Showing 1–50 of 121 results for author: Ni, C

VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis

Authors: Xiaolei Lang, Yang Wang, Yukun Zhou, Chaojun Ni, Kerui Li, Jiagang Zhu, Tianze Liu, Jiajun Lv, Xingxing Zuo, Yun Ye, Guan Huang, Xiaofeng Wang, Zheng Zhu

Abstract: Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling these systems remains difficult because collecting task-specific demonstrations is expensive and labor-intensive. Synthetic data, especially generated videos, offer a promising direction, but existing World Models (WMs) ar… ▽ More Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling these systems remains difficult because collecting task-specific demonstrations is expensive and labor-intensive. Synthetic data, especially generated videos, offer a promising direction, but existing World Models (WMs) are not directly suitable for policy learning since they do not provide paired action trajectories. World-Action (WA) models partially address this by predicting actions with visual outputs, yet often lack strong video-action alignment, while two-stage pipelines that generate video first and then infer actions introduce inefficiency and error accumulation. To address these limitations, we propose VAG, a unified flow-matching-based dual-stream framework that jointly generates video and action under visual and language conditioning. By synchronizing denoising in both branches and using an adaptive 3D pooling mechanism to transfer compact global video context to the action branch, VAG improves cross-modal consistency during generation. Across both simulated and real-world settings, VAG produces aligned video-action pairs with competitive prediction quality, supports executable trajectory replay, and provides useful synthetic pretraining data that improves downstream policy generalization, indicating its potential as a practical world-action model for embodied data synthesis. △ Less

Submitted 10 April, 2026; originally announced April 2026.

ViVa: A Video-Generative Value Model for Robot Reinforcement Learning

Authors: Jindi Lv, Hao Li, Jie Li, Yifei Nie, Fankun Kong, Yang Wang, Xiaofeng Wang, Zheng Zhu, Chaojun Ni, Qiuping Deng, Hengtao Li, Jiancheng Lv, Guan Huang

Abstract: Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via value functions, which assess task progress and guide policy improvement. However, existing value models built on vision-language models (VLMs) struggle to cap… ▽ More Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via value functions, which assess task progress and guide policy improvement. However, existing value models built on vision-language models (VLMs) struggle to capture temporal dynamics, undermining reliable value estimation in long-horizon tasks. In this paper, we propose ViVa, a video-generative value model that repurposes a pretrained video generator for value estimation. Taking the current observation and robot proprioception as input, ViVa jointly predicts future proprioception and a scalar value for the current state. By leveraging the spatiotemporal priors of a pretrained video generator, our approach grounds value estimation in anticipated embodiment dynamics, moving beyond static snapshots to intrinsically couple value with foresight. Integrated into RECAP, ViVa delivers substantial improvements on real-world box assembly. Qualitative analysis across all three tasks confirms that ViVa produces more reliable value signals, accurately reflecting task progress. By leveraging spatiotemporal priors from video corpora, ViVa also generalizes to novel objects, highlighting the promise of video-generative models for value estimation. △ Less

Submitted 9 April, 2026; originally announced April 2026.

ReconPhys: Reconstruct Appearance and Physical Attributes from Single Video

Authors: Boyuan Wang, Xiaofeng Wang, Yongkang Li, Zheng Zhu, Yifan Chang, Angen Ye, Guosheng Zhao, Chaojun Ni, Guan Huang, Yijie Ren, Yueqi Duan, Xingang Wang

Abstract: Reconstructing non-rigid objects with physical plausibility remains a significant challenge. Existing approaches leverage differentiable rendering for per-scene optimization, recovering geometry and dynamics but requiring expensive tuning or manual annotation, which limits practicality and generalizability. To address this, we propose ReconPhys, the first feedforward framework that jointly learns… ▽ More Reconstructing non-rigid objects with physical plausibility remains a significant challenge. Existing approaches leverage differentiable rendering for per-scene optimization, recovering geometry and dynamics but requiring expensive tuning or manual annotation, which limits practicality and generalizability. To address this, we propose ReconPhys, the first feedforward framework that jointly learns physical attribute estimation and 3D Gaussian Splatting reconstruction from a single monocular video. Our method employs a dual-branch architecture trained via a self-supervised strategy, eliminating the need for ground-truth physics labels. Given a video sequence, ReconPhys simultaneously infers geometry, appearance, and physical attributes. Experiments on a large-scale synthetic dataset demonstrate superior performance: our method achieves 21.64 PSNR in future prediction compared to 13.27 by state-of-the-art optimization baselines, while reducing Chamfer Distance from 0.349 to 0.004. Crucially, ReconPhys enables fast inference (<1 second) versus hours required by existing methods, facilitating rapid generation of simulation-ready assets for robotics and graphics. △ Less

Submitted 9 April, 2026; originally announced April 2026.

Disentangling Prompt Element Level Risk Factors for Hallucinations and Omissions in Mental Health LLM Responses

Authors: Congning Ni, Sarvech Qadir, Bryan Steitz, Mihir Sachin Vaidya, Qingyuan Song, Lantian Xia, Shelagh Mulvaney, Siru Liu, Hyeyoung Ryu, Leah Hecht, Amy Bucher, Christopher Symons, Laurie Novak, Susannah L. Rose, Murat Kantarcioglu, Bradley Malin, Zhijun Yin

Abstract: Mental health concerns are often expressed outside clinical settings, including in high-distress help seeking, where safety-critical guidance may be needed. Consumer health informatics systems increasingly incorporate large language models (LLMs) for mental health question answering, yet many evaluations underrepresent narrative, high-distress inquiries. We introduce UTCO (User, Topic, Context, To… ▽ More Mental health concerns are often expressed outside clinical settings, including in high-distress help seeking, where safety-critical guidance may be needed. Consumer health informatics systems increasingly incorporate large language models (LLMs) for mental health question answering, yet many evaluations underrepresent narrative, high-distress inquiries. We introduce UTCO (User, Topic, Context, Tone), a prompt construction framework that represents an inquiry as four controllable elements for systematic stress testing. Using 2,075 UTCO-generated prompts, we evaluated Llama 3.3 and annotated hallucinations (fabricated or incorrect clinical content) and omissions (missing clinically necessary or safety-critical guidance). Hallucinations occurred in 6.5% of responses and omissions in 13.2%, with omissions concentrated in crisis and suicidal ideation prompts. Across regression, element-specific matching, and similarity-matched comparisons, failures were most consistently associated with context and tone, while user-background indicators showed no systematic differences after balancing. These findings support evaluating omissions as a primary safety outcome and moving beyond static benchmark question sets. △ Less

Submitted 10 March, 2026; originally announced April 2026.

Comments: Submitted to AMIA 2026 Annual Symposium (under review)

Let the Abyss Stare Back Adaptive Falsification for Autonomous Scientific Discovery

Authors: Peiran Li, Fangzhou Lin, Shuo Xing, Jiashuo Sun, Dylan Zhang, Siyuan Yang, Chaoqun Ni, Zhengzhong Tu

Abstract: Autonomous scientific discovery is entering a more dangerous regime: once the evaluator is frozen, a sufficiently strong search process can learn to win the exam without learning the mechanism the task was meant to reveal. This is the idea behind our title. To let the abyss stare back is to make evaluation actively push against the candidate through adaptive falsification, rather than passively ce… ▽ More Autonomous scientific discovery is entering a more dangerous regime: once the evaluator is frozen, a sufficiently strong search process can learn to win the exam without learning the mechanism the task was meant to reveal. This is the idea behind our title. To let the abyss stare back is to make evaluation actively push against the candidate through adaptive falsification, rather than passively certify it through static validation. We introduce DASES, a falsification-driven framework in which an Innovator, an Abyss Falsifier, and a Mechanistic Causal Extractor co-evolve executable scientific artifacts and scientifically admissible counterexample environments under a fixed scientific contract. In a controlled loss-discovery problem with a single editable locus, DASES rejects artifacts that static validation would have accepted, identifies the first candidate that survives the admissible falsification frontier, and discovers FNG-CE, a loss that transfers beyond the synthetic discovery environment and consistently outperforms CE and CE+L2 under controlled comparisons across standard benchmarks, including ImageNet. △ Less

Submitted 30 March, 2026; originally announced March 2026.

Comments: 15 pages, 1 figures, 4 tables

GigaWorld-Policy: An Efficient Action-Centered World--Action Model

Authors: Angen Ye, Boyuan Wang, Chaojun Ni, Guan Huang, Guosheng Zhao, Hao Li, Hengtao Li, Jie Li, Jindi Lv, Jingyu Liu, Min Cao, Peng Li, Qiuping Deng, Wenjun Mei, Xiaofeng Wang, Xinze Chen, Xinyu Zhou, Yang Wang, Yifan Chang, Yifan Li, Yukun Zhou, Yun Ye, Zhichao Liu, Zheng Zhu

Abstract: World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and deployment. First, jointly reasoning over future visual dynamics and corresponding actions incurs substantial inference overhead. Second, joint modeling often entang… ▽ More World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and deployment. First, jointly reasoning over future visual dynamics and corresponding actions incurs substantial inference overhead. Second, joint modeling often entangles visual and motion representations, making motion prediction accuracy heavily dependent on the quality of future video forecasts. To address these issues, we introduce GigaWorld-Policy, an action-centered WAM that learns 2D pixel-action dynamics while enabling efficient action decoding, with optional video generation. Specifically, we formulate policy training into two coupled components: the model predicts future action sequences conditioned on the current observation, and simultaneously generates future videos conditioned on the predicted actions and the same observation. The policy is supervised by both action prediction and video generation, providing richer learning signals and encouraging physically plausible actions through visual-dynamics constraints. With a causal design that prevents future-video tokens from influencing action tokens, explicit future-video generation is optional at inference time, allowing faster action prediction during deployment. To support this paradigm, we curate a diverse, large-scale robot dataset to pre-train an action-centered video generation model, which is then adapted as the backbone for robot policy learning. Experimental results on real-world robotic platforms show that GigaWorld-Policy runs 9x faster than the leading WAM baseline, Motus, while improving task success rates by 7%. Moreover, compared with pi-0.5, GigaWorld-Policy improves performance by 95% on RoboTwin 2.0. △ Less

Submitted 21 March, 2026; v1 submitted 17 March, 2026; originally announced March 2026.

Comments: Added references

VERI-DPO: Evidence-Aware Alignment for Clinical Summarization via Claim Verification and Direct Preference Optimization

Authors: Weixin Liu, Congning Ni, Qingyuan Song, Susannah L. Rose, Christopher Symons, Murat Kantarcioglu, Bradley A. Malin, Zhijun Yin

Abstract: Brief Hospital Course (BHC) narratives must be clinically useful yet faithful to fragmented EHR evidence. LLM-based clinical summarizers still introduce unsupported statements, and alignment can encourage omissions ("say-less" degeneration). We introduce VERI-DPO, which uses claim verification to mine preferences and distill them into the summarizer with Direct Preference Optimization (DPO). On MI… ▽ More Brief Hospital Course (BHC) narratives must be clinically useful yet faithful to fragmented EHR evidence. LLM-based clinical summarizers still introduce unsupported statements, and alignment can encourage omissions ("say-less" degeneration). We introduce VERI-DPO, which uses claim verification to mine preferences and distill them into the summarizer with Direct Preference Optimization (DPO). On MIMIC-III-Ext-VeriFact-BHC (100 ICU patients; patient-level splits), we train a retrieval-augmented verifier to label claim-evidence pairs as Supported, Not Supported, or Not Addressed via a single-token format. The verifier scores sentence-level claims from sampled BHC candidates and aggregates margins into a coverage-aware utility to mine length-controlled, contradiction-anchored preference pairs. On held-out patients, verifier-mined preferences separate candidates by contradiction density, and VERI-DPO reduces Not Supported claim rates from 10.7% to 1.9% (local verifier judge) and from 11.6% to 6.4% (GPT-4o judge), while improving validity from 76.7% to 82.5% and maintaining informative length. △ Less

Submitted 11 March, 2026; originally announced March 2026.

Comments: Paper submitted to AMIA 2026 Annual Symposium

Learning When to Sample: Confidence-Aware Self-Consistency for Efficient LLM Chain-of-Thought Reasoning

Authors: Juming Xiong, Kevin Guo, Congning Ni, Chao Yan, Katherine Brown, Avinash Baidya, Xiang Gao, Bradley Malin, Zhijun Yin

Abstract: Large language models (LLMs) achieve strong reasoning performance through chain-of-thought (CoT) reasoning, yet often generate unnecessarily long reasoning paths that incur high inference cost. Recent self-consistency-based approaches further improve accuracy but require sampling and aggregating multiple reasoning trajectories, leading to substantial additional computational overhead. This paper i… ▽ More Large language models (LLMs) achieve strong reasoning performance through chain-of-thought (CoT) reasoning, yet often generate unnecessarily long reasoning paths that incur high inference cost. Recent self-consistency-based approaches further improve accuracy but require sampling and aggregating multiple reasoning trajectories, leading to substantial additional computational overhead. This paper introduces a confidence-aware decision framework that analyzes a single completed reasoning trajectory to adaptively select between single-path and multi-path reasoning. The framework is trained using sentence-level numeric and linguistic features extracted from intermediate reasoning states in the MedQA dataset and generalizes effectively to MathQA, MedMCQA, and MMLU without additional fine-tuning. Experimental results show that the proposed method maintains accuracy comparable to multi-path baselines while using up to 80\% fewer tokens. These findings demonstrate that reasoning trajectories contain rich signals for uncertainty estimation, enabling a simple, transferable mechanism to balance accuracy and efficiency in LLM reasoning. △ Less

Submitted 17 March, 2026; v1 submitted 9 March, 2026; originally announced March 2026.

Traversal-as-Policy: Log-Distilled Gated Behavior Trees as Externalized, Verifiable Policies for Safe, Robust, and Efficient Agents

Authors: Peiran Li, Jiashuo Sun, Fangzhou Lin, Shuo Xing, Tianfu Fu, Suofei Feng, Chaoqun Ni, Zhengzhong Tu

Abstract: Autonomous LLM agents fail because long-horizon policy remains implicit in model weights and transcripts, while safety is retrofitted post hoc. We propose Traversal-as-Policy: distill sandboxed OpenHands execution logs into a single executable Gated Behavior Tree (GBT) and treat tree traversal -- rather than unconstrained generation -- as the control policy whenever a task is in coverage. Each nod… ▽ More Autonomous LLM agents fail because long-horizon policy remains implicit in model weights and transcripts, while safety is retrofitted post hoc. We propose Traversal-as-Policy: distill sandboxed OpenHands execution logs into a single executable Gated Behavior Tree (GBT) and treat tree traversal -- rather than unconstrained generation -- as the control policy whenever a task is in coverage. Each node encodes a state-conditioned action macro mined and merge-checked from successful trajectories; macros implicated by unsafe traces attach deterministic pre-execution gates over structured tool context and bounded history, updated under experience-grounded monotonicity so previously rejected unsafe contexts cannot be re-admitted. At runtime, a lightweight traverser matches the base model's intent to child macros, executes one macro at a time under global and node-local gating, and when stalled performs risk-aware shortest-path recovery to a feasible success leaf; the visited path forms a compact spine memory that replaces transcript replay. Evaluated in a unified OpenHands sandbox on 15+ software, web, reasoning, and safety/security benchmarks, GBT improves success while driving violations toward zero and reducing cost. On SWE-bench Verified (Protocol A, 500 issues), GBT-SE raises success from 34.6% to 73.6%, reduces violations from 2.8% to 0.2%, and cuts token/character usage from 208k/820k to 126k/490k; with the same distilled tree, 8B executors more than double success on SWE-bench Verified (14.0%58.8%) and WebArena (9.1%37.3%). △ Less

Submitted 30 January, 2026; originally announced March 2026.

Comments: 30 pages, 1 figurres, 23 tables

Revisiting Global Token Mixing in Task-Dependent MRI Restoration: Insights from Minimal Gated CNN Baselines

Authors: Xiangjian Hou, Chao Qin, Chang Ni, Xin Wang, Chun Yuan, Xiaodong Ma

Abstract: Global token mixing, implemented via self-attention or state-space sequence models, has become a popular model design choice for MRI restoration. However, MRI restoration tasks differ substantially in how their degradations vary over image and k-space domains, and in the degree to which global coupling is already imposed by physics-driven data consistency terms. In this work, we ask the question w… ▽ More Global token mixing, implemented via self-attention or state-space sequence models, has become a popular model design choice for MRI restoration. However, MRI restoration tasks differ substantially in how their degradations vary over image and k-space domains, and in the degree to which global coupling is already imposed by physics-driven data consistency terms. In this work, we ask the question whether global token mixing is actually beneficial in each individual task across three representative settings: accelerated MRI reconstruction with explicit data consistency, MRI super-resolution with k-space center cropping, and denoising of clinical carotid MRI data with spatially heteroscedastic noise. To reduce confounding factors, we establish a controlled testbed comparing a minimal local gated CNN and its large-field variant, benchmarking them directly against state-of-the-art global models under aligned training and evaluation protocols. For accelerated MRI reconstruction, the minimal unrolled gated-CNN baseline is already highly competitive compared to recent token-mixing approaches in public reconstruction benchmarks, suggesting limited additional benefits when the forward model and data-consistency steps provide strong global constraints. For super-resolution, where low-frequency k-space data are largely preserved by the controlled low-pass degradation, local gated models remain competitive, and a lightweight large-field variant yields only modest improvements. In contrast, for denoising with pronounced spatially heteroscedastic noise, token-mixing models achieve the strongest overall performance, consistent with the need to estimate spatially varying reliability. In conclusion, our results demonstrate that the utility of global token mixing in MRI restoration is task-dependent, and it should be tailored to the underlying imaging physics and degradation structure. △ Less

Submitted 1 March, 2026; originally announced March 2026.

Playsemble: Learning Low-Level Programming Through Interactive Games

Authors: Elliott Wen, Paul Denny, Andrew Luxton-Reilly, Sean Ma, Bruce Sham, Chenye Ni, Jun Seo, Yu Yang

Abstract: Teaching assembly programming is a fundamental component of undergraduate computer science education, yet many students struggle with its abstract and low-level concepts. Existing learning tools, such as simulators and visualisers, support understanding by exposing machine states. However, they often limit students to passive observation and provide few opportunities for meaningful interaction. To… ▽ More Teaching assembly programming is a fundamental component of undergraduate computer science education, yet many students struggle with its abstract and low-level concepts. Existing learning tools, such as simulators and visualisers, support understanding by exposing machine states. However, they often limit students to passive observation and provide few opportunities for meaningful interaction. To address these limitations, we introduce Playsemble, a gamified learning system that transforms assembly instructions into interactive, game-like tasks in which students control Pac-Man to collect items, avoid ghosts, and reach targets. Playsemble integrates a code editor, a CPU emulator, and visual debugging tools within a browser-based environment, allowing students to work offline without installation or configuration. It also provides immediate formative feedback enhanced by large language models. We deployed Playsemble in an undergraduate computer architecture course with 107 students. The course featured a sequence of assignments of increasing complexity, covering core concepts such as register and memory manipulation, control structures including loops and conditionals, and arithmetic operations. Our findings suggest that Playsemble promotes active experimentation, sustained engagement, and deeper conceptual understanding through meaningful game-based learning experiences. △ Less

Submitted 27 February, 2026; v1 submitted 9 February, 2026; originally announced February 2026.

GigaBrain-0.5M*: a VLA That Learns From World Model-Based Reinforcement Learning

Authors: GigaBrain Team, Boyuan Wang, Bohan Li, Chaojun Ni, Guan Huang, Guosheng Zhao, Hao Li, Jie Li, Jindi Lv, Jingyu Liu, Lv Feng, Mingming Yu, Peng Li, Qiuping Deng, Tianze Liu, Xinyu Zhou, Xinze Chen, Xiaofeng Wang, Yang Wang, Yifan Li, Yifei Nie, Yilong Li, Yukun Zhou, Yun Ye, Zhichao Liu , et al. (1 additional authors not shown)

Abstract: Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enh… ▽ More Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose \textit{GigaBrain-0.5M*}, a VLA model trained via world model-based reinforcement learning. Built upon \textit{GigaBrain-0.5}, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. \textit{GigaBrain-0.5M*} further integrates world model-based reinforcement learning via \textit{RAMP} (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that \textit{RAMP} achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including \texttt{Laundry Folding}, \texttt{Box Packing}, and \texttt{Espresso Preparation}. Critically, \textit{GigaBrain-0.5M$^*$} exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our \href{https://gigabrain05m.github.io}{project page}. △ Less

Submitted 26 February, 2026; v1 submitted 12 February, 2026; originally announced February 2026.

Comments: https://gigabrain05m.github.io/

SolAgent: A Specialized Multi-Agent Framework for Solidity Code Generation

Authors: Wei Chen, Zhiyuan Peng, Xin Yin, Chao Ni, Chenhao Ying, Bang Xie, Yuan Luo

Abstract: Smart contracts are the backbone of the decentralized web, yet ensuring their functional correctness and security remains a critical challenge. While Large Language Models (LLMs) have shown promise in code generation, they often struggle with the rigorous requirements of smart contracts, frequently producing code that is buggy or vulnerable. To address this, we propose SolAgent, a novel tool-augme… ▽ More Smart contracts are the backbone of the decentralized web, yet ensuring their functional correctness and security remains a critical challenge. While Large Language Models (LLMs) have shown promise in code generation, they often struggle with the rigorous requirements of smart contracts, frequently producing code that is buggy or vulnerable. To address this, we propose SolAgent, a novel tool-augmented multi-agent framework that mimics the workflow of human experts. SolAgent integrates a \textbf{dual-loop refinement mechanism}: an inner loop using the \textit{Forge} compiler to ensure functional correctness, and an outer loop leveraging the \textit{Slither} static analyzer to eliminate security vulnerabilities. Additionally, the agent is equipped with file system capabilities to resolve complex project dependencies. Experiments on the SolEval+ Benchmark, a rigorous suite derived from high-quality real-world projects, demonstrate that SolAgent achieves a Pass@1 rate of up to \textbf{64.39\%}, significantly outperforming state-of-the-art LLMs ($\sim$25\%), AI IDEs (e.g., GitHub Copilot), and existing agent frameworks. Moreover, it reduces security vulnerabilities by up to \textbf{39.77\%} compared to human-written baselines. Finally, we demonstrate that the high-quality trajectories generated by SolAgent can be used to distill smaller, open-source models, democratizing access to secure smart contract generation. We release our data and code at https://github.com/openpaperz/SolAgent. △ Less

Submitted 30 January, 2026; originally announced January 2026.

BibAgent: An Agentic Framework for Traceable Miscitation Detection in Scientific Literature

Authors: Peiran Li, Fangzhou Lin, Shuo Xing, Xiang Zheng, Xi Hong, Siyuan Yang, Jiashuo Sun, Zhengzhong Tu, Chaoqun Ni

Abstract: Citations are the bedrock of scientific authority, yet their integrity is compromised by widespread miscitations: ranging from nuanced distortions to fabricated references. Systematic citation verification is currently unfeasible; manual review cannot scale to modern publishing volumes, while existing automated tools are restricted by abstract-only analysis or small-scale, domain-specific datasets… ▽ More Citations are the bedrock of scientific authority, yet their integrity is compromised by widespread miscitations: ranging from nuanced distortions to fabricated references. Systematic citation verification is currently unfeasible; manual review cannot scale to modern publishing volumes, while existing automated tools are restricted by abstract-only analysis or small-scale, domain-specific datasets in part due to the "paywall barrier" of full-text access. We introduce BibAgent, a scalable, end-to-end agentic framework for automated citation verification. BibAgent integrates retrieval, reasoning, and adaptive evidence aggregation, applying distinct strategies for accessible and paywalled sources. For paywalled references, it leverages a novel Evidence Committee mechanism that infers citation validity via downstream citation consensus. To support systematic evaluation, we contribute a 5-category Miscitation Taxonomy and MisciteBench, a massive cross-disciplinary benchmark comprising 6,350 miscitation samples spanning 254 fields. Our results demonstrate that BibAgent outperforms state-of-the-art Large Language Model (LLM) baselines in citation verification accuracy and interpretability, providing scalable, transparent detection of citation misalignments across the scientific literature. △ Less

Submitted 30 January, 2026; v1 submitted 12 January, 2026; originally announced January 2026.

HAI-Eval: Measuring Human-AI Synergy in Collaborative Coding

Authors: Hanjun Luo, Chiming Ni, Jiaheng Wen, Zhimu Huang, Yiran Wang, Bingduo Liao, Sylvia Chung, Yingbin Jin, Xinfeng Li, Wenyuan Xu, XiaoFeng Wang, Hanan Salam

Abstract: LLM-powered coding agents are reshaping the development paradigm. However, existing evaluation systems, neither traditional tests for humans nor benchmarks for LLMs, fail to capture this shift. They remain focused on well-defined algorithmic problems, which excludes problems where success depends on human-AI collaboration. Such collaborative problems not only require human reasoning to interpret c… ▽ More LLM-powered coding agents are reshaping the development paradigm. However, existing evaluation systems, neither traditional tests for humans nor benchmarks for LLMs, fail to capture this shift. They remain focused on well-defined algorithmic problems, which excludes problems where success depends on human-AI collaboration. Such collaborative problems not only require human reasoning to interpret complex contexts and guide solution strategies, but also demand AI efficiency for implementation. To bridge this gap, we introduce HAI-Eval, a unified benchmark designed to measure the synergy of human-AI partnership in coding. HAI-Eval's core innovation is its "Collaboration-Necessary" problem templates, which are intractable for both standalone LLMs and unaided humans, but solvable through effective collaboration. Specifically, HAI-Eval uses 45 templates to dynamically create tasks. It also provides a standardized IDE for human participants and a reproducible toolkit with 450 task instances for LLMs, ensuring an ecologically valid evaluation. We conduct a within-subject study with 45 participants and benchmark their performance against 5 state-of-the-art LLMs under 4 different levels of human intervention. Results show that standalone LLMs and unaided participants achieve poor pass rates (0.67% and 18.89%), human-AI collaboration significantly improves performance to 31.11%. Our analysis reveals an emerging co-reasoning partnership. This finding challenges the traditional human-tool hierarchy by showing that strategic breakthroughs can originate from either humans or AI. HAI-Eval establishes not only a challenging benchmark for next-generation coding agents but also a grounded, scalable framework for assessing core developer competencies in the AI era. Our benchmark and interactive demo will be openly accessible. △ Less

Submitted 30 November, 2025; originally announced December 2025.

Quantum-Classical Separation in Bounded-Resource Tasks Arising from Measurement Contextuality

Authors: Shashwat Kumar, Eliott Rosenberg, Alejandro Grajales Dau, Rodrigo Cortinas, Dmitri Maslov, Richard Oliver, Adam Zalcman, Matthew Neeley, Alice Pagano, Aaron Szasz, Ilya Drozdov, Zlatko Minev, Craig Gidney, Noureldin Yosri, Stijn J. de Graaf, Aniket Maiti, Dmitry Abanin, Rajeev Acharya, Laleh Aghababaie Beni, Georg Aigeldinger, Ross Alcaraz, Sayra Alcaraz, Trond I. Andersen, Markus Ansmann, Frank Arute , et al. (258 additional authors not shown)

Abstract: The prevailing view is that quantum phenomena can be harnessed to tackle certain problems beyond the reach of classical approaches. Quantifying this capability as a quantum-classical separation and demonstrating it on current quantum processors has remained elusive. Using a superconducting qubit processor, we show that quantum contextuality enables certain tasks to be performed with success probab… ▽ More The prevailing view is that quantum phenomena can be harnessed to tackle certain problems beyond the reach of classical approaches. Quantifying this capability as a quantum-classical separation and demonstrating it on current quantum processors has remained elusive. Using a superconducting qubit processor, we show that quantum contextuality enables certain tasks to be performed with success probabilities beyond classical limits. With a few qubits, we illustrate quantum contextuality with the magic square game, as well as quantify it through a Kochen--Specker--Bell inequality violation. To examine many-body contextuality, we implement the N-player GHZ game and separately solve a 2D hidden linear function problem, exceeding classical success rate in both. Our work proposes novel ways to benchmark quantum processors using contextuality-based algorithms. △ Less

Submitted 1 December, 2025; originally announced December 2025.

SwiftVLA: Unlocking Spatiotemporal Dynamics for Lightweight VLA Models at Minimal Overhead

Authors: Chaojun Ni, Cheng Chen, Xiaofeng Wang, Zheng Zhu, Wenzhao Zheng, Boyuan Wang, Tianrun Chen, Guosheng Zhao, Haoyun Li, Zhehao Dong, Qiang Zhang, Yun Ye, Yang Wang, Guan Huang, Wenjun Mei

Abstract: Vision-Language-Action (VLA) models built on pretrained Vision-Language Models (VLMs) show strong potential but are limited in practicality due to their large parameter counts. To mitigate this issue, using a lightweight VLM has been explored, but it compromises spatiotemporal reasoning. Although some methods suggest that incorporating additional 3D inputs can help, they usually rely on large VLMs… ▽ More Vision-Language-Action (VLA) models built on pretrained Vision-Language Models (VLMs) show strong potential but are limited in practicality due to their large parameter counts. To mitigate this issue, using a lightweight VLM has been explored, but it compromises spatiotemporal reasoning. Although some methods suggest that incorporating additional 3D inputs can help, they usually rely on large VLMs to fuse 3D and 2D inputs and still lack temporal understanding. Therefore, we propose SwiftVLA, an architecture that enhances a compact model with 4D understanding while preserving design efficiency. Specifically, our approach features a pretrained 4D visual geometry transformer with a temporal cache that extracts 4D features from 2D images. Then, to enhance the VLM's ability to exploit both 2D images and 4D features, we introduce Fusion Tokens, a set of learnable tokens trained with a future prediction objective to generate unified representations for action generation. Finally, we introduce a mask-and-reconstruct strategy that masks 4D inputs to the VLM and trains the VLA to reconstruct them, enabling the VLM to learn effective 4D representations and allowing the 4D branch to be dropped at inference with minimal performance loss. Experiments in real and simulated environments show that SwiftVLA outperforms lightweight baselines and rivals VLAs up to 7 times larger, achieving comparable performance on edge devices while being 18 times faster and reducing memory footprint by 12 times. △ Less

Submitted 30 November, 2025; originally announced December 2025.

GigaWorld-0: World Models as Data Engine to Empower Embodied AI

Authors: GigaWorld Team, Angen Ye, Boyuan Wang, Chaojun Ni, Guan Huang, Guosheng Zhao, Haoyun Li, Jiagang Zhu, Kerui Li, Mengyuan Xu, Qiuping Deng, Siting Wang, Wenkang Qin, Xinze Chen, Xiaofeng Wang, Yankai Wang, Yu Cao, Yifan Chang, Yuan Xu, Yun Ye, Yang Wang, Yukun Zhou, Zhengyuan Zhang, Zhehao Dong, Zheng Zhu

Abstract: World models are emerging as a foundational paradigm for scalable, data-efficient embodied AI. In this work, we present GigaWorld-0, a unified world model framework designed explicitly as a data engine for Vision-Language-Action (VLA) learning. GigaWorld-0 integrates two synergistic components: GigaWorld-0-Video, which leverages large-scale video generation to produce diverse, texture-rich, and te… ▽ More World models are emerging as a foundational paradigm for scalable, data-efficient embodied AI. In this work, we present GigaWorld-0, a unified world model framework designed explicitly as a data engine for Vision-Language-Action (VLA) learning. GigaWorld-0 integrates two synergistic components: GigaWorld-0-Video, which leverages large-scale video generation to produce diverse, texture-rich, and temporally coherent embodied sequences under fine-grained control of appearance, camera viewpoint, and action semantics; and GigaWorld-0-3D, which combines 3D generative modeling, 3D Gaussian Splatting reconstruction, physically differentiable system identification, and executable motion planning to ensure geometric consistency and physical realism. Their joint optimization enables the scalable synthesis of embodied interaction data that is visually compelling, spatially coherent, physically plausible, and instruction-aligned. Training at scale is made feasible through our efficient GigaTrain framework, which exploits FP8-precision and sparse attention to drastically reduce memory and compute requirements. We conduct comprehensive evaluations showing that GigaWorld-0 generates high-quality, diverse, and controllable data across multiple dimensions. Critically, VLA model (e.g., GigaBrain-0) trained on GigaWorld-0-generated data achieve strong real-world performance, significantly improving generalization and task success on physical robots without any real-world interaction during training. △ Less

Submitted 30 November, 2025; v1 submitted 24 November, 2025; originally announced November 2025.

Comments: Project Page: https://giga-world-0.github.io/

AI-Assisted Writing Is Growing Fastest Among Non-English-Speaking and Less Established Scientists

Authors: Jialin Liu, Yongyuan He, Zhihan Zheng, Yi Bu, Chaoqun Ni

Abstract: The dominance of English in global science has long created significant barriers for non-native speakers. The recent emergence of generative artificial intelligence (GenAI) dramatically reduces drafting and revision costs, but, simultaneously, raises a critical question: how is the technology being adopted by the global scientific community, and is it mitigating existing inequities? This study pro… ▽ More The dominance of English in global science has long created significant barriers for non-native speakers. The recent emergence of generative artificial intelligence (GenAI) dramatically reduces drafting and revision costs, but, simultaneously, raises a critical question: how is the technology being adopted by the global scientific community, and is it mitigating existing inequities? This study provides first large-scale empirical evidence by analyzing over two million full-text biomedical publications from PubMed Central from 2021 to 2024, estimating the fraction of AI-generated content using a distribution-based framework. We observe a significant post-ChatGPT surge in AI-assisted writing, with adoption growing fastest in contexts where language barriers are most pronounced: approximately 400% in non-English-speaking countries compared to 183% in English-speaking countries. This adoption is highest among less-established scientists, including those with fewer publications and citations, as well as those in early career stages at lower-ranked institutions. Prior AI research experience also predicted higher adoption. Finally, increased AI usage was associated with a modest increase in productivity, narrowing the publication gap between scientists from English-speaking and non-English-speaking countries with higher levels of AI adoption. These findings provide large-scale evidence that generative AI is being adopted unevenly, reflecting existing structural disparities while also offering a potential opportunity to mitigate long-standing linguistic inequalities. △ Less

Submitted 19 November, 2025; originally announced November 2025.

UFO3: Weaving the Digital Agent Galaxy

Authors: Chaoyun Zhang, Liqun Li, He Huang, Chiming Ni, Bo Qiao, Si Qin, Yu Kang, Minghua Ma, Qingwei Lin, Saravan Rajmohan, Dongmei Zhang

Abstract: Large language model (LLM)-powered agents are transforming digital devices from passive tools into proactive intelligent collaborators. However, most existing frameworks remain confined to a single OS or device, making cross-device workflows brittle and largely manual. We present UFO$^3$, a system that unifies heterogeneous endpoints, desktops, servers, mobile devices, and edge, into a single orch… ▽ More Large language model (LLM)-powered agents are transforming digital devices from passive tools into proactive intelligent collaborators. However, most existing frameworks remain confined to a single OS or device, making cross-device workflows brittle and largely manual. We present UFO$^3$, a system that unifies heterogeneous endpoints, desktops, servers, mobile devices, and edge, into a single orchestration fabric. UFO$^3$ models each user request as a mutable TaskConstellation: a distributed DAG of atomic subtasks (TaskStars) with explicit control and data dependencies (TaskStarLines). The TaskConstellation continuously evolves as results stream in from distributed devices, enabling asynchronous execution, adaptive recovery, and dynamic optimization. A Constellation Orchestrator} executes tasks safely and asynchronously while applying dynamic DAG updates, and the Agent Interaction Protocol (AIP) provides persistent, low-latency channels for reliable task dispatch and result streaming. These designs dissolve the traditional boundaries between devices and platforms, allowing agents to collaborate seamlessly and amplify their collective intelligence. We evaluate UFO$^3$ on NebulaBench, a benchmark of 55 cross-device tasks across 5 machines and 10 categories. UFO$^3$ achieves 83.3% subtask completion, 70.9% task success, exposes parallelism with an average width of 1.72, and reduces end-to-end latency by 31% relative to a sequential baseline. Fault-injection experiments demonstrate graceful degradation and recovery under transient and permanent agent failures. These results show that UFO$^3$ achieves accurate, efficient, and resilient task orchestration across heterogeneous devices, uniting isolated agents into a coherent, adaptive computing fabric that extends across the landscape of ubiquitous computing. △ Less

Submitted 1 March, 2026; v1 submitted 14 November, 2025; originally announced November 2025.

Comments: We developed UFO$^3$ as a fully engineered system with over 73K lines of code, encompassing agent implementations and integrations for Windows, Linux, and Android mobile devices. The entire project is open-sourced at https://github.com/microsoft/UFO/, accompanied by detailed documentation and tutorials at https://microsoft.github.io/UFO/

GUI-360$^\circ$: A Comprehensive Dataset and Benchmark for Computer-Using Agents

Authors: Jian Mu, Chaoyun Zhang, Chiming Ni, Lu Wang, Bo Qiao, Kartik Mathur, Qianhui Wu, Yuhang Xie, Xiaojun Ma, Mengyu Zhou, Si Qin, Liqun Li, Yu Kang, Minghua Ma, Qingwei Lin, Saravan Rajmohan, Dongmei Zhang

Abstract: We introduce GUI-360$^\circ$, a large-scale, comprehensive dataset and benchmark suite designed to advance computer-using agents (CUAs). CUAs present unique challenges and is constrained by three persistent gaps: a scarcity of real-world CUA tasks, the lack of automated collection-and-annotation pipelines for multi-modal trajectories, and the absence of a unified benchmark that jointly evaluates G… ▽ More We introduce GUI-360$^\circ$, a large-scale, comprehensive dataset and benchmark suite designed to advance computer-using agents (CUAs). CUAs present unique challenges and is constrained by three persistent gaps: a scarcity of real-world CUA tasks, the lack of automated collection-and-annotation pipelines for multi-modal trajectories, and the absence of a unified benchmark that jointly evaluates GUI grounding, screen parsing, and action prediction. GUI-360$^\circ$ addresses these gaps with an LLM-augmented, largely automated pipeline for query sourcing, environment-template construction, task instantiation, batched execution, and LLM-driven quality filtering. The released corpus contains over 1.2M executed action steps across thousands of trajectories in popular Windows office applications, and includes full-resolution screenshots, accessibility metadata when available, instantiated goals, intermediate reasoning traces, and both successful and failed action trajectories. The dataset supports three canonical tasks, GUI grounding, screen parsing, and action prediction, and a hybrid GUI+API action space that reflects modern agent designs. Benchmarking state-of-the-art vision--language models on GUI-360$^\circ$ reveals substantial out-of-the-box shortcomings in grounding and action prediction; supervised fine-tuning and reinforcement learning yield significant gains but do not close the gap to human-level reliability. We release GUI-360$^\circ$ and accompanying code to facilitate reproducible research and accelerate progress on robust desktop CUAs. The full dataset has been made public on https://huggingface.co/datasets/vyokky/GUI-360. △ Less

Submitted 10 November, 2025; v1 submitted 6 November, 2025; originally announced November 2025.

Using language models to label clusters of scientific documents

Authors: Dakota Murray, Chaoqun Ni, Weiye Gu, Trevor Hubbard

Abstract: Automated label generation for clusters of scientific documents is a common task in bibliometric workflows. Traditionally, labels were formed by concatenating distinguishing characteristics of a cluster's documents; while straightforward, this approach often produces labels that are terse and difficult to interpret. The advent and widespread accessibility of generative language models, such as Cha… ▽ More Automated label generation for clusters of scientific documents is a common task in bibliometric workflows. Traditionally, labels were formed by concatenating distinguishing characteristics of a cluster's documents; while straightforward, this approach often produces labels that are terse and difficult to interpret. The advent and widespread accessibility of generative language models, such as ChatGPT, make it possible to automatically generate descriptive and human-readable labels that closely resemble those assigned by human annotators. Language-model label generation has already seen widespread use in bibliographic databases and analytical workflows. However, its rapid adoption has outpaced the theoretical, practical, and empirical foundations. In this study, we address the automated label generation task and make four key contributions: (1) we define two distinct types of labels: characteristic and descriptive, and contrast descriptive labeling with related tasks; (2) we provide a formal descriptive labeling that clarifies important steps and design considerations; (3) we propose a structured workflow for label generation and outline practical considerations for its use in bibliometric workflows; and (4) we develop an evaluative framework to assess descriptive labels generated by language models and demonstrate that they perform at or near characteristic labels, and highlight design considerations for their use. Together, these contributions clarify the descriptive label generation task, establish an empirical basis for the use of language models, and provide a framework to guide future design and evaluation efforts. △ Less

Submitted 4 November, 2025; originally announced November 2025.

Comments: 36 pages, 2 figures

GigaBrain-0: A World Model-Powered Vision-Language-Action Model

Authors: GigaBrain Team, Angen Ye, Boyuan Wang, Chaojun Ni, Guan Huang, Guosheng Zhao, Haoyun Li, Jie Li, Jiagang Zhu, Lv Feng, Peng Li, Qiuping Deng, Runqi Ouyang, Wenkang Qin, Xinze Chen, Xiaofeng Wang, Yang Wang, Yifan Li, Yilong Li, Yiran Ding, Yuan Xu, Yun Ye, Yukun Zhou, Zhehao Dong, Zhenan Wang , et al. (2 additional authors not shown)

Abstract: Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the scalability, and generalization capacity of current VLA systems. To address this challenge, we introduce GigaBrain-0, a novel VLA foundation model empowered by worl… ▽ More Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the scalability, and generalization capacity of current VLA systems. To address this challenge, we introduce GigaBrain-0, a novel VLA foundation model empowered by world model-generated data (e.g., video generation, real2real transfer, human transfer, view transfer, sim2real transfer data). By leveraging world models to generate diverse data at scale, GigaBrain-0 significantly reduces reliance on real robot data while improving cross-task generalization. Our approach further improves policy robustness through RGBD input modeling and embodied Chain-of-Thought (CoT) supervision, enabling the model to reason about spatial geometry, object states, and long-horizon dependencies during task execution. This leads to substantial gains in real-world performance on dexterous, long-horizon, and mobile manipulation tasks. Extensive experiments demonstrate that GigaBrain-0 achieves superior generalization across variations in appearances (e.g., textures, colors), object placements, and camera viewpoints. Additionally, we present GigaBrain-0-Small, an optimized lightweight variant designed to run efficiently on devices such as the NVIDIA Jetson AGX Orin. △ Less

Submitted 4 December, 2025; v1 submitted 22 October, 2025; originally announced October 2025.

Comments: https://gigabrain0.github.io/

DriveGen3D: Boosting Feed-Forward Driving Scene Generation with Efficient Video Diffusion

Authors: Weijie Wang, Jiagang Zhu, Zeyu Zhang, Xiaofeng Wang, Zheng Zhu, Guosheng Zhao, Chaojun Ni, Haoxiao Wang, Guan Huang, Xinze Chen, Yukun Zhou, Wenkang Qin, Duochao Shi, Haoyun Li, Yicheng Xiao, Donny Y. Chen, Jiwen Lu

Abstract: We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either suffer from prohibitive computational demands for extended temporal generation, focus exclusively on prolonged video synthesis without 3D representation, or restrict… ▽ More We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either suffer from prohibitive computational demands for extended temporal generation, focus exclusively on prolonged video synthesis without 3D representation, or restrict themselves to static single-scene reconstruction. Our work bridges this methodological gap by integrating accelerated long-term video generation with large-scale dynamic scene reconstruction through multimodal conditional control. DriveGen3D introduces a unified pipeline consisting of two specialized components: FastDrive-DiT, an efficient video diffusion transformer for high-resolution, temporally coherent video synthesis under text and Bird's-Eye-View (BEV) layout guidance; and FastRecon3D, a feed-forward module that rapidly builds 3D Gaussian representations across time, ensuring spatial-temporal consistency. DriveGen3D enable the generation of long driving videos (up to $800\times424$ at $12$ FPS) and corresponding 3D scenes, achieving state-of-the-art results while maintaining efficiency. △ Less

Submitted 29 December, 2025; v1 submitted 16 October, 2025; originally announced October 2025.

Comments: Accepted by NeurIPS Workshop on Next Practices in Video Generation and Evaluation (Short Paper Track), Project Page: https://lhmd.top/drivegen3d

Mismatch Aware Guidance for Robust Emotion Control in Auto-Regressive TTS Models

Authors: Yizhou Peng, Yukun Ma, Chong Zhang, Yi-Wen Chao, Chongjia Ni, Bin Ma

Abstract: While Text-to-Speech (TTS) systems can achieve fine-grained control over emotional expression via natural language prompts, a significant challenge emerges when the desired emotion (style prompt) conflicts with the semantic content of the text. This mismatch often results in unnatural-sounding speech, undermining the goal of achieving fine-grained emotional control. Classifier-Free Guidance (CFG)… ▽ More While Text-to-Speech (TTS) systems can achieve fine-grained control over emotional expression via natural language prompts, a significant challenge emerges when the desired emotion (style prompt) conflicts with the semantic content of the text. This mismatch often results in unnatural-sounding speech, undermining the goal of achieving fine-grained emotional control. Classifier-Free Guidance (CFG) is a key technique for enhancing prompt alignment; however, its application to auto-regressive (AR) TTS models remains underexplored, which can lead to degraded audio quality. This paper directly addresses the challenge of style-content mismatch in AR TTS models by proposing an adaptive CFG scheme that adjusts to different levels of the detected mismatch, as measured using large language models or natural language inference models. This solution is based on a comprehensive analysis of CFG's impact on emotional expressiveness in state-of-the-art AR TTS models. Our results demonstrate that the proposed adaptive CFG scheme improves the emotional expressiveness of the AR TTS model while maintaining audio quality and intelligibility. △ Less

Submitted 8 April, 2026; v1 submitted 15 October, 2025; originally announced October 2025.

Comments: Re-submitted to Interspeech 2026 (with updates) -- Updates to be released upon approval

Pretraining Large Language Models with NVFP4

Authors: NVIDIA, Felix Abecassis, Anjulie Agrusa, Dong Ahn, Jonah Alben, Stefania Alborghetti, Michael Andersch, Sivakumar Arayandi, Alexis Bjorlin, Aaron Blakeman, Evan Briones, Ian Buck, Bryan Catanzaro, Muya Chang, Jinhang Choi, Mike Chrzanowski, Eric Chung, Victor Cui, Steve Dai, Bita Darvish Rouhani, Carlo del Mundo, Deena Donia, Burc Eryilmaz, Henry Estela, Abhinav Goel , et al. (65 additional authors not shown)

Abstract: Large Language Models (LLMs) today are powerful problem solvers across many domains, and they continue to get stronger as they scale in model size, training set size, and training set quality, as shown by extensive research and experimentation across the industry. Training a frontier model today requires on the order of tens to hundreds of yottaflops, which is a massive investment of time, compute… ▽ More Large Language Models (LLMs) today are powerful problem solvers across many domains, and they continue to get stronger as they scale in model size, training set size, and training set quality, as shown by extensive research and experimentation across the industry. Training a frontier model today requires on the order of tens to hundreds of yottaflops, which is a massive investment of time, compute, and energy. Improving pretraining efficiency is therefore essential to enable the next generation of even more capable LLMs. While 8-bit floating point (FP8) training is now widely adopted, transitioning to even narrower precision, such as 4-bit floating point (FP4), could unlock additional improvements in computational speed and resource utilization. However, quantization at this level poses challenges to training stability, convergence, and implementation, notably for large-scale models trained on long token horizons. In this study, we introduce a novel approach for stable and accurate training of large language models (LLMs) using the NVFP4 format. Our method integrates Random Hadamard transforms (RHT) to bound block-level outliers, employs a two-dimensional quantization scheme for consistent representations across both the forward and backward passes, utilizes stochastic rounding for unbiased gradient estimation, and incorporates selective high-precision layers. We validate our approach by training a 12-billion-parameter model on 10 trillion tokens -- the longest publicly documented training run in 4-bit precision to date. Our results show that the model trained with our NVFP4-based pretraining technique achieves training loss and downstream task accuracies comparable to an FP8 baseline. These findings highlight that NVFP4, when combined with our training approach, represents a major step forward in narrow-precision LLM training algorithms. △ Less

Submitted 4 March, 2026; v1 submitted 29 September, 2025; originally announced September 2025.

Comments: Update includes: (1) fixing a typo in eq. 2 (2) updating author list, and (3) adding a related work

Navigating the Labyrinth: Path-Sensitive Unit Test Generation with Large Language Models

Authors: Dianshu Liao, Xin Yin, Shidong Pan, Chao Ni, Zhenchang Xing, Xiaoyu Sun

Abstract: Unit testing is essential for software quality assurance, yet writing and maintaining tests remains time-consuming and error-prone. To address this challenge, researchers have proposed various techniques for automating unit test generation, including traditional heuristic-based methods and more recent approaches that leverage large language models (LLMs). However, these existing approaches are inh… ▽ More Unit testing is essential for software quality assurance, yet writing and maintaining tests remains time-consuming and error-prone. To address this challenge, researchers have proposed various techniques for automating unit test generation, including traditional heuristic-based methods and more recent approaches that leverage large language models (LLMs). However, these existing approaches are inherently path-insensitive because they rely on fixed heuristics or limited contextual information and fail to reason about deep control-flow structures. As a result, they often struggle to achieve adequate coverage, particularly for deep or complex execution paths. In this work, we present a path-sensitive framework, JUnitGenie, to fill this gap by combining code knowledge with the semantic capabilities of LLMs in guiding context-aware unit test generation. After extracting code knowledge from Java projects, JUnitGenie distills this knowledge into structured prompts to guide the generation of high-coverage unit tests. We evaluate JUnitGenie on 2,258 complex focal methods from ten real-world Java projects. The results show that JUnitGenie generates valid tests and improves branch and line coverage by 29.60% and 31.00% on average over both heuristic and LLM-based baselines. We further demonstrate that the generated test cases can uncover real-world bugs, which were later confirmed and fixed by developers. △ Less

Submitted 11 October, 2025; v1 submitted 28 September, 2025; originally announced September 2025.

EMMA: Generalizing Real-World Robot Manipulation via Generative Visual Transfer

Authors: Zhehao Dong, Xiaofeng Wang, Zheng Zhu, Yirui Wang, Yang Wang, Yukun Zhou, Boyuan Wang, Chaojun Ni, Runqi Ouyang, Wenkang Qin, Xinze Chen, Yun Ye, Guan Huang, Zhen Lu, Yue Yang

Abstract: The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this limitation, we introduce Embodied Manipulation Media Adaptation (EMMA), a framework for augmenting VLA policies that combines a generative data engine with an eff… ▽ More The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this limitation, we introduce Embodied Manipulation Media Adaptation (EMMA), a framework for augmenting VLA policies that combines a generative data engine with an effective training pipeline. We introduce DreamTransfer, a diffusion Transformer-based architecture for generating multi-view consistent and geometrically grounded embodied manipulation videos. DreamTransfer enables visual editing of robot videos through prompts, allowing for changes to the foreground, background, and lighting while preserving their 3D structure and geometric validity. We also utilize a hybrid training set of real and generated data and propose AdaMix to enhance the training process. AdaMix is a training strategy that adaptively weights samples according to policy performance to emphasize challenging samples. Comprehensive evaluations demonstrate that videos created by DreamTransfer yield substantial improvements over previous video generation techniques in multi-view consistency, geometric accuracy, and text-conditioning precision. We conduct extensive evaluations with a total of more than 1800 trials in both simulated and real-world robotic environments. In real-world robotic tasks with zero-shot visual settings, our framework achieves a relative performance increase of over 92% compared to training with real data alone, and improves by an additional 17% with AdaMix, demonstrating its efficacy in enhancing policy generalization. △ Less

Submitted 16 March, 2026; v1 submitted 26 September, 2025; originally announced September 2025.

MimicDreamer: Aligning Human and Robot Demonstrations for Scalable VLA Training

Authors: Haoyun Li, Ivan Zhang, Runqi Ouyang, Xiaofeng Wang, Zheng Zhu, Zhiqin Yang, Zhentao Zhang, Boyuan Wang, Chaojun Ni, Wenkang Qin, Xinze Chen, Yun Ye, Guan Huang, Zhenbo Song, Xingang Wang

Abstract: Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more scalable and cost-efficient to collect, and recent studies confirm their effectiveness in training VLA models. However, a significant domain gap persists between hu… ▽ More Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more scalable and cost-efficient to collect, and recent studies confirm their effectiveness in training VLA models. However, a significant domain gap persists between human videos and robot-executed videos, including unstable camera viewpoints, visual discrepancies between human hands and robotic arms, and differences in motion dynamics. To bridge this gap, we propose MimicDreamer, a framework that turns fast, low-cost human demonstrations into robot-usable supervision by jointly aligning vision, viewpoint, and actions to directly support policy training. For visual alignment, we propose H2R Aligner, a video diffusion model that generates high-fidelity robot demonstration videos by transferring motion from human manipulation footage. For viewpoint stabilization, EgoStabilizer is proposed, which canonicalizes egocentric videos via homography and inpaints occlusions and distortions caused by warping. For action alignment, we map human hand trajectories to the robot frame and apply a constrained inverse kinematics solver to produce feasible, low-jitter joint commands with accurate pose tracking. Empirically, VLA models trained purely on our synthesized human-to-robot videos achieve few-shot execution on real robots. Moreover, scaling training with human data significantly boosts performance compared to models trained solely on real robot data; our approach improves the average success rate by 14.7\% across six representative manipulation tasks. △ Less

Submitted 29 September, 2025; v1 submitted 26 September, 2025; originally announced September 2025.

Fun-ASR Technical Report

Authors: Keyu An, Yanni Chen, Zhigao Chen, Chong Deng, Zhihao Du, Changfeng Gao, Zhifu Gao, Bo Gong, Xiangang Li, Yabin Li, Ying Liu, Xiang Lv, Yunjie Ji, Yiheng Jiang, Bin Ma, Haoneng Luo, Chongjia Ni, Zexu Pan, Yiping Peng, Zhendong Peng, Peiyao Wang, Hao Wang, Haoxu Wang, Wen Wang, Wupeng Wang , et al. (13 additional authors not shown)

Abstract: In recent years, automatic speech recognition (ASR) has witnessed transformative advancements driven by three complementary paradigms: data scaling, model size scaling, and deep integration with large language models (LLMs). However, LLMs are prone to hallucination, which can significantly degrade user experience in real-world ASR applications. In this paper, we present Fun-ASR, a large-scale, LLM… ▽ More In recent years, automatic speech recognition (ASR) has witnessed transformative advancements driven by three complementary paradigms: data scaling, model size scaling, and deep integration with large language models (LLMs). However, LLMs are prone to hallucination, which can significantly degrade user experience in real-world ASR applications. In this paper, we present Fun-ASR, a large-scale, LLM-based ASR system that synergistically combines massive data, large model capacity, LLM integration, and reinforcement learning to achieve state-of-the-art performance across diverse and complex speech recognition scenarios. Moreover, Fun-ASR is specifically optimized for practical deployment, with enhancements in streaming capability, noise robustness, code-switching, hotword customization, and satisfying other real-world application requirements. Experimental results show that while most LLM-based ASR systems achieve strong performance on open-source benchmarks, they often underperform on real industry evaluation sets. Thanks to production-oriented optimizations, Fun-ASR achieves state-of-the-art performance on real application datasets, demonstrating its effectiveness and robustness in practical settings. The code and models are accessible at https://github.com/FunAudioLLM/Fun-ASR . △ Less

Submitted 19 December, 2025; v1 submitted 15 September, 2025; originally announced September 2025.

Comments: Authors are listed in alphabetical order. Work in progress

RepoTransAgent: Multi-Agent LLM Framework for Repository-Aware Code Translation

Authors: Ziqi Guan, Xin Yin, Zhiyuan Peng, Chao Ni

Abstract: Repository-aware code translation is critical for modernizing legacy systems, enhancing maintainability, and enabling interoperability across diverse programming languages. While recent advances in large language models (LLMs) have improved code translation quality, existing approaches face significant challenges in practical scenarios: insufficient contextual understanding, inflexible prompt desi… ▽ More Repository-aware code translation is critical for modernizing legacy systems, enhancing maintainability, and enabling interoperability across diverse programming languages. While recent advances in large language models (LLMs) have improved code translation quality, existing approaches face significant challenges in practical scenarios: insufficient contextual understanding, inflexible prompt designs, and inadequate error correction mechanisms. These limitations severely hinder accurate and efficient translation of complex, real-world code repositories. To address these challenges, we propose RepoTransAgent, a novel multi-agent LLM framework for repository-aware code translation. RepoTransAgent systematically decomposes the translation process into specialized subtasks-context retrieval, dynamic prompt construction, and iterative code refinement-each handled by dedicated agents. Our approach leverages retrieval-augmented generation (RAG) for contextual information gathering, employs adaptive prompts tailored to varying repository scenarios, and introduces a reflection-based mechanism for systematic error correction. We evaluate RepoTransAgent on hundreds of Java-C# translation pairs from six popular open-source projects. Experimental results demonstrate that RepoTransAgent significantly outperforms state-of-the-art baselines in both compile and pass rates. Specifically, RepoTransAgent achieves up to 55.34% compile rate and 45.84% pass rate. Comprehensive analysis confirms the robustness and generalizability of RepoTransAgent across different LLMs, establishing its effectiveness for real-world repository-aware code translation. △ Less

Submitted 25 August, 2025; originally announced August 2025.

ReconDreamer-RL: Enhancing Reinforcement Learning via Diffusion-based Scene Reconstruction

Authors: Chaojun Ni, Guosheng Zhao, Xiaofeng Wang, Zheng Zhu, Wenkang Qin, Xinze Chen, Guanghong Jia, Guan Huang, Wenjun Mei

Abstract: Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial simulation-to-reality (sim2real) gap. To bridge this gap, some approaches utilize scene reconstruction techniques to create photorealistic environments as a sim… ▽ More Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial simulation-to-reality (sim2real) gap. To bridge this gap, some approaches utilize scene reconstruction techniques to create photorealistic environments as a simulator. While this improves realistic sensor simulation, these methods are inherently constrained by the distribution of the training data, making it difficult to render high-quality sensor data for novel trajectories or corner case scenarios. Therefore, we propose ReconDreamer-RL, a framework designed to integrate video diffusion priors into scene reconstruction to aid reinforcement learning, thereby enhancing end-to-end autonomous driving training. Specifically, in ReconDreamer-RL, we introduce ReconSimulator, which combines the video diffusion prior for appearance modeling and incorporates a kinematic model for physical modeling, thereby reconstructing driving scenarios from real-world data. This narrows the sim2real gap for closed-loop evaluation and reinforcement learning. To cover more corner-case scenarios, we introduce the Dynamic Adversary Agent (DAA), which adjusts the trajectories of surrounding vehicles relative to the ego vehicle, autonomously generating corner-case traffic scenarios (e.g., cut-in). Finally, the Cousin Trajectory Generator (CTG) is proposed to address the issue of training data distribution, which is often biased toward simple straight-line movements. Experiments show that ReconDreamer-RL improves end-to-end autonomous driving training, outperforming imitation learning methods with a 5x reduction in the Collision Ratio. △ Less

Submitted 21 August, 2025; v1 submitted 11 August, 2025; originally announced August 2025.

Enhancing Project-Specific Code Completion by Inferring Internal API Information

Authors: Le Deng, Xiaoxue Ren, Chao Ni, Ming Liang, David Lo, Zhongxin Liu

Abstract: Project-specific code completion is a critical task that leverages context from a project to generate accurate code. State-of-the-art methods use retrieval-augmented generation (RAG) with large language models (LLMs) and project information for code completion. However, they often struggle to incorporate internal API information, which is crucial for accuracy, especially when APIs are not explicit… ▽ More Project-specific code completion is a critical task that leverages context from a project to generate accurate code. State-of-the-art methods use retrieval-augmented generation (RAG) with large language models (LLMs) and project information for code completion. However, they often struggle to incorporate internal API information, which is crucial for accuracy, especially when APIs are not explicitly imported in the file. To address this, we propose a method to infer internal API information without relying on imports. Our method extends the representation of APIs by constructing usage examples and semantic descriptions, building a knowledge base for LLMs to generate relevant completions. We also introduce ProjBench, a benchmark that avoids leaked imports and consists of large-scale real-world projects. Experiments on ProjBench and CrossCodeEval show that our approach significantly outperforms existing methods, improving code exact match by 22.72% and identifier exact match by 18.31%. Additionally, integrating our method with existing baselines boosts code match by 47.80% and identifier match by 35.55%. △ Less

Submitted 28 July, 2025; originally announced July 2025.

Learning to Align Human Code Preferences

Authors: Xin Yin, Chao Ni, Xiaohu Yang

Abstract: Large Language Models (LLMs) have demonstrated remarkable potential in automating software development tasks. While recent advances leverage Supervised Fine-Tuning (SFT) and Direct Preference Optimization (DPO) to align models with human preferences, the optimal training strategy remains unclear across diverse code preference scenarios. This paper systematically investigates the roles of SFT and D… ▽ More Large Language Models (LLMs) have demonstrated remarkable potential in automating software development tasks. While recent advances leverage Supervised Fine-Tuning (SFT) and Direct Preference Optimization (DPO) to align models with human preferences, the optimal training strategy remains unclear across diverse code preference scenarios. This paper systematically investigates the roles of SFT and DPO in aligning LLMs with different code preferences. Through both theoretical analysis and empirical observation, we hypothesize that SFT excels in scenarios with objectively verifiable optimal solutions, while applying SFT followed by DPO (S&D) enables models to explore superior solutions in scenarios without objectively verifiable optimal solutions. Based on the analysis and experimental evidence, we propose Adaptive Preference Optimization (APO), a dynamic integration approach that adaptively amplifies preferred responses, suppresses dispreferred ones, and encourages exploration of potentially superior solutions during training. Extensive experiments across six representative code preference tasks validate our theoretical hypotheses and demonstrate that APO consistently matches or surpasses the performance of existing SFT and S&D strategies. Our work provides both theoretical foundations and practical guidance for selecting appropriate training strategies in different code preference alignment scenarios. △ Less

Submitted 8 December, 2025; v1 submitted 26 July, 2025; originally announced July 2025.

FD-Bench: A Full-Duplex Benchmarking Pipeline Designed for Full Duplex Spoken Dialogue Systems

Authors: Yizhou Peng, Yi-Wen Chao, Dianwen Ng, Yukun Ma, Chongjia Ni, Bin Ma, Eng Siong Chng

Abstract: Full-duplex spoken dialogue systems (FDSDS) enable more natural human-machine interactions by allowing real-time user interruptions and backchanneling, compared to traditional SDS that rely on turn-taking. However, existing benchmarks lack metrics for FD scenes, e.g., evaluating model performance during user interruptions. In this paper, we present a comprehensive FD benchmarking pipeline utilizin… ▽ More Full-duplex spoken dialogue systems (FDSDS) enable more natural human-machine interactions by allowing real-time user interruptions and backchanneling, compared to traditional SDS that rely on turn-taking. However, existing benchmarks lack metrics for FD scenes, e.g., evaluating model performance during user interruptions. In this paper, we present a comprehensive FD benchmarking pipeline utilizing LLMs, TTS, and ASR to address this gap. It assesses FDSDS's ability to handle user interruptions, manage delays, and maintain robustness in challenging scenarios with diverse novel metrics. We applied our benchmark to three open-source FDSDS (Moshi, Freeze-omni, and VITA-1.5) using over 40 hours of generated speech, with 293 simulated conversations and 1,200 interruptions. The results show that all models continue to face challenges, such as failing to respond to user interruptions, under frequent disruptions and noisy conditions. Demonstrations, data, and code will be released. △ Less

Submitted 25 July, 2025; originally announced July 2025.

Comments: Accepted to Interspeech 2025. 5 pages

Detecting LLM-generated Code with Subtle Modification by Adversarial Training

Authors: Xin Yin, Xinrui Li, Chao Ni, Xiaodan Xu, Xiaohu Yang

Abstract: With the rapid development of Large Language Models (LLMs), their powerful code-generation capabilities have been widely applied in tasks like code completion and automated development, demonstrating the value of improving coding efficiency. However, the extensive use of LLM-generated code also raises several new challenges. On the one hand, issues such as the regulation of code provenance, copyri… ▽ More With the rapid development of Large Language Models (LLMs), their powerful code-generation capabilities have been widely applied in tasks like code completion and automated development, demonstrating the value of improving coding efficiency. However, the extensive use of LLM-generated code also raises several new challenges. On the one hand, issues such as the regulation of code provenance, copyright disputes, and code quality have become increasingly concerning. How to effectively detect LLM-generated code and ensure its compliant and responsible use has become a critical and urgent issue. On the other hand, in practical applications, LLM-generated code is often subject to manual modifications, such as variable renaming or structural adjustments. Although some recent studies have proposed training-based and zero-shot methods for detecting LLM-generated code, these approaches show insufficient robustness when facing modified LLM-generated code, and there is a lack of an effective solution. To address the real-world scenario where LLM-generated code may undergo minor modifications, we propose CodeGPTSensor+, an enhanced version of CodeGPTSensor, which employs adversarial training to improve robustness against input perturbations. CodeGPTSensor+ integrates an adversarial sample generation module, Multi-objective Identifier and Structure Transformation (MIST), which systematically generates both high-quality and representative adversarial samples. This module effectively enhances the model's resistance against diverse adversarial attacks. Experimental results on the HMCorp dataset demonstrate that CodeGPTSensor+ significantly improves detection accuracy on the adversarial test set while maintaining high accuracy on the original test set, showcasing superior robustness compared to CodeGPTSensor. △ Less

Submitted 17 July, 2025; originally announced July 2025.

FactorHD: A Hyperdimensional Computing Model for Multi-Object Multi-Class Representation and Factorization

Authors: Yifei Zhou, Xuchu Huang, Chenyu Ni, Min Zhou, Zheyu Yan, Xunzhao Yin, Cheng Zhuo

Abstract: Neuro-symbolic artificial intelligence (neuro-symbolic AI) excels in logical analysis and reasoning. Hyperdimensional Computing (HDC), a promising brain-inspired computational model, is integral to neuro-symbolic AI. Various HDC models have been proposed to represent class-instance and class-class relations, but when representing the more complex class-subclass relation, where multiple objects ass… ▽ More Neuro-symbolic artificial intelligence (neuro-symbolic AI) excels in logical analysis and reasoning. Hyperdimensional Computing (HDC), a promising brain-inspired computational model, is integral to neuro-symbolic AI. Various HDC models have been proposed to represent class-instance and class-class relations, but when representing the more complex class-subclass relation, where multiple objects associate different levels of classes and subclasses, they face challenges for factorization, a crucial task for neuro-symbolic AI systems. In this article, we propose FactorHD, a novel HDC model capable of representing and factorizing the complex class-subclass relation efficiently. FactorHD features a symbolic encoding method that embeds an extra memorization clause, preserving more information for multiple objects. In addition, it employs an efficient factorization algorithm that selectively eliminates redundant classes by identifying the memorization clause of the target class. Such model significantly enhances computing efficiency and accuracy in representing and factorizing multiple objects with class-subclass relation, overcoming limitations of existing HDC models such as "superposition catastrophe" and "the problem of 2". Evaluations show that FactorHD achieves approximately 5667x speedup at a representation size of 10^9 compared to existing HDC models. When integrated with the ResNet-18 neural network, FactorHD achieves 92.48% factorization accuracy on the Cifar-10 dataset. △ Less

Submitted 16 July, 2025; originally announced July 2025.

Comments: 7 pages, 5 figures, 2 tables, to be published in the 62nd DAC (Design Automation Conference) proceedings

EmbodieDreamer: Advancing Real2Sim2Real Transfer for Policy Training via Embodied World Modeling

Authors: Boyuan Wang, Xinpan Meng, Xiaofeng Wang, Zheng Zhu, Angen Ye, Yang Wang, Zhiqin Yang, Chaojun Ni, Guan Huang, Xingang Wang

Abstract: The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data. However, collecting such embodied data remains costly and inefficient. As a result, simulation environments have become a crucial surrogate for training robot policies. Yet, the significant Real2Sim2Real gap remains a critical bottleneck, particularly in terms of physical dynamics an… ▽ More The rapid advancement of Embodied AI has led to an increasing demand for large-scale, high-quality real-world data. However, collecting such embodied data remains costly and inefficient. As a result, simulation environments have become a crucial surrogate for training robot policies. Yet, the significant Real2Sim2Real gap remains a critical bottleneck, particularly in terms of physical dynamics and visual appearance. To address this challenge, we propose EmbodieDreamer, a novel framework that reduces the Real2Sim2Real gap from both the physics and appearance perspectives. Specifically, we propose PhysAligner, a differentiable physics module designed to reduce the Real2Sim physical gap. It jointly optimizes robot-specific parameters such as control gains and friction coefficients to better align simulated dynamics with real-world observations. In addition, we introduce VisAligner, which incorporates a conditional video diffusion model to bridge the Sim2Real appearance gap by translating low-fidelity simulated renderings into photorealistic videos conditioned on simulation states, enabling high-fidelity visual transfer. Extensive experiments validate the effectiveness of EmbodieDreamer. The proposed PhysAligner reduces physical parameter estimation error by 3.74% compared to simulated annealing methods while improving optimization speed by 89.91\%. Moreover, training robot policies in the generated photorealistic environment leads to a 29.17% improvement in the average task success rate across real-world tasks after reinforcement learning. Code, model and data will be publicly available. △ Less

Submitted 7 July, 2025; originally announced July 2025.

Comments: Project Page: https://embodiedreamer.github.io/

WonderFree: Enhancing Novel View Quality and Cross-View Consistency for 3D Scene Exploration

Authors: Chaojun Ni, Jie Li, Haoyun Li, Hengyu Liu, Xiaofeng Wang, Zheng Zhu, Guosheng Zhao, Boyuan Wang, Chenxin Li, Guan Huang, Wenjun Mei

Abstract: Interactive 3D scene generation from a single image has gained significant attention due to its potential to create immersive virtual worlds. However, a key challenge in current 3D generation methods is the limited explorability, which cannot render high-quality images during larger maneuvers beyond the original viewpoint, particularly when attempting to move forward into unseen areas. To address… ▽ More Interactive 3D scene generation from a single image has gained significant attention due to its potential to create immersive virtual worlds. However, a key challenge in current 3D generation methods is the limited explorability, which cannot render high-quality images during larger maneuvers beyond the original viewpoint, particularly when attempting to move forward into unseen areas. To address this challenge, we propose WonderFree, the first model that enables users to interactively generate 3D worlds with the freedom to explore from arbitrary angles and directions. Specifically, we decouple this challenge into two key subproblems: novel view quality, which addresses visual artifacts and floating issues in novel views, and cross-view consistency, which ensures spatial consistency across different viewpoints. To enhance rendering quality in novel views, we introduce WorldRestorer, a data-driven video restoration model designed to eliminate floaters and artifacts. In addition, a data collection pipeline is presented to automatically gather training data for WorldRestorer, ensuring it can handle scenes with varying styles needed for 3D scene generation. Furthermore, to improve cross-view consistency, we propose ConsistView, a multi-view joint restoration mechanism that simultaneously restores multiple perspectives while maintaining spatiotemporal coherence. Experimental results demonstrate that WonderFree not only enhances rendering quality across diverse viewpoints but also significantly improves global coherence and consistency. These improvements are confirmed by CLIP-based metrics and a user study showing a 77.20% preference for WonderFree over WonderWorld enabling a seamless and immersive 3D exploration experience. The code, model, and data will be publicly available. △ Less

Submitted 25 June, 2025; originally announced June 2025.

BREAD: Branched Rollouts from Expert Anchors Bridge SFT & RL for Reasoning

Authors: Xuechen Zhang, Zijian Huang, Yingcong Li, Chenshun Ni, Jiasi Chen, Samet Oymak

Abstract: Small language models (SLMs) struggle to learn complex reasoning behaviors, especially when high-quality traces are scarce or difficult to learn from. The standard training approach combines a supervised fine-tuning (SFT) stage, often to distill capabilities of a larger model, followed by a reinforcement learning (RL)stage such as Group Relative Policy Optimization (GRPO). In this paper, we invest… ▽ More Small language models (SLMs) struggle to learn complex reasoning behaviors, especially when high-quality traces are scarce or difficult to learn from. The standard training approach combines a supervised fine-tuning (SFT) stage, often to distill capabilities of a larger model, followed by a reinforcement learning (RL)stage such as Group Relative Policy Optimization (GRPO). In this paper, we investigate the fundamental limitations of this SFT + RL paradigm and propose methods to overcome them. Under a suitable theoretical model, we demonstrate that the SFT + RL strategy can fail completely when (1) the expert's traces are too difficult for the small model to express, or (2) the small model's initialization has exponentially small likelihood of success. To address these, we introduce BREAD: a GRPO variant that unifies the SFT and RL stages via partial expert guidance and branched rollouts. When self-generated traces fail, BREAD adaptively inserts short expert prefixes/hints, allowing the small model to complete the rest of the reasoning path, and ensuring that each update includes at least one successful trace. This mechanism both densifies the reward signal and induces a natural learning curriculum. BREAD requires fewer than 40% of ground-truth traces, consistently outperforming standard GRPO while speeding up the training by about 3 times. Importantly, we demonstrate that BREAD helps the model solve problems that are otherwise unsolvable by the SFT + RL strategy, highlighting how branched rollouts and expert guidance can substantially boost SLM reasoning. △ Less

Submitted 20 June, 2025; originally announced June 2025.

A Preference-Driven Methodology for High-Quality Solidity Code Generation

Authors: Zhiyuan Peng, Xin Yin, Chenhao Ying, Chao Ni, Yuan Luo

Abstract: While Large Language Models (LLMs) have demonstrated remarkable progress in generating functionally correct Solidity code, they continue to face critical challenges in producing gas-efficient and secure code, which are critical requirements for real-world smart contract deployment. Although recent advances leverage Supervised Fine-Tuning (SFT) and Direct Preference Optimization (DPO) for code pref… ▽ More While Large Language Models (LLMs) have demonstrated remarkable progress in generating functionally correct Solidity code, they continue to face critical challenges in producing gas-efficient and secure code, which are critical requirements for real-world smart contract deployment. Although recent advances leverage Supervised Fine-Tuning (SFT) and Direct Preference Optimization (DPO) for code preference alignment, existing approaches treat functional correctness, gas optimization, and security as independent objectives, resulting in contracts that may achieve operational soundness but suffer from prohibitive execution costs or dangerous vulnerabilities. To address these limitations, we propose PrefGen, a novel framework that extends standard DPO beyond human preferences to incorporate quantifiable blockchain-specific metrics, enabling holistic multi-objective optimization specifically tailored for smart contract generation. Our framework introduces a comprehensive evaluation methodology with four complementary metrics: Pass@k (functional correctness), Compile@k (syntactic correctness), Gas@k (gas efficiency), and Secure@k (security assessment), providing rigorous multi-dimensional contract evaluation. Through extensive experimentation, we demonstrate that PrefGen significantly outperforms existing approaches across all critical dimensions, achieving 66.7% Pass@5, 58.9% Gas@5, and 62.5% Secure@5, while generating production-ready smart contracts that are functionally correct, cost-efficient, and secure. △ Less

Submitted 30 September, 2025; v1 submitted 3 June, 2025; originally announced June 2025.

AgentAuditor: Human-Level Safety and Security Evaluation for LLM Agents

Authors: Hanjun Luo, Shenyu Dai, Chiming Ni, Xinfeng Li, Guibin Zhang, Kun Wang, Tongliang Liu, Hanan Salam

Abstract: Despite the rapid advancement of LLM-based agents, the reliable evaluation of their safety and security remains a significant challenge. Existing rule-based or LLM-based evaluators often miss dangers in agents' step-by-step actions, overlook subtle meanings, fail to see how small issues compound, and get confused by unclear safety or security rules. To overcome this evaluation crisis, we introduce… ▽ More Despite the rapid advancement of LLM-based agents, the reliable evaluation of their safety and security remains a significant challenge. Existing rule-based or LLM-based evaluators often miss dangers in agents' step-by-step actions, overlook subtle meanings, fail to see how small issues compound, and get confused by unclear safety or security rules. To overcome this evaluation crisis, we introduce AgentAuditor, a universal, training-free, memory-augmented reasoning framework that empowers LLM evaluators to emulate human expert evaluators. AgentAuditor constructs an experiential memory by having an LLM adaptively extract structured semantic features (e.g., scenario, risk, behavior) and generate associated chain-of-thought reasoning traces for past interactions. A multi-stage, context-aware retrieval-augmented generation process then dynamically retrieves the most relevant reasoning experiences to guide the LLM evaluator's assessment of new cases. Moreover, we developed ASSEBench, the first benchmark designed to check how well LLM-based evaluators can spot both safety risks and security threats. ASSEBench comprises 2293 meticulously annotated interaction records, covering 15 risk types across 29 application scenarios. A key feature of ASSEBench is its nuanced approach to ambiguous risk situations, employing "Strict" and "Lenient" judgment standards. Experiments demonstrate that AgentAuditor not only consistently improves the evaluation performance of LLMs across all benchmarks but also sets a new state-of-the-art in LLM-as-a-judge for agent safety and security, achieving human-level accuracy. Our work is openly accessible at https://github.com/Astarojth/AgentAuditor. △ Less

Submitted 30 January, 2026; v1 submitted 31 May, 2025; originally announced June 2025.

Comments: This paper is accepted by 39th Conference on Neural Information Processing Systems (NeurIPS 2025)

CosyVoice 3: Towards In-the-wild Speech Generation via Scaling-up and Post-training

Authors: Zhihao Du, Changfeng Gao, Yuxuan Wang, Fan Yu, Tianyu Zhao, Hao Wang, Xiang Lv, Hui Wang, Chongjia Ni, Xian Shi, Keyu An, Guanrou Yang, Yabin Li, Yanni Chen, Zhifu Gao, Qian Chen, Yue Gu, Mengzhe Chen, Yafeng Chen, Shiliang Zhang, Wen Wang, Jieping Ye

Abstract: In our prior works, we introduced a scalable streaming speech synthesis model, CosyVoice 2, which integrates a large language model (LLM) and a chunk-aware flow matching (FM) model, and achieves low-latency bi-streaming speech synthesis and human-parity quality. Despite these advancements, CosyVoice 2 exhibits limitations in language coverage, domain diversity, data volume, text formats, and post-… ▽ More In our prior works, we introduced a scalable streaming speech synthesis model, CosyVoice 2, which integrates a large language model (LLM) and a chunk-aware flow matching (FM) model, and achieves low-latency bi-streaming speech synthesis and human-parity quality. Despite these advancements, CosyVoice 2 exhibits limitations in language coverage, domain diversity, data volume, text formats, and post-training techniques. In this paper, we present CosyVoice 3, an improved model designed for zero-shot multilingual speech synthesis in the wild, surpassing its predecessor in content consistency, speaker similarity, and prosody naturalness. Key features of CosyVoice 3 include: 1) A novel speech tokenizer to improve prosody naturalness, developed via supervised multi-task training, including automatic speech recognition, speech emotion recognition, language identification, audio event detection, and speaker analysis. 2) A new differentiable reward model for post-training applicable not only to CosyVoice 3 but also to other LLM-based speech synthesis models. 3) Dataset Size Scaling: Training data is expanded from ten thousand hours to one million hours, encompassing 9 languages and 18 Chinese dialects across various domains and text formats. 4) Model Size Scaling: Model parameters are increased from 0.5 billion to 1.5 billion, resulting in enhanced performance on our multilingual benchmark due to the larger model capacity. These advancements contribute significantly to the progress of speech synthesis in the wild. We encourage readers to listen to the demo at https://funaudiollm.github.io/cosyvoice3. △ Less

Submitted 27 May, 2025; v1 submitted 23 May, 2025; originally announced May 2025.

Comments: Preprint, work in progress

Making Small Language Models Efficient Reasoners: Intervention, Supervision, Reinforcement

Authors: Xuechen Zhang, Zijian Huang, Chenshun Ni, Ziyang Xiong, Jiasi Chen, Samet Oymak

Abstract: Recent research enhances language model reasoning by scaling test-time compute via longer chain-of-thought traces. This often improves accuracy but also introduces redundancy and high computational cost, especially for small language models distilled with supervised fine-tuning (SFT). In this work, we propose new algorithms to improve token-efficient reasoning with small-scale models by effectivel… ▽ More Recent research enhances language model reasoning by scaling test-time compute via longer chain-of-thought traces. This often improves accuracy but also introduces redundancy and high computational cost, especially for small language models distilled with supervised fine-tuning (SFT). In this work, we propose new algorithms to improve token-efficient reasoning with small-scale models by effectively trading off accuracy and computation. We first show that the post-SFT model fails to determine the optimal stopping point of the reasoning process, resulting in verbose and repetitive outputs. Verbosity also significantly varies across wrong vs correct responses. To address these issues, we propose two solutions: (1) Temperature scaling (TS) to control the stopping point for the thinking phase and thereby trace length, and (2) TLDR: a length-regularized reinforcement learning method based on GRPO that facilitates multi-level trace length control (e.g. short, medium, long reasoning). Experiments on four reasoning benchmarks, MATH500, AMC, AIME24 and OlympiadBench, demonstrate that TS is highly effective compared to s1's budget forcing approach and TLDR significantly improves token efficiency by about 50% with minimal to no accuracy loss over the SFT baseline. Moreover, TLDR also facilitates flexible control over the response length, offering a practical and effective solution for token-efficient reasoning in small models. Ultimately, our work reveals the importance of stopping time control, highlights shortcomings of pure SFT, and provides effective algorithmic recipes. △ Less

Submitted 23 May, 2025; v1 submitted 12 May, 2025; originally announced May 2025.

UFO2: The Desktop AgentOS

Authors: Chaoyun Zhang, He Huang, Chiming Ni, Jian Mu, Si Qin, Shilin He, Lu Wang, Fangkai Yang, Pu Zhao, Chao Du, Liqun Li, Yu Kang, Zhao Jiang, Suzhen Zheng, Rujia Wang, Jiaxu Qian, Minghua Ma, Jian-Guang Lou, Qingwei Lin, Saravan Rajmohan, Dongmei Zhang

Abstract: Recent Computer-Using Agents (CUAs), powered by multimodal large language models (LLMs), offer a promising direction for automating complex desktop workflows through natural language. However, most existing CUAs remain conceptual prototypes, hindered by shallow OS integration, fragile screenshot-based interaction, and disruptive execution. We present UFO2, a multiagent AgentOS for Windows deskto… ▽ More Recent Computer-Using Agents (CUAs), powered by multimodal large language models (LLMs), offer a promising direction for automating complex desktop workflows through natural language. However, most existing CUAs remain conceptual prototypes, hindered by shallow OS integration, fragile screenshot-based interaction, and disruptive execution. We present UFO2, a multiagent AgentOS for Windows desktops that elevates CUAs into practical, system-level automation. UFO2 features a centralized HostAgent for task decomposition and coordination, alongside a collection of application-specialized AppAgent equipped with native APIs, domain-specific knowledge, and a unified GUI--API action layer. This architecture enables robust task execution while preserving modularity and extensibility. A hybrid control detection pipeline fuses Windows UI Automation (UIA) with vision-based parsing to support diverse interface styles. Runtime efficiency is further enhanced through speculative multi-action planning, reducing per-step LLM overhead. Finally, a Picture-in-Picture (PiP) interface enables automation within an isolated virtual desktop, allowing agents and users to operate concurrently without interference. We evaluate UFO2 across over 20 real-world Windows applications, demonstrating substantial improvements in robustness and execution accuracy over prior CUAs. Our results show that deep OS integration unlocks a scalable path toward reliable, user-aligned desktop automation. △ Less

Submitted 25 April, 2025; v1 submitted 20 April, 2025; originally announced April 2025.

Comments: The source code of UFO2 is publicly available at https://github.com/microsoft/UFO/, with comprehensive documentation provided at https://microsoft.github.io/UFO/

HumanDreamer-X: Photorealistic Single-image Human Avatars Reconstruction via Gaussian Restoration

Authors: Boyuan Wang, Runqi Ouyang, Xiaofeng Wang, Zheng Zhu, Guosheng Zhao, Chaojun Ni, Xiaopei Zhang, Guan Huang, Yijie Ren, Lihong Liu, Xingang Wang

Abstract: Single-image human reconstruction is vital for digital human modeling applications but remains an extremely challenging task. Current approaches rely on generative models to synthesize multi-view images for subsequent 3D reconstruction and animation. However, directly generating multiple views from a single human image suffers from geometric inconsistencies, resulting in issues like fragmented or… ▽ More Single-image human reconstruction is vital for digital human modeling applications but remains an extremely challenging task. Current approaches rely on generative models to synthesize multi-view images for subsequent 3D reconstruction and animation. However, directly generating multiple views from a single human image suffers from geometric inconsistencies, resulting in issues like fragmented or blurred limbs in the reconstructed models. To tackle these limitations, we introduce \textbf{HumanDreamer-X}, a novel framework that integrates multi-view human generation and reconstruction into a unified pipeline, which significantly enhances the geometric consistency and visual fidelity of the reconstructed 3D models. In this framework, 3D Gaussian Splatting serves as an explicit 3D representation to provide initial geometry and appearance priority. Building upon this foundation, \textbf{HumanFixer} is trained to restore 3DGS renderings, which guarantee photorealistic results. Furthermore, we delve into the inherent challenges associated with attention mechanisms in multi-view human generation, and propose an attention modulation strategy that effectively enhances geometric details identity consistency across multi-view. Experimental results demonstrate that our approach markedly improves generation and reconstruction PSNR quality metrics by 16.45% and 12.65%, respectively, achieving a PSNR of up to 25.62 dB, while also showing generalization capabilities on in-the-wild data and applicability to various human reconstruction backbone models. △ Less

Submitted 12 November, 2025; v1 submitted 4 April, 2025; originally announced April 2025.

Comments: Project Page: https://humandreamer-x.github.io/

WonderTurbo: Generating Interactive 3D World in 0.72 Seconds

Authors: Chaojun Ni, Xiaofeng Wang, Zheng Zhu, Weijie Wang, Haoyun Li, Guosheng Zhao, Jie Li, Wenkang Qin, Guan Huang, Wenjun Mei

Abstract: Interactive 3D generation is gaining momentum and capturing extensive attention for its potential to create immersive virtual experiences. However, a critical challenge in current 3D generation technologies lies in achieving real-time interactivity. To address this issue, we introduce WonderTurbo, the first real-time interactive 3D scene generation framework capable of generating novel perspective… ▽ More Interactive 3D generation is gaining momentum and capturing extensive attention for its potential to create immersive virtual experiences. However, a critical challenge in current 3D generation technologies lies in achieving real-time interactivity. To address this issue, we introduce WonderTurbo, the first real-time interactive 3D scene generation framework capable of generating novel perspectives of 3D scenes within 0.72 seconds. Specifically, WonderTurbo accelerates both geometric and appearance modeling in 3D scene generation. In terms of geometry, we propose StepSplat, an innovative method that constructs efficient 3D geometric representations through dynamic updates, each taking only 0.26 seconds. Additionally, we design QuickDepth, a lightweight depth completion module that provides consistent depth input for StepSplat, further enhancing geometric accuracy. For appearance modeling, we develop FastPaint, a 2-steps diffusion model tailored for instant inpainting, which focuses on maintaining spatial appearance consistency. Experimental results demonstrate that WonderTurbo achieves a remarkable 15X speedup compared to baseline methods, while preserving excellent spatial consistency and delivering high-quality output. △ Less

Submitted 3 April, 2025; originally announced April 2025.

Comments: Project Page: https://wonderturbo.github.io

HumanDreamer: Generating Controllable Human-Motion Videos via Decoupled Generation

Authors: Boyuan Wang, Xiaofeng Wang, Chaojun Ni, Guosheng Zhao, Zhiqin Yang, Zheng Zhu, Muyang Zhang, Yukun Zhou, Xinze Chen, Guan Huang, Lihong Liu, Xingang Wang

Abstract: Human-motion video generation has been a challenging task, primarily due to the difficulty inherent in learning human body movements. While some approaches have attempted to drive human-centric video generation explicitly through pose control, these methods typically rely on poses derived from existing videos, thereby lacking flexibility. To address this, we propose HumanDreamer, a decoupled human… ▽ More Human-motion video generation has been a challenging task, primarily due to the difficulty inherent in learning human body movements. While some approaches have attempted to drive human-centric video generation explicitly through pose control, these methods typically rely on poses derived from existing videos, thereby lacking flexibility. To address this, we propose HumanDreamer, a decoupled human video generation framework that first generates diverse poses from text prompts and then leverages these poses to generate human-motion videos. Specifically, we propose MotionVid, the largest dataset for human-motion pose generation. Based on the dataset, we present MotionDiT, which is trained to generate structured human-motion poses from text prompts. Besides, a novel LAMA loss is introduced, which together contribute to a significant improvement in FID by 62.4%, along with respective enhancements in R-precision for top1, top2, and top3 by 41.8%, 26.3%, and 18.3%, thereby advancing both the Text-to-Pose control accuracy and FID metrics. Our experiments across various Pose-to-Video baselines demonstrate that the poses generated by our method can produce diverse and high-quality human-motion videos. Furthermore, our model can facilitate other downstream tasks, such as pose sequence prediction and 2D-3D motion lifting. △ Less

Submitted 31 March, 2025; v1 submitted 31 March, 2025; originally announced March 2025.

Comments: Project Page: https://humandreamer.github.io

Interdisciplinary PhDs face barriers to top university placement within their disciplines

Authors: Xiang Zheng, Anli Peng, Xi Hong, Cassidy R. Sugimoto, Chaoqun Ni

Abstract: Interdisciplinary research has gained prominence as a necessity for addressing complex challenges, yet its impact on early academic careers remains unclear. This study examines how interdisciplinarity during doctoral training influences faculty placement at top universities across diverse fields. Analyzing the career trajectories of over 30,000 tenure-track faculty members who earned their Ph.D. d… ▽ More Interdisciplinary research has gained prominence as a necessity for addressing complex challenges, yet its impact on early academic careers remains unclear. This study examines how interdisciplinarity during doctoral training influences faculty placement at top universities across diverse fields. Analyzing the career trajectories of over 30,000 tenure-track faculty members who earned their Ph.D. degrees after 2005 and their initial faculty placement at 355 U.S. universities, we find that faculty newly hired by top-ranked universities tend to be less interdisciplinary in their Ph.D. research, particularly when they obtained Ph.D. from top universities and remain in their Ph.D. research field. This may reflect community trends towards homogeneity: at top universities, the existing faculty research is less interdisciplinary and more aligned with the candidates that they hire (who also exhibit lower interdisciplinarity). This preference disadvantages the placement of women graduates, who exhibit higher interdisciplinarity on average. Furthermore, we show that newly hired faculty with greater interdisciplinarity, when placed at top universities, tend to achieve higher long-term research productivity. This suggests a potential loss in knowledge production if top universities continue to undervalue interdisciplinary candidates. These findings highlight structural barriers in faculty hiring and raise concerns about the long-term consequences of prioritizing disciplinary specialization over interdisciplinary expertise. △ Less

Submitted 5 November, 2025; v1 submitted 27 March, 2025; originally announced March 2025.

ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representation

Authors: Guosheng Zhao, Xiaofeng Wang, Chaojun Ni, Zheng Zhu, Wenkang Qin, Guan Huang, Xingang Wang

Abstract: Combining reconstruction models with generative models has emerged as a promising paradigm for closed-loop simulation in autonomous driving. For example, ReconDreamer has demonstrated remarkable success in rendering large-scale maneuvers. However, a significant gap remains between the generated data and real-world sensor observations, particularly in terms of fidelity for structured elements, such… ▽ More Combining reconstruction models with generative models has emerged as a promising paradigm for closed-loop simulation in autonomous driving. For example, ReconDreamer has demonstrated remarkable success in rendering large-scale maneuvers. However, a significant gap remains between the generated data and real-world sensor observations, particularly in terms of fidelity for structured elements, such as the ground surface. To address these challenges, we propose ReconDreamer++, an enhanced framework that significantly improves the overall rendering quality by mitigating the domain gap and refining the representation of the ground surface. Specifically, ReconDreamer++ introduces the Novel Trajectory Deformable Network (NTDNet), which leverages learnable spatial deformation mechanisms to bridge the domain gap between synthesized novel views and original sensor observations. Moreover, for structured elements such as the ground surface, we preserve geometric prior knowledge in 3D Gaussians, and the optimization process focuses on refining appearance attributes while preserving the underlying geometric structure. Experimental evaluations conducted on multiple datasets (Waymo, nuScenes, PandaSet, and EUVS) confirm the superior performance of ReconDreamer++. Specifically, on Waymo, ReconDreamer++ achieves performance comparable to Street Gaussians for the original trajectory while significantly outperforming ReconDreamer on novel trajectories. In particular, it achieves substantial improvements, including a 6.1% increase in NTA-IoU, a 23. 0% improvement in FID, and a remarkable 4.5% gain in the ground surface metric NTL-IoU, highlighting its effectiveness in accurately reconstructing structured elements such as the road surface. △ Less

Submitted 10 July, 2025; v1 submitted 24 March, 2025; originally announced March 2025.

Comments: Project Page: https://recondreamer-plus.github.io/