论文

提出了 Gander，一个原生多模态双工交互模型，基于 MiniCPM-o 4.5 构建，并通过异步 Agent 循环进一步适配实时交互，同时开源其模型、代码和数据，以推动社区进一步研究与开发。Gander is presented, a native multimodal duplex interaction model that builds on MiniCPM-o 4.5 and is further adapted for realtime interaction with an asynchronous agent loop and is released together with its models, code, and data to facilitate further research and development in the community.

Mask Forcing 是一种双噪声掩码展开策略，通过扰动自回归学生的自展开来缓解由 reverse-KL 模式寻求引发的模式坍缩，能以更高视觉质量高效改进多种自回归视频扩散蒸馏方法，且无需引入真实视频数据或额外后训练阶段。Mask Forcing, a Dual-Noise Masking Rollout strategy that perturbs the AR student self-rollout to mitigate mode collapse induced by reverse-KL mode seeking, improves multiple AR video diffusion distillation methods with higher visual quality efficiently, without incorporating real video data or additional post-training stages.

本文提出 AuK，一个开源基础模型，通过自然语言指令与音频上下文的统一接口整合语音生成与编辑，在零样本与指令控制的语音生成以及通用指令引导编辑上取得领先性能。AuK, an open-source foundational model that unifies speech generation and editing through a common interface of natural-language instructions and audio context, is introduced and leading performance on zero-shot and instruction-controlled speech generation and general instruction-guided editing is demonstrated.

本文提出 TANGO，首个面向语言条件人形机器人在杂乱环境中通行的全身视觉语言导航框架，在视觉语言导航任务中达到 SOTA，并在需要避障的困难场景中超越强模块化基线。This work introduces TANGO, the first whole-body vision-language navigation framework for language-conditioned humanoid traversal in cluttered environments, and demonstrates state-of-the-art performance in vision-language navigation, while outperforming strong modular baselines in navigating challenging scenes requiring obstacle negotiation.

TransNormal-2 是基于 FLUX.2 的整流流框架，采用单步确定性推理，针对 VAE 解码器两侧的重建退化问题，施加 RGB 引导的残差修正以降低局部于边界的解码误差，且不自由改写粗预测。TransNormal-2, a FLUX.2-based rectified-flow framework with single-step deterministic inference that addresses VAE reconstruction degradation on both sides of the VAE decoder, and applies an RGB-guided residual correction to reduce boundary-localized decoding errors without freely rewriting the coarse prediction.

发现空间步态参数对视觉域偏移更敏感，且更好的 HMR 重建并不一定带来下游步态估计的改进；提出 GaitXFormer，作为直接基于 RGB 的参考模型用于步态参数估计。It is found that spatial gait parameters are more sensitive to visual domain shift and that improved HMR reconstruction alone does not necessarily translate to improved downstream gait estimation, and GaitXFormer is introduced as a direct RGB reference model for estimating gait parameters.

提出一个前馈式生成 Transformer，用于直接的单视图与多视图图像重光照，完全绕过显式本征属性估计，并采用置换不变的位置编码对称处理无序多视图输入，避免序列偏差。This work introduces a feed-forward generative Transformer for direct single- and multi-view image relighting that entirely bypasses explicit intrinsic property estimation and employs permutation-invariant positional encodings to symmetrically process unordered multi-view inputs without sequential bias.

Noah 是一个时间感知、任务无关的生成式 Transformer 模型，对完整多模态患者旅程进行表征与预测，是该领域首个真正整体化的生成模型，支持自回归预测，并具备可选的时间控制、零样本分类与反事实干预模拟能力。Noah is a time-aware, task-agnostic, generative transformer model representing and forecasting the full multimodal patient journey, and is the first truly holistic generative model in its field, enabling autoregressive forecasting with optional time control, zero-shot classification, and counterfactual intervention simulation.

本文介绍 Brain2Semantics2Text，一种通过中间语义嵌入空间重建文本的方法，并阐述了该方法的核心原理、实现方式以及缓解学习可靠神经-语义映射挑战的策略。This work introduces Brain2Semantics2Text, a method that reconstructs text through an intermediate semantic embedding space and describes the core principles of the approach, its implementation, and the strategies used to mitigate the challenges of learning a reliable neural-to-semantic mapping.

提出 X-AuT，一个渐进式框架，通过简短的行为探针选择层组合，并通过表征对齐、跨尺度蒸馏、调度式学生策略监督以及 LoRA 微调来恢复被剪枝的模型。X-AuT, a progressive framework that selects layer combinations through short behavioral probes and restores the pruned model through representation alignment, cross-scale distillation, scheduled student-policy supervision, and LoRA finetuning, is introduced.

引入 SpatialBlock-15k，一个包含 15,000 个堆块问题的合成数据集，涵盖 3D 到 2D 投影、视角变换和结构组合，并提出受人类认知发展启发的新范式：通过结构化堆块操作任务学习基础空间技能。This work introduces SpatialBlock-15k, a synthetic dataset of 15,000 block-stacking problems covering 3D-to-2D projection, viewpoint transformation, and structural combination and proposes a novel paradigm inspired by human cognitive development: learning foundational spatial skills through structured block-manipulation tasks.

构建一个受控的纯自回归测试床，在文本、图像、文生图（T2I）和图生文（I2T）预测的多模态持续预训练中跟踪任务特定验证损失，表明更好的重建并不一定带来更低的任务特定损失或更强的下游性能，且图像分词器的选择在联合优化下会影响文本建模。A controlled pure-autoregressive testbed is built and track task-specific validation losses during multimodal continual pretraining across text, image, text-to-image (T2I), and image-to-text (I2T) prediction, showing that better reconstruction does not necessarily yield lower task-specific losses or stronger downstream performance, and that image tokenizer choice can affect text modeling under joint optimization.

引入 ActReview，一个由反驳引导的后训练框架，将论文特定的诊断连接到具体、有依据的修订计划，并引入 ActReview-Bench，一个包含 1,000 个实例的人工整理基准，用于评估诊断质量和修订实用性。This work introduces ActReview, a rebuttal-guided post-training framework that connects paper-specific diagnoses to concrete, grounded revision plans, and introduces ActReview-Bench, a human-curated benchmark of 1,000 instances for evaluating diagnostic quality and revision usefulness.

提出一种物理引导框架，用于提升单图像部件感知 3D 生成效果，使其几何结构物理相容且连接稳定，并在部件接触面引入参数化连接器。This work proposes a physics-guided framework for improving single-image part-aware 3D generation with physically compatible geometry and stable connections, and introduces parameterized connectors at their contact surfaces.

本研究提出了 StepAudio 3 Gen，一个通用音频生成模型，在统一框架下支持零样本文本到语音合成（TTS）、声音设计、人声生成、音效、音乐、风格化语音以及多种音频类型的混合生成。This study introduces StepAudio 3 Gen, a general-purpose audio generation model that supports zero-shot text-to-speech (TTS), voice design, vocal generation, sound effects, music, vibe speech, and mixtures of multiple audio types within a unified framework.

研究发现，仅使用合成数据的训练即可具备竞争力；将 0.9B 参数的 PaddleOCR-VL-1.6 适配为 Wayu-Paxa-OCR-Zero，一个无需真实泰语文档页 OCR 标签即可适配的泰语 OCR 模型，表明仅合成数据训练即可具备竞争力。It is found that synthetic-only training can be competitive, and the 0.9B-parameter PaddleOCR-VL-1.6 is adapted into Wayu-Paxa-OCR-Zero, a Thai OCR model adapted without OCR labels from real Thai document pages, showing that synthetic-only training can be competitive.

Pelican-Sim 在轨迹、场景、物体、具身和视角变化上的定性泛化能力，凸显其作为通用世界模型模拟器的潜力。Qualitative generalization across trajectory, scene, object, embodiment, and viewpoint shifts highlights Pelican-Sim's potential as a general-purpose world model simulator.

该工作提交于 ECCV 2026 Wearable AI Challenge 的 EgoProactive 赛道，在大模型组排名第一、≤2B 组排名第二，表明对当前任务而言视觉定位比标注量更为重要。This submission to the EgoProactive track of the ECCV 2026 Wearable AI Challenge is presented, which ranked first in the large-model division and second in the<=2B division, suggesting that visual grounding is more important than annotation volume for this task.

该系统仅用一个 2B 视觉-语言模型，通过一次贪心前向传播即可回答关于十分钟第一人称视频的多选题，并仅用大型 Agentic pipeline 1.1% 的参数即达到其 89% 的准确率。The system is a single 2B vision-language model that answers multiple-choice questions about ten-minute egocentric videos in one greedy forward pass, and reaches 89% of the accuracy of the large agentic pipeline using 1.1% of its parameters.

提出 MobileVLA-R1 2.0，一个 RL 增强的 VLA 框架，显式地将结构化具身推理与可执行的移动机器人控制耦合，并引入推理条件化的动作解码器，将多模态推理表征映射到任务级动作目标，再由机器人控制器翻译为具身特定的指令。This work proposes MobileVLA-R1 2.0, an RL-enhanced VLA framework that explicitly couples structured embodied reasoning with executable mobile robot control, and introduces a reasoning-conditioned action decoder that maps multimodal reasoning representations to task-level action targets, which are subsequently translated into embodiment-specific commands by robot controllers.

Realtime-Venus 是一个主动全双工交互系统，由两个独立训练的 9B 模型组成：Realtime-Venus-Omni 用于音视频交互，Realtime-Venus-Audio 用于语音交互；在 MMAU、Llama Questions 与 Speech CMMLU 上均领先于对比模型Realtime-Venus, a proactive full-duplex interaction system with two separately trained 9B models: Realtime-Venus-Omni for audio-visual interaction and Realtime-Venus-Audio for spoken interaction, which leads the compared models on MMAU, Llama Questions, and Speech CMMLU.

视频扩散模型具有随机性且难以控制：精确内容往往需要反复采样且无法保证成功，长时场景在外观、交互和时间一致性上会发生漂移。Agent式视觉创作可提供显式参考、可编辑的3D场景或可执行的游戏状态以实现稳定控制，但本身并不能保证高对象或角色保真度。二者结合可实现稳定且高质量的生成。为实现该结合，我们提出 LynnReal-Omni，一个基于32B共享多模态Video diffusion models are stochastic and hard to control: precise content often requires repeated sampling without guaranteed success, and long-horizon scenes drift in appearance, interactions, and temporal coherence. Agentic visual creation provides explicit references, editable 3D scenes, or executable game states for stable control, but does not by itself guarantee high object or character fidelity. Combining the two can enable stable, high-quality generation. To realize this combination, we present LynnReal-Omni, a native multimodal video generation framework built on a 32B shared multimo

ModaLens 是一种配对图像交换审计，用于衡量报告可用性如何改变图像敏感性，并限制对视觉正确性的结论；该方向在另外两个模型系列中得到复现。ModaLens, a paired image-swap audit, measures how report availability changes image sensitivity and limits conclusions about visual correctness; the direction replicates in two further model lineages.

Dynin-Robotics 在 LIBERO 和零样本 LIBERO-Plus 上取得了具有竞争力的性能，并在 Franka Research 3 机器人的四种操作条件下达到了 78.4% 的平均成功率。Dynin-Robotics achieves competitive performance on LIBERO and zero-shot LIBERO-Plus, together with a 78.4% average success rate across four manipulation conditions on a Franka Research 3 robot.

StepAudio 3 Realtime 是一个围绕持续 listen-converse-think-act 循环组织的音频-语言基础模型，在实时语音输出的同时达到与专用推理模型相当的对话与推理性能，并通过 Think-While-Speaking 机制化解深度思考与延迟之间的矛盾。StepAudio 3 Realtime, an audio-language foundation model organized around a continuous listen-converse-think-act loop, achieves dialogue and reasoning performance comparable to dedicated reasoning models while speaking in real time, and resolves the tension between deep deliberation and latency via Think-While-Speaking.

该工作提出了 StepAudio 3 Music，一个支持显式音乐规划与开放域文本控制生成的大规模长篇音乐生成模型，在所评估系统中取得最高的 AudioBox Content Enjoyment、Content Usefulness 与 Production Quality 分数，以及最高的 MuQ-MuLan 相似度。This work introduces StepAudio 3 Music, a large-scale, long-form music generation model that supports explicit musical planning and open-domain text-controlled generation, and achieves the highest AudioBox Content Enjoyment, Content Usefulness, and Production Quality scores and the highest MuQ-MuLan similarity among the evaluated systems.

本文提出一个受控的跨模态框架，在多种模态下实例化相同的任务套件以检验 Convergent Emergence Hypothesis，结果显示配对映射的 ICL 在六种模态中出现，超越受控基线，并在其中五种模态上呈现相关的逐任务效应。A controlled cross-modality framework that instantiates the same task suite in a variety of modalities to test the Convergent Emergence Hypothesis and shows that paired-mapping ICL emerges across six modalities, surpasses controlled baselines, and has correlated per-task effects across five of them.

我们提出 Zing-0.5，一个 5B 自回归世界模型，专注于可玩性：用户可以探索生成的世界、影响事件演进，并通过键盘与在线文本的联合控制对反馈做出响应。我们的方法汇聚了三项技术贡献：(1) 统一的动作与文本条件建模，将感知幅度的键盘输入与时序对齐的文本指令、以及联合标注的视频结合，在同一序列中学习导航与事件控制；(2) 面向增量生成的事件尺度监督，使用分段级教师...We introduce Zing-0.5, a 5B autoregressive world model designed for playability: users can explore generated worlds, influence unfolding events, and respond to the resulting feedback through joint keyboard and online text control. Our approach brings together three technical contributions: (1) Unified action and text conditioning, combining magnitude-aware keyboard inputs with temporally aligned text instructions and jointly annotated videos to learn navigation and event control within the same sequence; (2) Event-scale supervision for incremental generation, using a segment-level teacher trai

本文提出 PanoCaps，一个由全景分割数据集构建的人工标注 benchmark，并提出 PANORAMA，一个将预训练 segmenter 条件化于上下文化短语表示以获得候选 mask、并学习选择与每个短语对应的 mask 的 VLM。This work introduces PanoCaps, a human-annotated benchmark constructed from panoptic segmentation datasets, and introduces PANORAMA, a VLM that conditions a pretrained segmenter on contextualized phrase representations to obtain candidate masks and learns to select those corresponding to each phrase.

提出 UFO，这是首个面向全条件对齐同时评估的统一框架；并发布 UFO-Bench，一个用于整体评估现有定制化模型在文本与视觉条件多样化交互下表现的专用基准。UFO is proposed, the first unified framework for omni-condition alignment simultaneous evaluation, and UFO-Bench is presented, a dedicated benchmark designed to holistically evaluate the performance of existing customization models under the diverse mutual interactions of textual and visual conditions.

本文提出 FAMOS，一个前馈模型，可从稀疏、无序的部分点云集合预测可动部件分割与关节参数；并引入一个过程式数据生成器，在训练过程中合成自标注资产，以克服现有数据集规模和多样性的局限。FAMOS, a feed-forward model that predicts movable-part segmentation and joint parameters from a sparse, unordered set of partial point clouds, is presented and a procedural data generator that synthesizes self-annotated assets during training is introduced to overcome the limited scale and diversity of existing datasets.

提出 Paint-Anything，通过物体级颜色监督学习一个统一的 hex-prompt 界面以同时支持生成与编辑；并引入 Any Color Benchmark (ACBench)，包含 ACBench-T2I 和 ACBench-Edit，以衡量两项任务中的物体级 hex 颜色保真度。Paint-Anything is presented, which learns a shared hex-prompt interface for generation and editing through object-level color supervision, and introduces Any Color Benchmark (ACBench), comprising ACBench-T2I and ACBench-Edit, to measure object-level hex color fidelity across both tasks.

提出 SteerDuplex，一种基于 Moshi 的全双工语音模型，在自然对话和针对指令遵循、语音表达、推理与双工交互的合成对话上进行了微调，并通过两阶段混合奖励强化学习改善时序与回复连贯性。SteerDuplex is introduced, a Moshi-based full-duplex speech model fine-tuned on natural conversations and synthetic dialogues targeting instruction following, vocal delivery, reasoning, and duplex interaction, and two-stage reinforcement learning with hybrid rewards to improve timing and response continuity.

提出 CARE（Corrective Atomic Robotic Execution），一种通过从执行中遇到的失败进行学习以提升恢复能力的框架，并引入 Failure State Recovery Benchmark (FSR-Bench)，用于评估在局部偏差与结构异常下从中间失败态恢复的表现。This work proposes CARE (Corrective Atomic Robotic Execution), a framework that improves recovery by learning from failures encountered during execution, and introduces the Failure State Recovery Benchmark (FSR-Bench), which evaluates recovery from intermediate failure states under local deviations and structural anomalies.

提出 Grounded Action Models (GAMs)，一种基于 3D grounding 构建的机器人基础模型新范式，可自主运行，并作为底层控制器由高层规划器通过多种输入模态进行控制，支持长时序与依赖记忆的操作。Grounded Action Models (GAMs), a new paradigm of robot foundation models built with 3D grounding, are proposed, which can be run autonomously and serve as a low-level controller that a high-level planner controls using its various input modalities, allowing for long-horizon and memory-dependent manipulation.

提出 SVEET 框架，仅需在预训练的双向视频扩散模型上训练，即可支持高质量自回归流式视频编辑，并提出解耦训练方案，显式强制视频可控性与模型因果性优化方向之间的正交性。This paper proposes SVEET, a framework that requires merely training on a pretrained bidirectional video diffusion model but supports high-quality streaming video editing in an auto-regressive fashion and proposes a decoupled training scheme that explicitly enforces the orthogonality between the optimization directions of video controllability and model causality.