL, confirming stable optimization; (2) strong downstream transfer with 82.47% F1 on MRPC, surpassing DistilBERT despite using 55x less pretraining data; (3) 2.4x memory reduction (498 MB vs 1,197 MB for an FP32 model of identical architecture) with latency parity; and (4) an implicit regularization effect whereby the ternary constraint yields a train/val ratio of 1.05x versus 3.51x for the FP32 baseline, demonstrating that discrete weights prevent overfitting on small corpora. We provide layer-wise sparsity analysis revealing that middle transformer layers (L5-L9) achieve 60-62% quantization sparsity versus 45-55% for boundary layers, establishing an actionable design principle for non-uniform precision allocation. Our implementation and trained models are publicly available at https://github.com/1nisharg/TernaryLM-Memory-Efficient-Language-Modeling.

Large language models (LLMs) achieve remarkable performance but demand substantial computational resources, limiting deployment on edge devices and resource-constrained environments.

On-device Vision-Language Models (VLMs) promise data privacy via local execution. However, we show that the architectural shift toward Dynamic High-Resolution preprocessing (e.g., AnyRes) introduces an inherent algorithmic side-channel. Unlike static models, dynamic preprocessing decomposes images into a variable number of patches based on their aspect ratio, creating workload-dependent inputs. We demonstrate a dual-layer attack framework against local VLMs. In Tier 1, an unprivileged attacker can exploit significant execution-time variations using standard unprivileged OS metrics to reliably fingerprint the input's geometry. In Tier 2, by profiling Last-Level Cache (LLC) contention, the attacker can resolve semantic ambiguity within identical geometries, distinguishing between visually dense (e.g., medical X-rays) and sparse (e.g., text documents) content. By evaluating state-of-the-art models such as LLaVA-NeXT and Qwen2-VL, we show that combining these signals enables reliable inference of privacy-sensitive contexts. Finally, we analyze the security engineering trade-offs of mitigating this vulnerability, reveal substantial performance overhead with constant-work padding, and propose practical design recommendations for secure Edge AI deployments.

On-device Vision-Language Models (VLMs) promise data privacy via local execution.

With the staggering increase of edge compute applications like Internet-of-Things (IoT) and artificial intelligence (AI), the demand for fast, energy-efficient on-chip memory is growing. While the fast and mature static random-access memory (SRAM) technology is the standard choice, its volatility requires a constant supply voltage to operate and store data. Especially in edge AI and IoT devices that often idle, the leakage power consumes a significant portion of the constrained power budget. For this, emerging non-volatile memory (NVM) technologies such as Resistive RAM and ferroelectric FET (FeFET) offer zero-standby power consumption but suffer from integration and performance tradeoffs. To harness the benefits of the different technologies, hybrid architectures have been proposed, combining SRAM with NVM devices. This work proposes a hybrid non-volatile SRAM (nvSRAM) architecture based on recently demonstrated PMOS FeFETs (p-FeFETs). By replacing the two PMOS pull-up transistors with p-FeFETs, we achieve non-volatility without additional transistors. The design supports seamless power-down and restore operation, thus eliminating standby leakage. SPICE simulations in a commercial 28 nm technology show read latency comparable to conventional SRAM, and on-silicon measurements show robust restore behavior. With this, we are the first to demonstrate a fabricated 6T nvSRAM cell design. The resulting cell achieves an area footprint of 99 $μm^2$. The read path remains identical to baseline SRAM, enabling high-speed operation while being non-volatile, making it ideal for IoT and edge systems.

With the staggering increase of edge compute applications like Internet-of-Things (IoT) and artificial intelligence (AI), the demand for fast, energy-efficient on-chip memory is growing.

The exponential increase in Machine Learning (ML) model size and complexity has driven unprecedented demand for high-performance acceleration systems. As technology scaling enables the integration of thousands of computing elements onto a single die, the boundary between distributed and on-chip systems has blurred, making efficient on-chip collective communication increasingly critical. In this work, we present a lightweight, collective-capable Network on Chip (NoC) that supports efficient barrier synchronization alongside scalable, high-bandwidth multicast and reduction operations, co-designed for the next generation of ML accelerators. We introduce Direct Compute Access (DCA), a novel paradigm that grants the interconnect fabric direct access to the cores' computational resources, enabling high-throughput in-network reductions with a small 16.5% router area overhead. Through in-network hardware acceleration, we achieve 2.9x and 2.5x geomean speedups on multicast and reduction operations involving between 1 and 32 KiB of data, respectively. Furthermore, by keeping communication off the critical path in GEMM workloads, these features allow our architecture to scale efficiently to large meshes, resulting in up to 3.8x and 2.4x estimated performance gains through multicast and reduction support, respectively, compared to a baseline unicast NoC architecture, and up to 1.17x estimated energy savings.

The exponential increase in Machine Learning (ML) model size and complexity has driven unprecedented demand for high-performance acceleration systems.

BACKGROUND: General aviation fleet expansion demands intelligent health monitoring under computational constraints. Real-world aircraft health diagnosis requires balancing accuracy with computational constraints under extreme class imbalance and environmental uncertainty. Existing end-to-end approaches suffer from the receptive field paradox: global attention introduces excessive operational heterogeneity noise for fine-grained fault classification, while localized constraints sacrifice critical cross-temporal context essential for anomaly detection. METHODS: This paper presents an AI-driven heterogeneous cascading architecture for general aviation health management. The proposed Long-Micro Scale Diagnostician (LMSD) explicitly decouples global anomaly detection (full-sequence attention) from micro-scale fault classification (restricted receptive fields), resolving the receptive field paradox while minimizing training overhead. A knowledge distillation-based interpretability module provides physically traceable explanations for safety-critical validation. RESULTS: Experiments on the public National General Aviation Flight Information Database (NGAFID) dataset (28,935 flights, 36 categories) demonstrate 4--8% improvement in safety-critical metrics (MCWPM) with 4.2 times training acceleration and 46% model compression compared to end-to-end baselines. CONCLUSIONS: The AI-driven heterogeneous architecture offers deployable solutions for aviation equipment health management, with potential for digital twin integration in future work. The proposed framework substantiates deployability in resource-constrained aviation environments while maintaining stringent safety requirements.

BACKGROUND: General aviation fleet expansion demands intelligent health monitoring under computational constraints.

Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics. Existing motion capture paradigms are compromised by a trade-off between temporal resolution and visual occlusion, failing to record the fine-grained hand motion of fast, contact-rich manipulation. Here we introduce T-800, a high-bandwidth data glove system that achieves synchronized, full-hand motion tracking at 800 Hz. By integrating a novel broadcast-based synchronization mechanism with a mechanical stress isolation architecture, our system maintains sub-frame temporal alignment across 18 distributed inertial measurement units (IMUs) during extended, vigorous movements. We demonstrate that T-800 recovers fine-grained manipulation details previously lost to temporal undersampling. Our analysis reveals that human dexterity exhibits significantly high-frequency motion energy (>100 Hz) that was fundamentally inaccessible due to the Nyquist sampling limit imposed by previous hardware constraints. To validate the system's utility for robotic manipulation, we implement a kinematic retargeting algorithm that maps T-800's high-fidelity human gestures onto dexterous robotic hand models. This demonstrates that the high-frequency motion data can be accurately translated while respecting the kinematic constraints of robotic hands, providing the rich behavioral data necessary for training robust control policies in the future.

Human dexterity relies on rapid, sub-second motor adjustments, yet capturing these high-frequency dynamics remains an enduring challenge in biomechanics and robotics.

In deployment of the VLA models to real-world robotic tasks, execution speed matters. In previous work arXiv:2510.26742 we analyze how to make neural computation of VLAs on GPU fast. However, we leave the question of how to actually deploy the VLA system on the real robots open. In this report we describe a set of practical techniques to achieve the end-to-end result of running a VLA-driven robot at an impressive speed in real world tasks that require both accuracy and dexterity. The stack of technology ranges across calibration, planning & control, and learning based method to identify optimal execution speed. In the tasks we show, the robot even executes in a speed on par with casual human operation and approaching the hardware limit of our lightweight arm. The unaccelerated videos and inference traces are provided in https://dexmal.github.io/realtime-vla-v2/.

In deployment of the VLA models to real-world robotic tasks, execution speed matters.

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods with auxiliary training objectives can improve performance and reduce the number of convergence steps. However, they typically incur significant computational overhead due to the additional losses from auxiliary tasks. To simultaneously achieve the enhanced capabilities of auxiliary training with the simplicity of standard SFT, we decouple the two objectives of auxiliary task training within the parameter space, namely, enhancing general capabilities and fitting task-specific action distributions. To deliver this goal, we only need to train the model to converge on a small-scale task set using two distinct training strategies. The difference between the resulting model parameters can then be interpreted as capability vectors provided by auxiliary tasks. These vectors are then merged with pretrained parameters to form a capability-enhanced meta model. Moreover, when standard SFT is augmented with a lightweight orthogonal regularization loss, the merged model attains performance comparable to auxiliary finetuned baselines with reduced computational overhead. Experimental results demonstrate that this approach is highly effective across diverse robot tasks. Project page: https://chris1220313648.github.io/Fast-dVLA/

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT).

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer actions directly from visual input but demand massive computational resources, extensive training data, and fail zero-shot in novel scenes. We present a unified image-space diffusion policy handling both meter-scale navigation and centimeter-scale manipulation via multi-scale feature modulation, with only 5 minutes of self-supervised data per task. Three key innovations drive the framework: (1) Multi-scale FiLM conditioning on task mode, depth scale, and spatial attention enables task-appropriate behavior in a single model; (2) trajectory-aligned depth prediction focuses metric 3D reasoning along generated waypoints; (3) self-supervised attention from AnyTraverse enables goal-directed inference without vision-language models and depth sensors. Operating purely from RGB input (2.0 GB memory, 10 Hz), the model achieves robust zero-shot generalization to novel scenes while remaining suitable for onboard deployment.

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design.

Vision--Language--Action (VLA) models that encode actions using a discrete tokenization scheme are increasingly adopted for robotic manipulation, but existing decoding paradigms remain fundamentally limited. Whether actions are decoded sequentially by autoregressive VLAs or in parallel by discrete diffusion VLAs, once a token is generated, it is typically fixed and cannot be revised in subsequent iterations, so early token errors cannot be effectively corrected later. We propose DFM-VLA, a discrete flow matching VLA for iterative refinement of action tokens. DFM-VLA~models a token-level probability velocity field that dynamically updates the full action sequence across refinement iterations. We investigate two ways to construct the velocity field: an auxiliary velocity-head formulation and an action-embedding-guided formulation. Our framework further adopts a two-stage decoding strategy with an iterative refinement stage followed by deterministic validation for stable convergence. Extensive experiments on CALVIN, LIBERO, and real-world manipulation tasks show that DFM-VLA consistently outperforms strong autoregressive, discrete diffusion, and continuous diffusion baselines in manipulation performance while retaining high inference efficiency. In particular, DFM-VLA achieves an average success length of 4.44 on CALVIN and an average success rate of 95.7\% on LIBERO, highlighting the value of action refinement via discrete flow matching for robotic manipulation. Our project is available \url{https://chris1220313648.github.io/DFM-VLA/}

Vision--Language--Action (VLA) models that encode actions using a discrete tokenization scheme are increasingly adopted for robotic manipulation, but existing decoding paradigms remain fundamentally limited.

Transformer-based reinforcement learning has emerged as a strong candidate for sequential control in residential energy management. In particular, the Decision Transformer can learn effective battery dispatch policies from historical data, thereby increasing photovoltaic self-consumption and reducing electricity costs. However, transformer models are typically too computationally demanding for deployment on resource-constrained residential controllers, where memory and latency constraints are critical. This paper investigates knowledge distillation to transfer the decision-making behaviour of high-capacity Decision Transformer policies to compact models that are more suitable for embedded deployment. Using the Ausgrid dataset, we train teacher models in an offline sequence-based Decision Transformer framework on heterogeneous multi-building data. We then distil smaller student models by matching the teachers' actions, thereby preserving control quality while reducing model size. Across a broad set of teacher-student configurations, distillation largely preserves control performance and even yields small improvements of up to 1%, while reducing the parameter count by up to 96%, the inference memory by up to 90%, and the inference time by up to 63%. Beyond these compression effects, comparable cost improvements are also observed when distilling into a student model of identical architectural capacity. Overall, our results show that knowledge distillation makes Decision Transformer control more applicable for residential energy management on resource-limited hardware.

Transformer-based reinforcement learning has emerged as a strong candidate for sequential control in residential energy management.

Video-based world models offer a powerful paradigm for embodied simulation and planning, yet state-of-the-art models often generate physically implausible manipulations - such as object penetration and anti-gravity motion - due to training on generic visual data and likelihood-based objectives that ignore physical laws. We present ABot-PhysWorld, a 14B Diffusion Transformer model that generates visually realistic, physically plausible, and action-controllable videos. Built on a curated dataset of three million manipulation clips with physics-aware annotation, it uses a novel DPO-based post-training framework with decoupled discriminators to suppress unphysical behaviors while preserving visual quality. A parallel context block enables precise spatial action injection for cross-embodiment control. To better evaluate generalization, we introduce EZSbench, the first training-independent embodied zero-shot benchmark combining real and synthetic unseen robot-task-scene combinations. It employs a decoupled protocol to separately assess physical realism and action alignment. ABot-PhysWorld achieves new state-of-the-art performance on PBench and EZSbench, surpassing Veo 3.1 and Sora v2 Pro in physical plausibility and trajectory consistency. We will release EZSbench to promote standardized evaluation in embodied video generation.

Video-based world models offer a powerful paradigm for embodied simulation and planning, yet state-of-the-art models often generate physically implausible manipulations - such as object penetration and anti-gravity motion - due to training on generic visual data and likelihood-based objectives that ignore physical laws.

While self-supervised learning (SSL) has revolutionized audio representation, the excessive parameterization and quadratic computational cost of standard Transformers limit their deployment on resource-constrained devices. To address this bottleneck, we propose HEAR (Human-inspired Efficient Audio Representation), a novel decoupled architecture. Inspired by the human cognitive ability to isolate local acoustic features from global context, HEAR splits the processing pipeline into two dedicated modules: an Acoustic Model for local feature extraction and a Task Model for global semantic integration. Coupled with an Acoustic Tokenizer trained via knowledge distillation, our approach enables robust Masked Audio Modeling (MAM). Extensive experiments demonstrate that HEAR requires only 15M parameters and 9.47 GFLOPs for inference, operating at a fraction of the computational cost of conventional foundation models (which typically require 85M-94M parameters). Despite this high efficiency, HEAR achieves highly competitive performance across diverse audio classification benchmarks. The code and pre-trained models are available at https://github.com/HarunoriKawano/HEAR

While self-supervised learning (SSL) has revolutionized audio representation, the excessive parameterization and quadratic computational cost of standard Transformers limit their deployment on resource-constrained devices.

Classical Amdahl's Law assumes a fixed decomposition between serial and parallel work and homogeneous replication; historically, it bounds how much parallel speedup is attainable. Modern systems instead combine specialized accelerators with programmable compute, tensor datapaths, and evolving pipelines, while empirical scaling laws shift which stages absorb marginal compute. The central tension is therefore not the serial-versus-parallel split alone, but resource allocation across heterogeneous hardware, given efficiency differences, and workload structures that determine how effectively additional compute can be converted into value. We reformulate Amdahl's Law for modern heterogeneous systems with scalable workloads. The analysis yields a finite collapse threshold: beyond a critical scalable fraction, specialization becomes suboptimal for any efficiency advantage of specialized hardware over programmable compute, and optimal specialized investment falls to zero, a phase transition rather than an asymptotic tail. We use this framework to interpret increasing GPU programmability and why domain-specific AI accelerators have not displaced GPUs.

Classical Amdahl's Law assumes a fixed decomposition between serial and parallel work and homogeneous replication; historically, it bounds how much parallel speedup is attainable.

Despite the promise of Vision-Language-Action (VLA) models as generalist robotic controllers, their robustness against perceptual noise and environmental variations in out-of-distribution (OOD) tasks remains fundamentally limited by the absence of long-term memory, causal failure attribution, and dynamic intervention capability. To address this, we propose SOMA, a Strategic Orchestration and Memory-Augmented System that upgrades frozen VLA policies for robust in-context adaptation without parameter fine-tuning. Specifically, SOMA operates through an online pipeline of contrastive Dual-Memory Retrieval-Augmented Generation (RAG), an Attribution-Driven Large-Language-Model (LLM) Orchestrator, and extensible Model Context Protocol (MCP) interventions, while an offline Memory Consolidation module continuously distills the execution traces into reliable priors. Experimental evaluations across three backbone models (pi0, pi0.5, and SmolVLA) on LIBERO-PRO and our proposed LIBERO-SOMA benchmarks demonstrate that SOMA achieves an average absolute success rate gain of 56.6%. This includes a significant absolute improvement of 89.1% in long-horizon task chaining. Project page and source code are available at: https://github.com/LZY-1021/SOMA.

Despite the promise of Vision-Language-Action (VLA) models as generalist robotic controllers, their robustness against perceptual noise and environmental variations in out-of-distribution (OOD) tasks remains fundamentally limited by the absence of long-term memory, causal failure attribution, and dynamic intervention capability.

Navigating to a visually specified goal given natural language instructions remains a fundamental challenge in embodied AI. Existing approaches either rely on reactive policies that struggle with long-horizon planning, or employ world models that suffer from poor action initialization in high-dimensional spaces. We present PiJEPA, a two-stage framework that combines the strengths of learned navigation policies with latent world model planning for instruction-conditioned visual navigation. In the first stage, we finetune an Octo-based generalist policy, augmented with a frozen pretrained vision encoder (DINOv2 or V-JEPA-2), on the CAST navigation dataset to produce an informed action distribution conditioned on the current observation and language instruction. In the second stage, we use this policy-derived distribution to warm-start Model Predictive Path Integral (MPPI) planning over a separately trained JEPA world model, which predicts future latent states in the embedding space of the same frozen encoder. By initializing the MPPI sampling distribution from the policy prior rather than from an uninformed Gaussian, our planner converges faster to high-quality action sequences that reach the goal. We systematically study the effect of the vision encoder backbone, comparing DINOv2 and V-JEPA-2, across both the policy and world model components. Experiments on real-world navigation tasks demonstrate that PiJEPA significantly outperforms both standalone policy execution and uninformed world model planning, achieving improved goal-reaching accuracy and instruction-following fidelity.

Navigating to a visually specified goal given natural language instructions remains a fundamental challenge in embodied AI.

Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, traditional neuro-symbolic methods rely heavily on hand-crafted symbolic priors. To address the issue, we introduce ENAP (Emergent Neural Automaton Policy), a framework that allows a bi-level neuro-symbolic policy adaptively emerge from visuomotor demonstrations. Specifically, we first employ adaptive clustering and an extension of the L* algorithm to infer a Mealy state machine from visuomotor data, which serves as an interpretable high-level planner capturing latent task modes. Then, this discrete structure guides a low-level reactive residual network to learn precise continuous control via behavior cloning (BC). By explicitly modeling the task structure with discrete transitions and continuous residuals, ENAP achieves high sample efficiency and interpretability without requiring task-specific labels. Extensive experiments on complex manipulation and long-horizon tasks demonstrate that ENAP outperforms state-of-the-art (SoTA) end-to-end VLA policies by up to 27% in low-data regimes, while offering a structured representation of robotic intent (Fig. 1).

Scaling robot learning to long-horizon tasks remains a formidable challenge.

Human driving behavior is inherently personal, which is shaped by long-term habits and influenced by short-term intentions. Individuals differ in how they accelerate, brake, merge, yield, and overtake across diverse situations. However, existing end-to-end autonomous driving systems either optimize for generic objectives or rely on fixed driving modes, lacking the ability to adapt to individual preferences or interpret natural language intent. To address this gap, we propose Drive My Way (DMW), a personalized Vision-Language-Action (VLA) driving framework that aligns with users' long-term driving habits and adapts to real-time user instructions. DMW learns a user embedding from our personalized driving dataset collected across multiple real drivers and conditions the policy on this embedding during planning, while natural language instructions provide additional short-term guidance. Closed-loop evaluation on the Bench2Drive benchmark demonstrates that DMW improves style instruction adaptation, and user studies show that its generated behaviors are recognizable as each driver's own style, highlighting personalization as a key capability for human-centered autonomous driving. Our data and code are available at https://dmw-cvpr.github.io/.

Human driving behavior is inherently personal, which is shaped by long-term habits and influenced by short-term intentions.

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost required. Simulation and synthetic data generation have proven to be an effective alternative to fuel this need for data, especially with the advent of recent work showing that such synthetic datasets can dramatically reduce real-world data requirements and facilitate generalization to novel scenarios unseen in real-world demonstrations. However, this paradigm has been limited to rigid-body tasks, which are easy to simulate. Deformable object manipulation encompasses a large portion of real-world manipulation and remains a crucial gap to address towards increasing adoption of the synthetic simulation data paradigm. In this paper, we introduce SoftMimicGen, an automated data generation pipeline for deformable object manipulation tasks. We introduce a suite of high-fidelity simulation environments that encompasses a wide range of deformable objects (stuffed animal, rope, tissue, towel) and manipulation behaviors (high-precision threading, dynamic whipping, folding, pick-and-place), across four robot embodiments: a single-arm manipulator, bimanual arms, a humanoid, and a surgical robot. We apply SoftMimicGen to generate datasets across the task suite, train high-performing policies from the data, and systematically analyze the data generation system. Project website: \href{https://softmimicgen.github.io}{softmimicgen.github.io}.

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost required.

Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack of motion planning algorithms that can provide verifiable guarantees for safety, efficiency and reliability. To address this, a family of algorithms called Constant-Time Motion Planning (CTMP) was introduced, which leverages a preprocessing phase to enable collision-free motion queries in a fixed, user-specified time budget (e.g., 10 milliseconds). However, existing CTMP methods do not explicitly incorporate the manipulation behaviors essential for object handling. To bridge this gap, we introduce the \textit{Behavioral Constant-Time Motion Planner} (B-CTMP), an algorithm that extends CTMP to solve a broad class of two-step manipulation tasks: (1) a collision-free motion to a behavior initiation state, followed by (2) execution of a manipulation behavior (such as grasping or insertion) to reach the goal. By precomputing compact data structures, B-CTMP guarantees constant-time query in mere milliseconds while ensuring completeness and successful task execution over a specified set of states. We evaluate B-CTMP on two canonical manipulation tasks, shelf picking and plug insertion, in simulation and on a real robot. Our results show that B-CTMP unifies collision-free planning and object manipulation within a single constant-time framework, providing provable guarantees of speed and success for manipulation in semi-structured environments.

Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines.

Learning motor control for muscle-driven musculoskeletal models is hindered by the computational cost of biomechanically accurate simulation and the scarcity of validated, open full-body models. Here we present MuscleMimic, an open-source framework for scalable motion imitation learning with physiologically realistic, muscle-actuated humanoids. MuscleMimic provides two validated musculoskeletal embodiments - a fixed-root upper-body model (126 muscles) for bimanual manipulation and a full-body model (416 muscles) for locomotion - together with a retargeting pipeline that maps SMPL-format motion capture data onto musculoskeletal structures while preserving kinematic and dynamic consistency. Leveraging massively parallel GPU simulation, the framework achieves order-of-magnitude training speedups over prior CPU-based approaches while maintaining comprehensive collision handling, enabling a single generalist policy to be trained on hundreds of diverse motions within days. The resulting policy faithfully reproduces a broad repertoire of human movements under full muscular control and can be fine-tuned to novel motions within hours. Biomechanical validation against experimental walking and running data demonstrates strong agreement in joint kinematics (mean correlation r = 0.90), while muscle activation analysis reveals both the promise and fundamental challenges of achieving physiological fidelity through kinematic imitation alone. By lowering the computational and data barriers to musculoskeletal simulation, MuscleMimic enables systematic model validation across diverse dynamic movements and broader participation in neuromuscular control research. Code, models, checkpoints, and retargeted datasets are available at: https://github.com/amathislab/musclemimic

Learning motor control for muscle-driven musculoskeletal models is hindered by the computational cost of biomechanically accurate simulation and the scarcity of validated, open full-body models.

Vision-and-Language Navigation (VLN) requires agents to follow long-horizon instructions and navigate complex 3D environments. However, existing approaches face two major challenges: constructing an effective long-term memory bank and overcoming the compounding errors problem. To address these issues, we propose DecoVLN, an effective framework designed for robust streaming perception and closed-loop control in long-horizon navigation. First, we formulate long-term memory construction as an optimization problem and introduce adaptive refinement mechanism that selects frames from a historical candidate pool by iteratively optimizing a unified scoring function. This function jointly balances three key criteria: semantic relevance to the instruction, visual diversity from the selected memory, and temporal coverage of the historical trajectory. Second, to alleviate compounding errors, we introduce a state-action pair-level corrective finetuning strategy. By leveraging geodesic distance between states to precisely quantify deviation from the expert trajectory, the agent collects high-quality state-action pairs in the trusted region while filtering out the polluted data with low relevance. This improves both the efficiency and stability of error correction. Extensive experiments demonstrate the effectiveness of DecoVLN, and we have deployed it in real-world environments.

Vision-and-Language Navigation (VLN) requires agents to follow long-horizon instructions and navigate complex 3D environments.

Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioception. However, Reinforcement Learning agents struggle to learn in such multisensory settings, especially amidst sensory noise and dynamic changes. We propose MultiSensory Dynamic Pretraining (MSDP), a novel framework for learning expressive multisensory representations tailored for task-oriented policy learning. MSDP is based on masked autoencoding and trains a transformer-based encoder by reconstructing multisensory observations from only a subset of sensor embeddings, leading to cross-modal prediction and sensor fusion. For downstream policy learning, we introduce a novel asymmetric architecture, where a cross-attention mechanism allows the critic to extract dynamic, task-specific features from the frozen embeddings, while the actor receives a stable pooled representation to guide its actions. Our method demonstrates accelerated learning and robust performance under diverse perturbations, including sensor noise, and changes in object dynamics. Evaluations in multiple challenging, contact-rich robot manipulation tasks in simulation and the real world showcase the effectiveness of MSDP. Our approach exhibits strong robustness to perturbations and achieves high success rates on the real robot with as few as 6,000 online interactions, offering a simple yet powerful solution for complex multisensory robotic control. Website: https://msdp-pearl.github.io/

Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioception.

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language. This interdisciplinary area integrates scene understanding, language processing, and policy learning to bridge the gap between human instructions and robot actions. In this comprehensive survey, we systematically explore recent advancements in language-conditioned robot manipulation. We categorize existing methods based on the primary ways language is integrated into the robot system, namely language for state evaluation, language as a policy condition, language for cognitive planning and reasoning, and language in unified vision-language-action models. Specifically, we further analyze state-of-the-art techniques from five axes of action granularity, data and supervision regimes, system cost and latency, environments and evaluations, and cross-modal task specification. Additionally, we highlight the key debates in the field. Finally, we discuss open challenges and future research directions, focusing on potentially enhancing generalization capabilities and addressing safety issues in language-conditioned robot manipulators.

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.

As the Web transitions from static retrieval to generative interaction, the escalating environmental footprint of Large Language Models (LLMs) presents a critical sustainability challenge. Current paradigms indiscriminately apply computation-intensive strategies like Chain-of-Thought (CoT) to billions of daily queries, causing LLM overthinking, a redundancy that amplifies carbon emissions and operational barriers. This inefficiency directly undermines UN Sustainable Development Goals 13 (Climate Action) and 10 (Reduced Inequalities) by hindering equitable AI access in resource-constrained regions. To address this, we introduce EcoThink, an energy-aware adaptive inference framework designed to reconcile high-performance AI intelligence with environmental responsibility. EcoThink employs a lightweight, distillation-based router to dynamically assess query complexity, skipping unnecessary reasoning for factoid retrieval while reserving deep computation for complex logic. Extensive evaluations across 9 diverse benchmarks demonstrate that EcoThink reduces inference energy by 40.4% on average (up to 81.9% for web knowledge retrieval) without statistically significant performance loss. By mitigating algorithmic waste, EcoThink offers a scalable path toward a sustainable, inclusive, and energy-efficient generative AI Agent.

As the Web transitions from static retrieval to generative interaction, the escalating environmental footprint of Large Language Models (LLMs) presents a critical sustainability challenge.

We address language-conditioned robotic manipulation using flow-based trajectory generation, which enables training on human and web videos of object manipulation and requires only minimal embodiment-specific data. This task is challenging, as object trajectory generation from pre-manipulation images and natural language instructions requires appropriate instruction-flow alignment. To tackle this challenge, we propose the flow-based Language Instruction-guided open-Loop ACtion generator (LILAC). This flow-based Vision-Language-Action model (VLA) generates object-centric 2D optical flow from an RGB image and a natural language instruction, and converts the flow into a 6-DoF manipulator trajectory. LILAC incorporates two key components: Semantic Alignment Loss, which strengthens language conditioning to generate instruction-aligned optical flow, and Prompt-Conditioned Cross-Modal Adapter, which aligns learned visual prompts with image and text features to provide rich cues for flow generation. Experimentally, our method outperformed existing approaches in generated flow quality across multiple benchmarks. Furthermore, in physical object manipulation experiments using free-form instructions, LILAC demonstrated a superior task success rate compared to existing methods. The project page is available at https://lilac-75srg.kinsta.page/.

We address language-conditioned robotic manipulation using flow-based trajectory generation, which enables training on human and web videos of object manipulation and requires only minimal embodiment-specific data.