Daily Papers

While on-policy distillation (OPD) effectively addresses sparse rewards and exposure bias in large language model post-training, its extension to flow models remains underexplored. To this end, we propose Flow Continuous Trajectory Supervision (FlowCTS), which matches subsequent student and reference trajectories initialized from the same student-visited state. Using the integral relation between trajectories and velocity fields, we derive a temporally weighted velocity-matching upper bound and discretize it into practical objectives parameterized by the number of supervision steps. Under a multi-reference setup, single-state FlowCTS-OPD outperforms vanilla KL-based OPD with faster convergence. FlowCTS-OPD improves GenEval from 0.90 to 0.93, OCR from 0.90 to 0.92, and PickScore from 22.75 to 23.06, while outperforming a mixed-reward RL baseline across all target metrics. Further analysis reveals a clear temporal supervision mismatch in vanilla KL-based OPD arising from its auxiliary SDE transition kernels. Beyond on-policy setting,FlowCTS also consistently outperforms vanilla SFT , particularly on OCR, while increasing supervision steps exhibit a trade-off between richer trajectory information and greater optimization difficulty.

We introduce VEGA, an approach for training navigation VisionLanguage-Action (VLA) models from unlabeled egocentric navigation videos. Internet-scale egocentric videos provide a scalable source of navigation-relevant visual observations, capturing cluttered scenes, close-range obstacles, and natural human motion through real-world spaces. However, these videos are not directly usable for policy learning because they do not provide obstacle-aware trajectories conditioned on explicit navigation goals in the robot's coordinate frame. VEGA addresses this gap by reconstructing local scene geometry from monocular video, sampling navigation goals (represented as text, image, or spatial waypoints) and generating obstacle-aware trajectories using the constructed geometry. The resulting trajectory distribution is then used to train a flow-matching VLA navigation policy. By using geometry exclusively during training, VEGA distills obstacle-aware planning directly into a vision-based policy. Furthermore, we introduce VEGA-Bench, a benchmark containing 250k scenes and approximately 5 million navigation goals paired with scene geometry, designed to evaluate goal progress, collision avoidance, and obstacle clearance of VLAs. Our evaluation shows that VEGA achieves competitive goal progress while reducing collisions by 33.0% and improving obstacle clearance by 17.9% over the strongest baseline on VEGABench, while improving success by at least 150.0%, reducing collisions by at least 66.7%, and improving obstacle clearance by at least 60.0% in real-world trials. Ultimately, we demonstrate that video-derived geometric supervision provides a scalable and effective signal for training obstacle-aware navigation VLAs. The code and benchmark will be released at the time of publication.

We propose ReCamDriving, a purely vision-based, camera-controlled novel-trajectory video generation framework. While repair-based methods fail to restore complex artifacts and LiDAR-based approaches rely on sparse and incomplete cues, ReCamDriving leverages dense and scene-complete 3DGS renderings for explicit geometric guidance, achieving precise camera-controllable generation. To mitigate overfitting to restoration behaviors when conditioned on 3DGS renderings, ReCamDriving adopts a two-stage training paradigm: the first stage uses camera poses for coarse control, while the second stage incorporates 3DGS renderings for fine-grained viewpoint and geometric guidance. Furthermore, we present a 3DGS-based cross-trajectory data curation strategy to eliminate the train-test gap in camera transformation patterns, enabling scalable multi-trajectory supervision from monocular videos. Based on this strategy, we construct the ParaDrive dataset, containing over 110K parallel-trajectory video pairs. Extensive experiments demonstrate that ReCamDriving achieves state-of-the-art camera controllability and structural consistency.

Small-model agentic post-training is bottlenecked less by the algorithm than by the trajectory substrate it consumes. Leading recipes (RLVR, group-relative RL, rejection-sampled re-SFT) all need multi-turn traces carrying per-trajectory supervision, and the two existing sources fall short: frontier-synthesised data inherits the synthesizer's biases and collapses the long tail, while unfiltered production logs are unjudged and contaminated by shortcut behaviour. We argue that an incentive-aligned agent arena can be engineered to manufacture such trajectories, and demonstrate this on ORO Subnet 15 (SN15), a Bittensor deployment of the ShoppingBench agentic-commerce benchmark. SN15's race mechanism, LLM reasoning judge, and rotating leak-cluster-guarded problem suite yield a corpus with three properties: incentive-aligned diversity, per-trajectory judging, and anti-memorised held-out evaluation. We introduce a structural-quality filter that converts the raw firehose into a trainable corpus by keeping agentic trajectories (the model itself emits the tool calls) and rejecting sub-task trajectories (the model only classifies or narrates over a deterministic search loop), then post-train Qwen3-4B with a recipe matched to the published ShoppingBench SFT-then-GRPO pipeline. On a leak-cluster-guarded held-out partition scored production-strict, the model lifts from the published Qwen3-4B base of 18.0% ASR to 42.7%, within single-problem noise of the synthetic-data SFT-only baseline (43.6%), while training on a fraction of a single day of subnet output. The supervised stack leaves a large pass@8 to pass@1 gap (53.3% vs 34.8%); a per-step teacher-grounded Dr. GRPO reward converts that headroom into process improvement, and we identify the sub-task firehose as the primary lever for closing the gap to the 48.7% SFT+GRPO bar. We release the filter, the corpus splits, and the arena mechanics.

Diffusion Language Models (DLMs) offer a promising alternative for language modeling by enabling parallel decoding through iterative refinement. However, most DLMs rely on hard binary masking and discrete token assignments, which hinder the revision of early decisions and underutilize intermediate probabilistic representations. In this paper, we propose EvoToken-DLM, a novel diffusion-based language modeling approach that replaces hard binary masks with evolving soft token distributions. EvoToken-DLM enables a progressive transition from masked states to discrete outputs, supporting revisable decoding. To effectively support this evolution, we introduce continuous trajectory supervision, which aligns training objectives with iterative probabilistic updates. Extensive experiments across multiple benchmarks show that EvoToken-DLM consistently achieves superior performance, outperforming strong diffusion-based and masked DLM baselines. Project webpage: https://aim-uofa.github.io/EvoTokenDLM.

Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot embodiments. We argue that this stems from the lack of a unified geometry-aware manipulation representation, leaving existing VLAs vulnerable to low-level trajectory supervision, misaligned 3D features, and embodiment differences. To address this, we propose GEAR-VLA, a VLA framework for learning unified geometry-aware action representations for generalizable robotic manipulation. GEAR-VLA adopts coarse-to-fine action learning, where multi-source embodied pretraining equips the VLM with embodied reasoning and discrete action understanding before latent action tokens connect action semantics to a gradient-decoupled DiT continuous action expert. It further performs semantic-aligned 3D integration by aligning a trainable 3D spatial backbone with the VLA representation while freezing the original VLM-aligned visual pathway. To share this representation across robots, GEAR-VLA uses embodiment canonicalization, where embodiment-aware states and embodiment-invariant actions confine robot differences to the low-level interface. Extensive simulation and real-world experiments demonstrate strong generalization: GEAR-VLA achieves state-of-the-art performance on LIBERO, zero-shot LIBERO-Plus, and RoboTwin 2.0, reaches 85.9% success on AgileX and 81.0% on the pretraining-unseen LDT-01 embodiment, and obtains 90.1% success on a 6,360-trial universal grasping benchmark with 212 unseen objects. Code and models will be released at https://github.com/babynabeauty/GEAR-VLA.

The motion transfer task involves transferring motion from a source video to newly generated videos, requiring the model to decouple motion from appearance. Previous diffusion-based methods primarily rely on separate spatial and temporal attention mechanisms within 3D U-Net. In contrast, state-of-the-art video Diffusion Transformers (DiT) models use 3D full attention, which does not explicitly separate temporal and spatial information. Thus, the interaction between spatial and temporal dimensions makes decoupling motion and appearance more challenging for DiT models. In this paper, we propose DeT, a method that adapts DiT models to improve motion transfer ability. Our approach introduces a simple yet effective temporal kernel to smooth DiT features along the temporal dimension, facilitating the decoupling of foreground motion from background appearance. Meanwhile, the temporal kernel effectively captures temporal variations in DiT features, which are closely related to motion. Moreover, we introduce explicit supervision along dense trajectories in the latent feature space to further enhance motion consistency. Additionally, we present MTBench, a general and challenging benchmark for motion transfer. We also introduce a hybrid motion fidelity metric that considers both the global and local motion similarity. Therefore, our work provides a more comprehensive evaluation than previous works. Extensive experiments on MTBench demonstrate that DeT achieves the best trade-off between motion fidelity and edit fidelity.

Estimating camera motion and intrinsics from casual videos is a core challenge in computer vision. Traditional bundle-adjustment based methods, such as SfM and SLAM, struggle to perform reliably on arbitrary data. Although specialized SfM approaches have been developed for handling dynamic scenes, they either require intrinsics or computationally expensive test-time optimization and often fall short in performance. Recently, methods like Dust3r have reformulated the SfM problem in a more data-driven way. While such techniques show promising results, they are still 1) not robust towards dynamic objects and 2) require labeled data for supervised training. As an alternative, we propose AnyCam, a fast transformer model that directly estimates camera poses and intrinsics from a dynamic video sequence in feed-forward fashion. Our intuition is that such a network can learn strong priors over realistic camera poses. To scale up our training, we rely on an uncertainty-based loss formulation and pre-trained depth and flow networks instead of motion or trajectory supervision. This allows us to use diverse, unlabelled video datasets obtained mostly from YouTube. Additionally, we ensure that the predicted trajectory does not accumulate drift over time through a lightweight trajectory refinement step. We test AnyCam on established datasets, where it delivers accurate camera poses and intrinsics both qualitatively and quantitatively. Furthermore, even with trajectory refinement, AnyCam is significantly faster than existing works for SfM in dynamic settings. Finally, by combining camera information, uncertainty, and depth, our model can produce high-quality 4D pointclouds.

Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision. Since these models typically rely on VLM backbones optimized for Visual Question Answering (VQA), they excel at semantic identification but often overlook subtle 3D state variations that dictate distinct action patterns. To resolve these misalignments, we propose Pose-VLA, a decoupled paradigm that separates VLA training into a pre-training phase for extracting universal 3D spatial priors in a unified camera-centric space, and a post-training phase for efficient embodiment alignment within robot-specific action space. By introducing discrete pose tokens as a universal representation, Pose-VLA seamlessly integrates spatial grounding from diverse 3D datasets with geometry-level trajectories from robotic demonstrations. Our framework follows a two-stage pre-training pipeline, establishing fundamental spatial grounding via poses followed by motion alignment through trajectory supervision. Extensive evaluations demonstrate that Pose-VLA achieves state-of-the-art results on RoboTwin 2.0 with a 79.5% average success rate and competitive performance on LIBERO at 96.0%. Real-world experiments further showcase robust generalization across diverse objects using only 100 demonstrations per task, validating the efficiency of our pre-training paradigm.

Reinforcement Learning (RL) and Supervised Fine-Tuning (SFT) are the two dominant paradigms for enhancing Large Language Model (LLM) performance on downstream tasks. While RL generally preserves broader model capabilities (retention) better than SFT, it comes with significant costs: complex reward engineering, instability, and expensive on-policy sampling. In contrast, SFT is efficient but brittle, often suffering from catastrophic forgetting due to Supervision Mismatch: the divergence between the model's evolving policy and static training labels. We address this trade-off with Trajectory-Mixed Supervision (TMS), a reward-free framework that approximates the on-policy benefits of RL by creating a dynamic curriculum from the model's own historical checkpoints. TMS minimizes Policy-Label Divergence (PLD), preventing the mode collapse that drives forgetting in standard SFT. Experiments across reasoning (MATH, GSM8K) and instruction-following benchmarks demonstrate that TMS effectively shifts the accuracy--retention Pareto frontier. While RL remains the gold standard for retention, TMS significantly outperforms standard and iterative SFT, bridging the gap to RL without requiring reward models or verifiers. Mechanistic analysis confirms that PLD drift accurately predicts forgetting and that TMS successfully mitigates this drift.

Offline reinforcement learning is typically analyzed under process-level reward supervision, yet many sequential decision datasets record only trajectory-level outcomes. We develop a statistical theory for offline policy optimization from such outcome-level supervision. We first study the canonical setting where the target remains the expected cumulative reward, but each offline trajectory provides only a scalar label whose conditional mean is the cumulative return. We propose OPAC, a pessimistic actor-critic algorithm that learns a latent reward model and optimizes a policy from trajectory-level labels. We prove a high-probability guarantee of order widetilde O(H^2C_{sa(π^star)/n}) and a matching lower bound, characterizing the sharp statistical cost of replacing process-level rewards with one trajectory-level label. We then extend the principle to preference-based feedback, preserving the leading horizon and concentrability dependence up to preference-model constants. Finally, we study generalized outcome-based offline RL, where both the supervision and the objective are trajectory-level quantities induced by a nonlinear aggregation of latent per-step rewards. This problem is not learnable in general: for all-success objectives, any offline learner may require Ω(2^H) trajectories even with deterministic transitions and constant concentrability. We then identify a tractable regime through two structural coefficients, κ_μ(σ) and χ_μ(σ), capturing information loss in outcome aggregation and generalized Bellman updates, under which generalized OPAC achieves polynomial sample complexity. Together, our results delineate when outcome-level supervision enables sample-efficient offline control and when missing process-level rewards create fundamental statistical barriers.

Recent techniques for text-to-4D generation synthesize dynamic 3D scenes using supervision from pre-trained text-to-video models. However, existing representations for motion, such as deformation models or time-dependent neural representations, are limited in the amount of motion they can generate-they cannot synthesize motion extending far beyond the bounding box used for volume rendering. The lack of a more flexible motion model contributes to the gap in realism between 4D generation methods and recent, near-photorealistic video generation models. Here, we propose TC4D: trajectory-conditioned text-to-4D generation, which factors motion into global and local components. We represent the global motion of a scene's bounding box using rigid transformation along a trajectory parameterized by a spline. We learn local deformations that conform to the global trajectory using supervision from a text-to-video model. Our approach enables the synthesis of scenes animated along arbitrary trajectories, compositional scene generation, and significant improvements to the realism and amount of generated motion, which we evaluate qualitatively and through a user study. Video results can be viewed on our website: https://sherwinbahmani.github.io/tc4d.

Process Reward Models (PRMs) have recently emerged as a powerful framework for supervising intermediate reasoning steps in large language models (LLMs). Previous PRMs are primarily trained on model final output responses and struggle to evaluate intermediate thinking trajectories robustly, especially in the emerging setting of trajectory-response outputs generated by frontier reasoning models like Deepseek-R1. In this work, we introduce ReasonFlux-PRM, a novel trajectory-aware PRM explicitly designed to evaluate the trajectory-response type of reasoning traces. ReasonFlux-PRM incorporates both step-level and trajectory-level supervision, enabling fine-grained reward assignment aligned with structured chain-of-thought data. We adapt ReasonFlux-PRM to support reward supervision under both offline and online settings, including (i) selecting high-quality model distillation data for downstream supervised fine-tuning of smaller models, (ii) providing dense process-level rewards for policy optimization during reinforcement learning, and (iii) enabling reward-guided Best-of-N test-time scaling. Empirical results on challenging downstream benchmarks such as AIME, MATH500, and GPQA-Diamond demonstrate that ReasonFlux-PRM-7B selects higher quality data than strong PRMs (e.g., Qwen2.5-Math-PRM-72B) and human-curated baselines. Furthermore, our derived ReasonFlux-PRM-7B yields consistent performance improvements, achieving average gains of 12.1% in supervised fine-tuning, 4.5% in reinforcement learning, and 6.3% in test-time scaling. We also release our efficient ReasonFlux-PRM-1.5B for resource-constrained applications and edge deployment. Projects: https://github.com/Gen-Verse/ReasonFlux

General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effective for expert demonstrations, this paradigm scales poorly to large-scale robotics datasets where failed and suboptimal trajectories are abundant and assigning dense progress labels is ambiguous. We introduce Robometer, a scalable reward modeling framework that combines intra-trajectory progress supervision with inter-trajectory preference supervision. Robometer is trained with a dual objective: a frame-level progress loss that anchors reward magnitude on expert data, and a trajectory-comparison preference loss that imposes global ordering constraints across trajectories of the same task, enabling effective learning from both real and augmented failed trajectories. To support this formulation at scale, we curate RBM-1M, a reward-learning dataset comprising over one million trajectories spanning diverse robot embodiments and tasks, including substantial suboptimal and failure data. Across benchmarks and real-world evaluations, Robometer learns more generalizable reward functions than prior methods and improves robot learning performance across a diverse set of downstream applications. Code, model weights, and videos at https://robometer.github.io/.

Vision-Language-Action (VLA) models enable robots to follow natural language instructions and generalize across diverse tasks, but they remain vulnerable to execution failures that compromise reliability in real-world deployment. Detecting such failures during execution is therefore critical for the robust deployment of embodied systems. Existing failure detection methods either rely on expensive action resampling or external models, while alternatives propagate trajectory-level labels uniformly across every timestep, obscuring localized failure signals. In this paper, we propose Hide-and-Seek, a framework that formulates VLA failure detection as a coarsely supervised learning problem. By combining inter-trajectory and intra-trajectory contrastive objectives, Hide-and-Seek localizes failure-indicative actions and induces temporally structured failure signals from trajectory-level supervision alone, without any step-level annotation. We evaluate Hide-and-Seek on LIBERO, VLABench, and a real-world robotic platform across three representative VLA policies: OpenVLA, π_0, and π_{0.5}.Our method achieves state-of-the-art multi-task failure detection performance with a practical accuracy--timeliness trade-off under conformal prediction, and generalizes well to both seen and unseen tasks.

Neural Flows efficiently model irregular multivariate time series by directly learning ODE solution trajectories with neural networks, bypassing step-by-step numerical solvers. Despite their efficiency, many existing approaches treat variables independently, leaving inter-variable interactions underexplored. Moreover, their one-step mapping makes interaction modeling inherently challenging, as it removes the iterative refinement of interactions during learning. To address this challenge, we propose one-step Graph-Structured Neural Flows (GSNF), which introduce two auxiliary-trajectory self-supervision strategies to strengthen interaction learning: (i) interaction-aware trajectory generation via re-initialization, which induces trajectory divergence to expose graph-induced interactions, with a theoretically derived lower bound on divergence; and (ii) reverse-time trajectory generation, which enforces forward-backward consistency to regularize graph learning, enabled by flow invertibility. Experiments on five real-world datasets show that GSNF achieves state-of-the-art classification performance with highly competitive training time and memory usage.

Tool-Integrated Reasoning (TIR) enables LLMs to solve complex tasks through iterative tool interactions. However, existing reinforcement learning methods often rely on trajectory-level supervision, limiting fine-grained credit assignment in long-horizon TIR scenarios. On-policy self-distillation offers denser signals through teacher branches with privileged context, but existing approaches typically derive such context from ground-truth answers or retrieved skills, which may not reflect the states actually visited by the agent. Moreover, token-level supervision fails to capture the turn-level structure of tool interactions. To address this, we propose TurnSight, a turn-level hindsight self-distillation framework that derives supervision directly from execution-conditioned hindsight. It then constructs multiple hindsight views with different lookahead horizons and selects reliable supervision through cross-horizon directional agreement. Finally, the selected hindsight signal is normalized across sibling rollouts and used to adaptively modulate RL advantages while preserving their original optimization direction. Extensive experiments on three benchmarks demonstrate the effectiveness of TurnSight. Our codes are available at https://github.com/quchangle1/TurnSight.

Agents based on large language models have recently shown strong potential on real-world software engineering (SWE) tasks that require long-horizon interaction with repository-scale codebases. However, most existing agents rely on append-only context maintenance or passively triggered compression heuristics, which often lead to context explosion, semantic drift, and degraded reasoning in long-running interactions. We propose CAT, a new context management paradigm that elevates context maintenance to a callable tool integrated into the decision-making process of agents. CAT formalizes a structured context workspace consisting of stable task semantics, condensed long-term memory, and high-fidelity short-term interactions, and enables agents to proactively compress historical trajectories into actionable summaries at appropriate milestones. To support context management for SWE-agents, we propose a trajectory-level supervision framework, CAT-GENERATOR, based on an offline data construction pipeline that injects context-management actions into complete interaction trajectories. Using this framework, we train a context-aware model, SWE-Compressor. Experiments on SWE-Bench-Verified demonstrate that SWE-Compressor reaches a 57.6% solved rate and significantly outperforms ReAct-based agents and static compression baselines, while maintaining stable and scalable long-horizon reasoning under a bounded context budget.

We propose OPSD-V, an on-policy self-distillation paradigm for post-training few-step autoregressive (AR) video diffusion models. Existing few-step AR video generators can produce long videos with low latency, but still suffer from error accumulation and weakened motion dynamics during long autoregressive rollout. OPSD-V reduces long-horizon degradation while preserving the original few-step inference path. The key idea is to introduce real long-video data as temporal context during training and use it to provide dense trajectory-level supervision. Specifically, the student follows the exact inference-time rollout, generating each chunk conditioned on its own previously generated KV cache. In parallel, the teacher is evaluated at the same student-visited denoising states, but uses a cleaner AR-consistent temporal cache in which older history can be replaced by real-video context. This provides dense denoising-level corrective targets under on-policy AR cache dynamics, without changing the sampler, number of denoising steps, or inference-time cache mechanism. We apply OPSD-V to representative few-step AR video models, including Self-Forcing and LongLive. Experiments show consistent improvements in visual quality, motion dynamics, and VBenchLong scores. A user study with 10 participants comparing 20 video pairs shows that OPSD-V is preferred over the base models in 66.0% of overall-preference judgments (82.5% excluding ties).

Computer Use Agents (CUAs) can act through both atomic GUI actions, such as click and type, and high-level tool calls, such as API-based file operations, but this hybrid action space often leaves them uncertain about when to continue with GUI actions or switch to tools, leading to suboptimal execution paths. This difficulty stems from the scarcity of high-quality interleaved GUI-Tool trajectories, the cost and brittleness of collecting real tool trajectories, and the lack of trajectory-level supervision for GUI-Tool path selection. In this paper, we propose ToolCUA, an end-to-end agent designed to learn optimal GUI-Tool path selection through a staged training paradigm. We first introduce an Interleaved GUI-Tool Trajectory Scaling Pipeline that repurposes abundant static GUI trajectories and synthesizes a grounded tool library, enabling diverse GUI-Tool trajectories without manual engineering or real tool-trajectory collection. We then perform Tool-Bootstrapped GUI RFT, combining warmup SFT with single-turn RL to improve decisions at critical GUI-Tool switching points. Finally, we optimize ToolCUA with Online Agentic RL in a high-fidelity GUI-Tool environment, guided by a Tool-Efficient Path Reward that encourages appropriate tool use and shorter execution paths. Experiments on OSWorld-MCP show that ToolCUA achieves 46.85% accuracy, a relative improvement of approximately 66% over the baseline, establishing a new state of the art among models of comparable scale. It also improves by 3.9% over GUI-only settings, demonstrating effective GUI-Tool orchestration. The results further suggest that training in a hybrid action space is a promising paradigm for real-world digital agents. Open-sourced here: https://x-plug.github.io/ToolCUA/

Computer-use agents extend language models from text generation to sustained interaction with files, terminals, browsers, and external tools. This shift creates safety risks that are difficult to detect from isolated prompts or final responses, because harm often emerges only through multi-step execution traces whose individual actions appear locally benign. We introduce BraveGuard, a self-evolving defense framework for training guard models from open-world threat signals and realistic agent trajectories. BraveGuard mines recent research sources to identify emerging risks and attack patterns, instantiates them as executable computer-use tasks, collects agent rollouts, and derives trajectory-level supervision for guard model training. As new threats and validation failures appear, the pipeline can be repeated, yielding an adaptive defense loop rather than a static, benchmark-driven training process. We instantiate BraveGuard by training multiple guard backbones, including Qwen3-Guard and Llama-Guard variants, and evaluate the resulting guards on trajectory-level agent-safety benchmarks. BraveGuard consistently improves safety detection across computer-use trajectories. On AgentHazard, it substantially improves detection accuracy over off-the-shelf guard models, with accuracy increasing from 38.79% to 82.38% under the averaged guard-model setting. These results show that guard supervision grounded in open-world threat discovery and realistic agent execution can improve safety monitoring beyond fixed taxonomies and synthetic prompt-level data. BraveGuard offers a scalable path toward adaptive defenses for computer-use agents facing evolving real-world risks.

Process Reward Models (PRMs) have emerged as a promising framework for supervising intermediate reasoning in large language models (LLMs), yet existing PRMs are primarily trained on general or Science, Technology, Engineering, and Mathematics (STEM) domains and fall short in domain-specific contexts such as finance, where reasoning is more structured, symbolic, and sensitive to factual and regulatory correctness. We introduce Fin-PRM, a domain-specialized, trajectory-aware PRM tailored to evaluate intermediate reasoning steps in financial tasks. Fin-PRM integrates step-level and trajectory-level reward supervision, enabling fine-grained evaluation of reasoning traces aligned with financial logic. We apply Fin-PRM in both offline and online reward learning settings, supporting three key applications: (i) selecting high-quality reasoning trajectories for distillation-based supervised fine-tuning, (ii) providing dense process-level rewards for reinforcement learning, and (iii) guiding reward-informed Best-of-N inference at test time. Experimental results on financial reasoning benchmarks, including CFLUE and FinQA, demonstrate that Fin-PRM consistently outperforms general-purpose PRMs and strong domain baselines in trajectory selection quality. Downstream models trained with Fin-PRM yield substantial improvements with baselines, with gains of 12.9\% in supervised learning, 5.2\% in reinforcement learning, and 5.1\% in test-time performance. These findings highlight the value of domain-specialized reward modeling for aligning LLMs with expert-level financial reasoning. Our project resources will be available at https://github.com/aliyun/qwen-dianjin.

Vision-language-action (VLA) models increasingly condition robot policies on history, depth, or 4D features to resolve ambiguity in long-horizon manipulation. However, more spatiotemporal evidence is not necessarily better: when the injected evidence is not motion-consistent, it can introduce geometric drift, fragmented temporal cues, and unstable action generation. This raises a simple question: should a VLA remember past frames, or remember the motion that connects them? We introduce MotionVLA, a motion-history interface that converts a short past-only video window into compact, time-continuous trajectory-field tokens. Instead of treating history as a sparse set of ndependently lifted frames, MotionVLA represents recent observations as physically coherent motion evidence. Current visual tokens query this history to retrieve task-relevant motion information, which is then recoupled into the VLA stream under trajectory-grounded supervision. Experiments across simulation benchmarks and preliminary real-robot rollouts show that MotionVLA improves long-horizon manipulation while producing smoother and more direct executions. These results suggest that effective VLA memory is not just about providing more 4D context, but about exposing motion-consistent evidence that is usable for control.

Instruction-based image editing with diffusion models has achieved impressive results, yet existing methods struggle with fine-grained instructions specifying precise attributes such as colors, positions, and quantities. While recent approaches employ Group Relative Policy Optimization (GRPO) for alignment, they optimize only at individual sampling steps, providing sparse feedback that limits trajectory-level control. We propose a unified framework CogniEdit, combining multi-modal reasoning with dense reward optimization that propagates gradients across consecutive denoising steps, enabling trajectory-level gradient flow through the sampling process. Our method comprises three components: (1) Multi-modal Large Language Models for decomposing complex instructions into actionable directives, (2) Dynamic Token Focus Relocation that adaptively emphasizes fine-grained attributes, and (3) Dense GRPO-based optimization that propagates gradients across consecutive steps for trajectory-level supervision. Extensive experiments on benchmark datasets demonstrate that our CogniEdit achieves state-of-the-art performance in balancing fine-grained instruction following with visual quality and editability preservation

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In this work, we study whether heterogeneous embodied decision-making problems can be unified within a single vision-language-action model. We present Qwen-VLA, a unified embodied foundation model that extends Qwen's vision-language modeling stack from perception, understanding, and reasoning to continuous action and trajectory generation through a DiT-based action decoder. Qwen-VLA is trained with a large-scale joint pretraining recipe over diverse data sources, including robotics manipulation trajectories, human egocentric demonstrations, synthetic simulation data, vision-and-language navigation data, trajectory-centric supervision, and auxiliary vision-language data. To support multiple robot platforms, we introduce embodiment-aware prompt conditioning, where robot-specific textual descriptions specify the current embodiment and control convention. We further cast manipulation, navigation, and trajectory prediction into a unified action-and-trajectory prediction framework, enabling transferable visual grounding, spatial reasoning, and continuous action generation across robot morphologies, task families, and environments. Experiments on manipulation, navigation, and trajectory-centric benchmarks show consistent multi-task performance and out-of-distribution generalization under variations in scene layout, background, lighting, object configuration, and robot embodiment. Qwen-VLA-Instruct achieves 97.9% on LIBERO, 73.7% on Simpler-WidowX, 86.1%/87.2% on RoboTwin-Easy/Hard, 69.0% OSR on R2R, 59.6% SR on RxR, 76.9% average OOD success in real-world ALOHA experiments, and 26.6% zero-shot success on DOMINO dynamic manipulation.

Existing Flow Matching (FM) text-to-image models suffer from two critical bottlenecks under multi-task alignment: the reward sparsity induced by scalar-valued rewards, and the gradient interference arising from jointly optimizing heterogeneous objectives, which together give rise to a 'seesaw effect' of competing metrics and pervasive reward hacking. Inspired by the success of On-Policy Distillation (OPD) in the large language model community, we propose Flow-OPD, the first unified post-training framework that integrates on-policy distillation into Flow Matching models. Flow-OPD adopts a two-stage alignment strategy: it first cultivates domain-specialized teacher models via single-reward GRPO fine-tuning, allowing each expert to reach its performance ceiling in isolation; it then establishes a robust initial policy through a Flow-based Cold-Start scheme and seamlessly consolidates heterogeneous expertise into a single student via a three-step orchestration of on-policy sampling, task-routing labeling, and dense trajectory-level supervision. We further introduce Manifold Anchor Regularization (MAR), which leverages a task-agnostic teacher to provide full-data supervision that anchors generation to a high-quality manifold, effectively mitigating the aesthetic degradation commonly observed in purely RL-driven alignment. Built upon Stable Diffusion 3.5 Medium, Flow-OPD raises the GenEval score from 63 to 92 and the OCR accuracy from 59 to 94, yielding an overall improvement of roughly 10 points over vanilla GRPO, while preserving image fidelity and human-preference alignment and exhibiting an emergent 'teacher-surpassing' effect. These results establish Flow-OPD as a scalable alignment paradigm for building generalist text-to-image models.

Camera-controllable image editing aims to synthesize novel views of a given scene under varying camera poses while strictly preserving cross-view geometric consistency. However, existing methods typically rely on fragmented geometric guidance, such as only injecting point clouds at the representation level despite models containing multiple levels, and are mainly based on image diffusion models that operate on discrete view mappings. These two limitations jointly lead to geometric drift and structural degradation under continuous camera motion. We observe that while leveraging video models provides continuous viewpoint priors for camera-controllable image editing, they still struggle to form stable geometric understanding if geometric guidance remains fragmented. To systematically address this, we inject unified geometric guidance across three levels that jointly determine the generative output: representation, architecture, and loss function. To this end, we propose UniGeo, a novel camera-controllable editing framework. Specifically, at the representation level, UniGeo incorporates a frame-decoupled geometric reference injection mechanism to provide robust cross-view geometry context. At the architecture level, it introduces geometric anchor attention to align multi-view features. At the loss function level, it proposes a trajectory-endpoint geometric supervision strategy to explicitly reinforce the structural fidelity of target views. Comprehensive experiments across multiple public benchmarks, encompassing both extensive and limited camera motion settings, demonstrate that UniGeo significantly outperforms existing methods in both visual quality and geometric consistency.

Agentic reinforcement learning has enabled large language models to perform complex multi-turn planning and tool use. However, learning in long-horizon settings remains challenging due to sparse, trajectory-level outcome rewards. While prior tree-based methods attempt to mitigate this issue, they often suffer from high variance and computational inefficiency. Through empirical analysis of search agents, We identify a common pattern: performance diverges mainly due to decisions near the tail. Motivated by this observation, we propose Branching Relative Policy Optimization (BranPO), a value-free method that provides step-level contrastive supervision without dense rewards. BranPO truncates trajectories near the tail and resamples alternative continuations to construct contrastive suffixes over shared prefixes, reducing credit ambiguity in long-horizon rollouts. To further boost efficiency and stabilize training, we introduce difficulty-aware branch sampling to adapt branching frequency across tasks, and redundant step masking to suppress uninformative actions. Extensive experiments on various question answering benchmarks demonstrate that BranPO consistently outperforms strong baselines, achieving significant accuracy gains on long-horizon tasks without increasing the overall training budget. Our code is available at https://github.com/YubaoZhao/BranPO{code}.

Recent work shows that large multimodal models (LMMs) can self-improve from unlabeled data via self-play and intrinsic feedback. Yet existing self-evolving frameworks mainly reward final outcomes, leaving intermediate reasoning weakly constrained despite its importance for visually grounded decision making. We propose iReasoner, a self-evolving framework that improves an LMM's implicit reasoning by explicitly eliciting chain-of-thought (CoT) and rewarding its internal agreement. In a Proposer--Solver loop over unlabeled images, iReasoner augments outcome-level intrinsic rewards with a trajectory-aware signal defined over intermediate reasoning steps, providing learning signals that distinguish reasoning paths leading to the same answer without ground-truth labels or external judges. Starting from Qwen2.5-VL-7B, iReasoner yields up to +2.1 points across diverse multimodal reasoning benchmarks under fully unsupervised post-training. We hope this work serves as a starting point for reasoning-aware self-improvement in LMMs in purely unsupervised settings.

Large language models (LLMs) have made remarkable strides in various natural language processing tasks, but their performance on complex reasoning problems remains hindered by a lack of explainability and trustworthiness. This issue, often manifesting as hallucinations or unattributable reasoning processes, limits their applicability in complex reasoning scenarios. To address this, we propose Knowledge Graph-constrained Trajectory Reasoning Attribution and Chain Explanation Supervision (KG-TRACES), a novel framework that enhances the reasoning ability of LLMs through explicit supervision over reasoning paths and processes. KG-TRACES jointly supervises the model to: (1) predict symbolic relation paths, (2) predict full triple-level reasoning paths, and (3) generate attribution-aware reasoning processes grounded in the reasoning paths. At inference phase, the model adapts to both KG-available and KG-unavailable scenarios, retrieving reasoning paths from a KG when possible or predicting plausible reasoning paths with only intrinsic knowledge when not. This design enables the model to reason in an explainable and source-attributable pattern. Through extensive experiments on complex reasoning tasks, we demonstrate that KG-TRACES significantly outperforms existing SOTA: it improves Hits@1 by 1.6% and F1 by 4.7% on WebQSP, and achieves improvements of 4.8% in Hits@1 and 2.1% in F1 on CWQ. Moreover, we show its transferability to specialized domains such as medicine. By visualizing the intermediate steps of reasoning processes, we further show that the explicit supervision introduced by KG-TRACES leads to more stable and goal-directed reasoning processes, aligning closely with correct answers. Code is available at https://github.com/Edaizi/KG-TRACES.

Web agents struggle to adapt to new websites due to the scarcity of environment specific tasks and demonstrations. Recent works have explored synthetic data generation to address this challenge, however, they suffer from data quality issues where synthesized tasks contain hallucinations that cannot be executed, and collected trajectories are noisy with redundant or misaligned actions. In this paper, we propose SynthAgent, a fully synthetic supervision framework that aims at improving synthetic data quality via dual refinement of both tasks and trajectories. Our approach begins by synthesizing diverse tasks through categorized exploration of web elements, ensuring efficient coverage of the target environment. During trajectory collection, we refine tasks when conflicts with actual observations are detected, mitigating hallucinations while maintaining task consistency. After collection, we conduct trajectory refinement with a global context to mitigate potential noise or misalignments. Finally, we fine-tune open-source web agents on the refined synthetic data to adapt them to the target environment. Experimental results demonstrate that SynthAgent outperforms existing synthetic data methods, validating the importance of high-quality synthetic supervision. The code will be publicly available at https://github.com/aiming-lab/SynthAgent.

Large language models have seen widespread adoption, yet they remain vulnerable to multi-turn jailbreak attacks, threatening their safe deployment. This has led to the task of training automated multi-turn attackers to probe model safety vulnerabilities. However, existing approaches typically rely on turn-level optimization, which is insufficient for learning long-term attack strategies. To bridge this gap, we formulate this task as a multi-turn reinforcement learning problem, directly optimizing the harmfulness of the final-turn response as the outcome reward. To address the sparse supervision of the outcome reward, we introduce TROJail, which employs two process rewards to evaluate the utility of intermediate prompts and integrate them into advantage estimation. These rewards (1) penalize overly harmful prompts that trigger the model's refusal mechanism, and (2) encourage steering the semantic relevance of responses toward the targeted harmful content. Experimental results show improved attack success rates across multiple models and benchmarks, highlighting the effectiveness of our approach. The code is available at https://github.com/xxiqiao/TROJail. Warning: This paper contains examples of harmful content.

On-policy distillation (OPD) has become a central post-training tool for large language models (LLMs), providing dense per-token teacher supervision along the student's own rollouts. In this work, we identify a common structural cause underlying OPD, which we call prefix failure. Under prefix failure, dense per-token supervision induces a bimodal teacher mixture and fragmented gradients that token-level loss truncation or reweighting fail to address. This observation motivates us to move beyond token-level loss interventions toward trajectory-level output corrections. We thus propose Trajectory-Refined Distillation (TRD), a trajectory-level correction method that revises the student's rollout under the teacher guidance while within on-policy support. By correcting problematic prefixes before distillation, TRD mitigates prefix failure at its source. Moreover, TRD improves the exploration by exposing the student to alternative valid derivations under teacher guidance, even when the original rolls are already correct. TRD can also be applied to on-policy self-distillation (OPSD), a parameter-sharing variant that uses the student model conditioned on privileged informations as the teacher. Across a wide range of benchmarks and base models at multiple scales, TRD consistently outperforms prior baselines, improving single-attempt accuracy and broadening reasoning coverage. Code is available at https://github.com/louieworth/trd

Vision-centric autonomous driving requires accurate metric geometry and ego-motion estimation from synchronized multi-camera observations. Recent visual geometry models show strong performance in pose estimation, depth prediction, and 3D reconstruction, but are not tailored to rigid multi-camera driving systems. They often encode camera poses as entangled representations, in which time-varying ego-motion and static camera-rig geometry are jointly modeled, limiting the utilization of vehicle-side geometric priors. We propose Trajectory-Rig Decoupled Metric Geometry Learning (TRIG), a geometry perception framework for autonomous driving. TRIG factorizes camera poses into ego-trajectory and camera-rig components, enabling separate modeling of ego-motion and static multi-camera topology. We introduce decoupled pose encoding and supervision, which separately constrain trajectory evolution and rig geometry for metric-consistent learning. Moreover, sparse Temporal--Spatial attention separates cross-camera interaction from temporal aggregation, reducing global attention cost while preserving geometric reasoning. Experiments on five autonomous driving benchmarks show that TRIG achieves state-of-the-art performance in pose estimation, metric depth prediction, and 3D reconstruction.

On-policy distillation (OPD) grounds token-level supervision in the student's own trajectory, yet suffers from prefix failure: once the student commits to a wrong reasoning direction, all subsequent generation builds on this deviation, producing misdirected continuations that elicit unreliable supervision and waste compute. We identify a teacher-student continuation asymmetry on failed prefixes, where the teacher tends to redirect while the student continues along the original direction, and convert it into a label-free handoff trigger in Relay On-Policy Distillation (Relay-OPD). During training, Relay-OPD constructs relay trajectories by letting the teacher briefly take over at detected trigger points to produce a teacher leg, after which the student resumes and is optimized on the resulting trajectory. A limited relay budget concentrates intervention on critical early positions while limiting departure from the student policy. With a Qwen3-4B-Instruct-2507 teacher and Qwen3-0.6B/1.7B-Non-Thinking students on eight mathematical reasoning benchmarks, Relay-OPD achieves the best or second-best results on every benchmark, outperforming standard OPD by +5.73% and the strongest baseline FastOPD by +1.49% on average for 1.7B, with consistent gains at 0.6B. Training trajectory length is reduced by over 50%.

Modern GANs often introduce adversarial supervision on intermediate generator outputs and interpret the resulting multi-stage synthesis as coarse-to-fine hierarchical generation. In this work, we challenge this interpretation. We argue that standard scale-wise adversarial supervision does not construct a proper coarse-to-fine hierarchy: each intermediate image is independently pushed toward the real distribution at its own resolution, but this scale-wise realism does not ensure that outputs across stages represent the identical generated sample. Moreover, the scale-specific image produced at each stage is not used as an explicit refinement target for the subsequent stage. Therefore, its adversarial loss can improve a scale-specific output without constraining later stages to preserve the same sample trajectory, allowing them to move toward a different sample rather than refine the previous output. We refer to this problem as a cross-scale trajectory misalignment problem. To resolve it, we propose CAT, a Cross-scale Aligned Transformer for multi-scale adversarial generation. CAT keeps the discriminator scale-wise, so each intermediate output is evaluated at its own resolution, while adding a simple generator-side consistency regularization that aligns intermediate outputs with the final output. On class-conditional ImageNet-256, CAT-H/2 achieves an FID-50K of 1.56 with one-step inference after only 60 training epochs, outperforming strong one-step GAN and diffusion/flow baselines.

Safety moderation is pivotal for identifying harmful content. Despite the success of textual safety moderation, its multimodal counterparts remain hindered by a dual sparsity of data and supervision. Conventional reliance on binary labels lead to shortcut learning, which obscures the intrinsic classification boundaries necessary for effective multimodal discrimination. Hence, we propose a novel learning paradigm (UniMod) that transitions from sparse decision-making to dense reasoning traces. By constructing structured trajectories encompassing evidence grounding, modality assessment, risk mapping, policy decision, and response generation, we reformulate monolithic decision tasks into a multi-dimensional boundary learning process. This approach forces the model to ground its decision in explicit safety semantics, preventing the model from converging on superficial shortcuts. To facilitate this paradigm, we develop a multi-head scalar reward model (UniRM). UniRM provides multi-dimensional supervision by assigning attribute-level scores to the response generation stage. Furthermore, we introduce specialized optimization strategies to decouple task-specific parameters and rebalance training dynamics, effectively resolving interference between diverse objectives in multi-task learning. Empirical results show UniMod achieves competitive textual moderation performance and sets a new multimodal benchmark using less than 40\% of the training data used by leading baselines. Ablations further validate our multi-attribute trajectory reasoning, offering an effective and efficient framework for multimodal moderation. Supplementary materials are available at https://trustworthylab.github.io/UniMod/{project website}.

Web agents often struggle to generalize to unseen websites because they lack website-specific supervision. Recent exploration-based data synthesis methods reduce manual annotation, but they still face two key limitations: they often fail to cover the full functionality of a website, and without sufficient website prior knowledge, they tend to propose hallucinated tasks, which in turn limits the diversity and efficiency of downstream trajectory synthesis. We present SynWeaver, a website-prior task-trajectory co-synthesis framework designed to address these challenges. SynWeaver first performs structured website exploration and constructs a website map that covers a broad set of functionally distinct page states and executable interactions on the target website. It then derives page-level and transition-level supervision from this map to train a UI-aware model with website-specific priors, enabling more grounded task proposals. Finally, SynWeaver performs collaborative task-trajectory synthesis, jointly updating the task and execution trajectory when they become inconsistent, and then verifies and repairs the collected results to produce executable, semantically aligned supervision. Experiments on WebArena and WebVoyager demonstrate that SynWeaver consistently outperforms strong synthesis baselines and yields more effective supervision for both in-domain and out-of-domain generalization.

On-policy distillation (OPD) provides teacher supervision on states visited by the student, reducing the distribution gap between training and inference. However, in multi-turn agentic tasks, student deviations may accumulate over time, gradually moving the trajectory away from states where teacher guidance remains effective. Our quantitative analysis further shows that high-disagreement states offer promising opportunities for teacher guidance, but determining whether such guidance is beneficial requires examining its effect on subsequent student trajectories. We propose FutureBridge-OPD (FTB), which executes a short teacher bridge at a high disagreement state and uses the resulting student continuation to assess whether the bridge increases the density of positive distillation signals relative to the teacher. On ALFWorld, WebShop, and ScienceWorld, under the main Qwen3-32B teacher to Qwen3-1.7B student setting, FTB outperforms vanilla OPD and TCOD by an average of 16.6 and 7.6 points, respectively, and remains effective across student scales and teacher settings. Our code is publicly available at https://github.com/ChenChiShui/FutureBridge-OPD.

Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult. The root cause is a two-fold gap: VLMs are trained on internet-scale images with language-understanding objectives, while VLAs must perceive robot scenes and predict motor actions. Fine-tuning a VLM directly on robot action data forces the model to cross both gaps at once -- the learning curve is steep and the rich generalizations learned during pretraining tend to degrade rather than transfer. We argue that this gap can be bridged gradually with the right intermediate data. We introduce embodied trajectory-coupled (ETC) data -- vision-language supervision derived from the same robot scenes and trajectories used for action learning. Because ETC data shares the visual context of robot operation while retaining familiar language-understanding objectives, it provides a natural stepping stone between VLM pretraining and VLA fine-tuning. Building on this, we design a three-stage training recipe. Distribution Bridging first adapts the VLM to embodied visual-language semantics. Objective Bridging then gradually shifts the model toward action prediction while preserving the acquired representations. Retentive Adaptation finally specializes the policy to the target deployment domain. We further show that mixing task-relevant out-of-distribution ETC data with a small amount of action data enables the model to generalize to novel visual-language conditions without requiring additional robot demonstrations. Simulation and real-robot experiments confirm that this gradual bridging strategy is the key to transferring VLM generalization into robust, deployable robot policies.

We address the problem of runtime trajectory anomaly detection, a critical capability for enabling trustworthy LLM agents. Current safety measures predominantly focus on static input/output filtering. However, we argue that ensuring LLM agents reliability requires auditing the intermediate execution process. In this work, we formulate the task of Trajectory Anomaly Detection. The goal is not merely detection, but precise error localization. This capability is essential for enabling efficient rollback-and-retry. To achieve this, we construct TrajBench, a dataset synthesized via a perturb-and-complete strategy to cover diverse procedural anomalies. Using this benchmark, we investigate the capability of models in process supervision. We observe that general-purpose LLMs, even with zero-shot prompting, struggle to identify and localize these anomalies. This reveals that generalized capabilities do not automatically translate to process reliability. To address this, we propose TrajAD, a specialized verifier trained with fine-grained process supervision. Our approach outperforms baselines, demonstrating that specialized supervision is essential for building trustworthy agents.

Large language models (LLMs) have made impressive strides in mathematical reasoning, often fine-tuned using rejection sampling that retains only correct reasoning trajectories. While effective, this paradigm treats supervision as a binary filter that systematically excludes teacher-generated errors, leaving a gap in how reasoning failures are modeled during training. In this paper, we propose TrajFusion, a fine-tuning strategy that reframes rejection sampling as a structured supervision construction process. Specifically, TrajFusion forms fused trajectories that explicitly model trial-and-error reasoning by interleaving selected incorrect trajectories with reflection prompts and correct trajectories. The length of each fused sample is adaptively controlled based on the frequency and diversity of teacher errors, providing richer supervision for challenging problems while safely reducing to vanilla rejection sampling fine-tuning (RFT) when error signals are uninformative. TrajFusion requires no changes to the architecture or training objective. Extensive experiments across multiple math benchmarks demonstrate that TrajFusion consistently outperforms RFT, particularly on challenging and long-form reasoning problems.

Deep learning models are increasingly employed for perception, prediction, and control in complex systems. Embedding physical knowledge into these models is crucial for achieving realistic and consistent outputs, a challenge often addressed by physics-informed machine learning. However, integrating physical knowledge with representation learning becomes difficult when dealing with high-dimensional observation data, such as images, particularly under conditions of incomplete or imprecise state information. To address this, we propose Physically Interpretable World Models, a novel architecture that aligns learned latent representations with real-world physical quantities. Our method combines a variational autoencoder with a dynamical model that incorporates unknown system parameters, enabling the discovery of physically meaningful representations. By employing weak supervision with interval-based constraints, our approach eliminates the reliance on ground-truth physical annotations. Experimental results demonstrate that our method improves the quality of learned representations while achieving accurate predictions of future states, advancing the field of representation learning in dynamic systems.

Neural algorithmic reasoning is an emerging area of machine learning focusing on building models that can imitate the execution of classic algorithms, such as sorting, shortest paths, etc. One of the main challenges is to learn algorithms that are able to generalize to out-of-distribution data, in particular with significantly larger input sizes. Recent work on this problem has demonstrated the advantages of learning algorithms step-by-step, giving models access to all intermediate steps of the original algorithm. In this work, we instead focus on learning neural algorithmic reasoning only from the input-output pairs without appealing to the intermediate supervision. We propose simple but effective architectural improvements and also build a self-supervised objective that can regularise intermediate computations of the model without access to the algorithm trajectory. We demonstrate that our approach is competitive to its trajectory-supervised counterpart on tasks from the CLRS Algorithmic Reasoning Benchmark and achieves new state-of-the-art results for several problems, including sorting, where we obtain significant improvements. Thus, learning without intermediate supervision is a promising direction for further research on neural reasoners.

Graphical User Interface (GUI) agents powered by Vision-Language Models (VLMs) have demonstrated human-like computer control capability. Despite their utility in advancing digital automation, a critical bottleneck persists: collecting high-quality trajectory data for training. Common practices for collecting such data rely on human supervision or synthetic data generation through executing pre-defined tasks, which are either resource-intensive or unable to guarantee data quality. Moreover, these methods suffer from limited data diversity and significant gaps between synthetic data and real-world environments. To address these challenges, we propose OS-Genesis, a novel GUI data synthesis pipeline that reverses the conventional trajectory collection process. Instead of relying on pre-defined tasks, OS-Genesis enables agents first to perceive environments and perform step-wise interactions, then retrospectively derive high-quality tasks to enable trajectory-level exploration. A trajectory reward model is then employed to ensure the quality of the generated trajectories. We demonstrate that training GUI agents with OS-Genesis significantly improves their performance on highly challenging online benchmarks. In-depth analysis further validates OS-Genesis's efficiency and its superior data quality and diversity compared to existing synthesis methods. Our codes, data, and checkpoints are available at https://qiushisun.github.io/OS-Genesis-Home/{OS-Genesis Homepage}.

Looped Transformers increase test-time computation by repeatedly applying a shared recurrent block. Learned halting objectives in looped Transformers typically use a single exit distribution both as the inference-time stopping rule and as the training-time weighting of per-depth losses. This entangles exit selection with trajectory formation: the gate not only chooses which recurrent state to use, but also determines how strongly each intermediate state is supervised. Consequently, poor adaptive-compute performance can arise from the readout, the induced trajectory, or their interaction. We study adaptive depth in looped Transformers through this trajectory--readout lens, across controlled synthetic tasks (modular arithmetic and binary parity) and large-scale Ouro-1.4B and 2.6B checkpoints. We find that fixed-prior depth supervision, which shapes the trajectory without an input-dependent halting policy, produces difficulty-aware trajectories whose intermediate states expose useful stopping signals, and that simple post-hoc confidence readouts often match or outperform learned linear and MLP gates. Fitting gates on frozen trajectories localizes the failure: it appears to stem mainly from the trajectory induced by joint gate training rather than from limited gate expressivity. The same pattern is present in Ouro evaluations, where pretrained ponder gates are competitive but not uniformly Pareto-optimal, and measured latency confirms that the resulting reductions in average exit depth translate into practical inference-time savings. Our systematic diagnostic evaluation reframes adaptive depth in looped Transformers as a joint problem of trajectory formation and exit readout, rather than gate learning alone, highlighting a distinction that prior learned-halting work has often left implicit.

Tool use enables large language models to solve complex tasks through sequences of API calls, yet existing reinforcement learning approaches fail to scale to multi-step composition settings. Outcome-based rewards provide only sparse feedback, while trajectory-supervised rewards depend on annotated reference solutions, penalizing valid alternatives and limiting scalability. We propose TIER: Trajectory-Invariant Execution Rewards, a reward framework that derives supervision directly from function schemas and runtime execution, rather than from reference trajectories. The reward decomposes into format validity, schema adherence, execution success, and answer correctness, providing dense, interpretable sequence-level feedback derived from fine-grained verification of individual steps of tool use. This design allows any valid execution path to receive credit, naturally supporting multiple solution strategies and adapting to evolving tool interfaces. On DepthBench, a compositional benchmark stratified by depth (1 to 6 steps), TIER achieves >90% accuracy across steps, where trajectory-supervised rewards collapse beyond step-4. We further demonstrate consistent gains on benchmarks like BFCL v3 and NestFUL. Ablation studies confirm that all reward components are necessary, highlighting the importance of multi-level supervision for compositional reasoning.

Synthesizing a novel-view video from a monocular reference video along a target camera trajectory requires both geometric consistency and motion fidelity with respect to the reference video. Existing methods based on explicit 3D representations are limited by the accuracy of off-the-shelf reconstruction modules, which often produce inaccurate geometry for dynamic objects in monocular videos. In contrast, camera-conditioning-only methods can achieve high visual quality but often struggle to preserve geometric and motion consistency. In this work, we introduce MVTrack4Gen (Multi-View point Tracking for Novel-View Generation), a motion-aware training framework that leverages multi-view point tracking as an additional geometric and motion supervision signal for camera-conditioning-only novel-view video diffusion models. Our key finding is that specific attention layers encode strong correspondence cues, where query features attend to key features at geometrically corresponding locations across views and over time, and the misalignment of these correspondences causes motion inconsistency. Based on this observation, we route these features into an auxiliary multi-view tracking head and jointly train the diffusion model with a point-tracking objective. By explicitly strengthening these motion-aware correspondences, MVTrack4Gen improves existing models to better follow the motion in the reference view and maintain cross-view geometric consistency. Across diverse benchmarks, our method achieves state-of-the-art geometric consistency and competitive camera accuracy.

Tool-Integrated Reasoning (TIR) empowers large language models (LLMs) to tackle complex tasks by interleaving reasoning steps with external tool interactions. However, existing reinforcement learning methods typically rely on outcome- or trajectory-level rewards, assigning uniform advantages to all steps within a trajectory. This coarse-grained credit assignment fails to distinguish effective tool calls from redundant or erroneous ones, particularly in long-horizon multi-turn scenarios. To address this, we propose MatchTIR, a framework that introduces fine-grained supervision via bipartite matching-based turn-level reward assignment and dual-level advantage estimation. Specifically, we formulate credit assignment as a bipartite matching problem between predicted and ground-truth traces, utilizing two assignment strategies to derive dense turn-level rewards. Furthermore, to balance local step precision with global task success, we introduce a dual-level advantage estimation scheme that integrates turn-level and trajectory-level signals, assigning distinct advantage values to individual interaction turns. Extensive experiments on three benchmarks demonstrate the superiority of MatchTIR. Notably, our 4B model surpasses the majority of 8B competitors, particularly in long-horizon and multi-turn tasks. Our codes are available at https://github.com/quchangle1/MatchTIR.

LLM agents increasingly act over long horizons, where a single trajectory can contain hundreds or thousands of actions. In these settings, outcome-only rewards provide too sparse guidance, failing to inform the model about the goodness of intermediate actions. Dense supervision methods aim to solve this problem by scoring intermediate steps, from intrinsic confidence to self-distillation and embedding similarities. However, it is common practice to evaluate them by measuring the downstream performance of a training pipeline that integrates them. This is expensive, conflates supervision quality with training engineering confounders, and renders different methodological families requiring distinct training setups incomparable. As a result, dense supervision methods are rarely benchmarked on common ground. We introduce QVal, a training-free testbed for directly evaluating dense supervision signals. Given a state-action pair, QVal measures how well a method's score is Q-aligned: whether it orders actions according to the Q-values of a strong reference-policy. This lets us compare signals before any training run and separate signal quality from other engineering choices. We instantiate QVal as QVal-v1.0, benchmarking 21 dense supervision methods across four diverse environments and seven methodological families, with over 1.2K evaluation experiments across six open-weight model backbones. We find that simple prompting baselines consistently outperform recent dense supervision methods from the literature, and that performance clusters strongly by family. These findings hold across model sizes, environments, and observation modalities. QVal is designed to be easily extensible to new environments and methods, enabling researchers to iterate on dense supervision methods before any training run.

Recent research has made substantial progress on video reasoning, with many models leveraging spatio-temporal evidence chains to strengthen their inference capabilities. At the same time, a growing set of datasets and benchmarks now provides structured annotations designed to support and evaluate such reasoning. However, little attention has been paid to reasoning about how objects move between observations: no prior work has articulated the motion patterns by connecting successive observations, leaving trajectory understanding implicit and difficult to verify. We formalize this missing capability as Spatial-Temporal-Trajectory (STT) reasoning and introduce Motion-o, a motion-centric video understanding extension to visual language models that makes trajectories explicit and verifiable. To enable motion reasoning, we also introduce a trajectory-grounding dataset artifact that expands sparse keyframe supervision via augmentation to yield denser bounding box tracks and a stronger trajectory-level training signal. Finally, we introduce Motion Chain of Thought (MCoT), a structured reasoning pathway that makes object trajectories through discrete <motion/> tag summarizing per-object direction, speed, and scale (of velocity) change to explicitly connect grounded observations into trajectories. To train Motion-o, we design a reward function that compels the model to reason directly over visual evidence, all while requiring no architectural modifications. Empirical results demonstrate that Motion-o improves spatial-temporal grounding and trajectory prediction while remaining fully compatible with existing frameworks, establishing motion reasoning as a critical extension for evidence-based video understanding. Code is available at https://github.com/ostadabbas/Motion-o.

Latent actions serve as an intermediate representation that enables consistent modeling of vision-language-action (VLA) models across heterogeneous datasets. However, approaches to supervising VLAs with latent actions are fragmented and lack a systematic comparison. This work structures the study of latent action supervision from two perspectives: (i) regularizing the trajectory via image-based latent actions, and (ii) unifying the target space with action-based latent actions. Under a unified VLA baseline, we instantiate and compare four representative integration strategies. Our results reveal a formulation-task correspondence: image-based latent actions benefit long-horizon reasoning and scene-level generalization, whereas action-based latent actions excel at complex motor coordination. Furthermore, we find that directly supervising the VLM with discrete latent action tokens yields the most effective performance. Finally, our experiments offer initial insights into the benefits of latent action supervision in mixed-data, suggesting a promising direction for VLA training. Code is available at https://github.com/RUCKBReasoning/From_Pixels_to_Tokens.

Diffusion large language models (dLLMs) offer a promising paradigm for parallel text generation, but in practice they face an accuracy-parallelism trade-off, where increasing tokens per forward (TPF) often degrades generation quality. Existing acceleration methods often gain speed at the cost of accuracy. To address this limitation, we propose TAD, a Temporal-Aware trajectory self-Distillation framework. During data construction, we condition a teacher model on both the prompt and the ground-truth response to generate decoding trajectories, recording the intermediate masked states throughout the process. Based on how many decoding steps remain before each masked token is revealed, we partition masked positions into near and distant subsets. For near tokens, we train the student with a hard cross-entropy loss using the teacher trajectory tokens as labels, encouraging confident predictions for tokens that are about to be decoded. For distant tokens, we apply a soft KL divergence loss between the teacher and student token distributions, providing softer supervision and preserving future planning knowledge. This temporal-aware partition naturally gives rise to two deployment configurations: a Quality model that prioritizes accuracy and a Speed model that favors more aggressive acceleration. Experiments show that TAD consistently improves the accuracy-parallelism trade-off. On LLaDA, it raises average accuracy from 46.2\% to 51.6\% with the Quality model and average AUP from 46.2 to 257.1 with the Speed model. Our code is available at: https://github.com/BHmingyang/TAD

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the difficulty of constructing accessible yet effective 3D representations without expensive manual annotations, and (2) the loss of fine-grained spatial details in VLMs due to the absence of large-scale 3D vision-language pretraining. To address these challenges, we propose OccVLA, a novel framework that integrates 3D occupancy representations into a unified multimodal reasoning process. Unlike prior approaches that rely on explicit 3D inputs, OccVLA treats dense 3D occupancy as both a predictive output and a supervisory signal, enabling the model to learn fine-grained spatial structures directly from 2D visual inputs. The occupancy predictions are regarded as implicit reasoning processes and can be skipped during inference without performance degradation, thereby adding no extra computational overhead. OccVLA achieves state-of-the-art results on the nuScenes benchmark for trajectory planning and demonstrates superior performance on 3D visual question-answering tasks, offering a scalable, interpretable, and fully vision-based solution for autonomous driving.

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we propose DIVER, an end-to-end driving framework that integrates reinforcement learning with diffusion-based generation to produce diverse and feasible trajectories. At the core of DIVER lies a reinforced diffusion-based generation mechanism. First, the model conditions on map elements and surrounding agents to generate multiple reference trajectories from a single ground-truth trajectory, alleviating the limitations of imitation learning that arise from relying solely on single expert demonstrations. Second, reinforcement learning is employed to guide the diffusion process, where reward-based supervision enforces safety and diversity constraints on the generated trajectories, thereby enhancing their practicality and generalization capability. Furthermore, to address the limitations of L2-based open-loop metrics in capturing trajectory diversity, we propose a novel Diversity metric to evaluate the diversity of multi-mode predictions.Extensive experiments on the closed-loop NAVSIM and Bench2Drive benchmarks, as well as the open-loop nuScenes dataset, demonstrate that DIVER significantly improves trajectory diversity, effectively addressing the mode collapse problem inherent in imitation learning.

Recent advancements in trajectory-guided video generation have achieved notable progress. However, existing models still face challenges in generating object motions with potentially changing 6D poses under wide-range rotations, due to limited 3D understanding. To address this problem, we introduce PoseTraj, a pose-aware video dragging model for generating 3D-aligned motion from 2D trajectories. Our method adopts a novel two-stage pose-aware pretraining framework, improving 3D understanding across diverse trajectories. Specifically, we propose a large-scale synthetic dataset PoseTraj-10K, containing 10k videos of objects following rotational trajectories, and enhance the model perception of object pose changes by incorporating 3D bounding boxes as intermediate supervision signals. Following this, we fine-tune the trajectory-controlling module on real-world videos, applying an additional camera-disentanglement module to further refine motion accuracy. Experiments on various benchmark datasets demonstrate that our method not only excels in 3D pose-aligned dragging for rotational trajectories but also outperforms existing baselines in trajectory accuracy and video quality.

Predicting future trajectories for other road agents is an essential task for autonomous vehicles. Established trajectory prediction methods primarily use agent tracks generated by a detection and tracking system and HD map as inputs. In this work, we propose a novel method that also incorporates visual input from surround-view cameras, allowing the model to utilize visual cues such as human gazes and gestures, road conditions, vehicle turn signals, etc, which are typically hidden from the model in prior methods. Furthermore, we use textual descriptions generated by a Vision-Language Model (VLM) and refined by a Large Language Model (LLM) as supervision during training to guide the model on what to learn from the input data. Despite using these extra inputs, our method achieves a latency of 53 ms, making it feasible for real-time processing, which is significantly faster than that of previous single-agent prediction methods with similar performance. Our experiments show that both the visual inputs and the textual descriptions contribute to improvements in trajectory prediction performance, and our qualitative analysis highlights how the model is able to exploit these additional inputs. Lastly, in this work we create and release the nuScenes-Text dataset, which augments the established nuScenes dataset with rich textual annotations for every scene, demonstrating the positive impact of utilizing VLM on trajectory prediction. Our project page is at https://moonseokha.github.io/VisionTrap/

Feed-forward multi-frame 3D reconstruction models often degrade on videos with object motion. Global-reference becomes ambiguous under multiple motions, while the local pointmap relies heavily on estimated relative poses and can drift, causing cross-frame misalignment and duplicated structures. We propose TrajVG, a reconstruction framework that makes cross-frame 3D correspondence an explicit prediction by estimating camera-coordinate 3D trajectories. We couple sparse trajectories, per-frame local point maps, and relative camera poses with geometric consistency objectives: (i) bidirectional trajectory-pointmap consistency with controlled gradient flow, and (ii) a pose consistency objective driven by static track anchors that suppresses gradients from dynamic regions. To scale training to in-the-wild videos where 3D trajectory labels are scarce, we reformulate the same coupling constraints into self-supervised objectives using only pseudo 2D tracks, enabling unified training with mixed supervision. Extensive experiments across 3D tracking, pose estimation, pointmap reconstruction, and video depth show that TrajVG surpasses the current feedforward performance baseline.

Geometric foundation models show promise in 3D reconstruction, yet their progress is severely constrained by the scarcity of diverse, large-scale 3D annotations. While Internet videos offer virtually unlimited raw data, utilizing them as a scaling source for geometric learning is challenging due to the absence of ground-truth geometry and the presence of observational noise. To address this, we propose SAGE, a framework for Scalable Adaptation of GEometric foundation models from raw video streams. SAGE leverages a hierarchical mining pipeline to transform videos into training trajectories and hybrid supervision: (1) Informative training trajectory selection; (2) Sparse Geometric Anchoring via SfM point clouds for global structural guidance; and (3) Dense Differentiable Consistency via 3D Gaussian rendering for multi-view constraints. To prevent catastrophic forgetting, we introduce a regularization strategy using anchor data. Extensive experiments show that SAGE significantly enhances zero-shot generalization, reducing Chamfer Distance by 20-42% on unseen benchmarks (7Scenes, TUM-RGBD, Matterport3D) compared to state-of-the-art baselines. To our knowledge, SAGE pioneers the adaptation of geometric foundation models via Internet video, establishing a scalable paradigm for general-purpose 3D learning.

Generative models have shown great potential in trajectory planning. Recent studies demonstrate that anchor-guided generative models are effective in modeling the uncertainty of driving behaviors and improving overall performance. However, these methods rely on discrete anchor vocabularies that must sufficiently cover the trajectory distribution during testing to ensure robustness, inducing an inherent trade-off between vocabulary size and model performance. To overcome this limitation, we propose MeanFuser, an end-to-end autonomous driving method that enhances both efficiency and robustness through three key designs. (1) We introduce Gaussian Mixture Noise (GMN) to guide generative sampling, enabling a continuous representation of the trajectory space and eliminating the dependency on discrete anchor vocabularies. (2) We adapt ``MeanFlow Identity" to end-to-end planning, which models the mean velocity field between GMN and trajectory distribution instead of the instantaneous velocity field used in vanilla flow matching methods, effectively eliminating numerical errors from ODE solvers and significantly accelerating inference. (3) We design a lightweight Adaptive Reconstruction Module (ARM) that enables the model to implicitly select from all sampled proposals or reconstruct a new trajectory when none is satisfactory via attention weights.Experiments on the NAVSIM closed-loop benchmark demonstrate that MeanFuser achieves outstanding performance without the supervision of the PDM Score and exceptional inference efficiency, offering a robust and efficient solution for end-to-end autonomous driving. Our code and model are available at https://github.com/wjl2244/MeanFuser.

Cinematic camera control relies on a tight feedback loop between director and cinematographer, where camera motion and framing are continuously reviewed and refined. Recent generative camera systems can produce diverse, text-conditioned trajectories, but they lack this "director in the loop" and have no explicit supervision of whether a shot is visually desirable. This results in in-distribution camera motion but poor framing, off-screen characters, and undesirable visual aesthetics. In this paper, we introduce VERTIGO, the first framework for visual preference optimization of camera trajectory generators. Our framework leverages a real-time graphics engine (Unity) to render 2D visual previews from generated camera motion. A cinematically fine-tuned vision-language model then scores these previews using our proposed cyclic semantic similarity mechanism, which aligns renders with text prompts. This process provides the visual preference signals for Direct Preference Optimization (DPO) post-training. Both quantitative evaluations and user studies on Unity renders and diffusion-based Camera-to-Video pipelines show consistent gains in condition adherence, framing quality, and perceptual realism. Notably, VERTIGO reduces the character off-screen rate from 38% to nearly 0% while preserving the geometric fidelity of camera motion. User study participants further prefer VERTIGO over baselines across composition, consistency, prompt adherence, and aesthetic quality, confirming the perceptual benefits of our visual preference post-training.

We present FlexTraj, a framework for image-to-video generation with flexible point trajectory control. FlexTraj introduces a unified point-based motion representation that encodes each point with a segmentation ID, a temporally consistent trajectory ID, and an optional color channel for appearance cues, enabling both dense and sparse trajectory control. Instead of injecting trajectory conditions into the video generator through token concatenation or ControlNet, FlexTraj employs an efficient sequence-concatenation scheme that achieves faster convergence, stronger controllability, and more efficient inference, while maintaining robustness under unaligned conditions. To train such a unified point trajectory-controlled video generator, FlexTraj adopts an annealing training strategy that gradually reduces reliance on complete supervision and aligned condition. Experimental results demonstrate that FlexTraj enables multi-granularity, alignment-agnostic trajectory control for video generation, supporting various applications such as motion cloning, drag-based image-to-video, motion interpolation, camera redirection, flexible action control and mesh animations.

Demystifying the interactions among multiple agents from their past trajectories is fundamental to precise and interpretable trajectory prediction. However, previous works mainly consider static, pair-wise interactions with limited relational reasoning. To promote more comprehensive interaction modeling and relational reasoning, we propose DynGroupNet, a dynamic-group-aware network, which can i) model time-varying interactions in highly dynamic scenes; ii) capture both pair-wise and group-wise interactions; and iii) reason both interaction strength and category without direct supervision. Based on DynGroupNet, we further design a prediction system to forecast socially plausible trajectories with dynamic relational reasoning. The proposed prediction system leverages the Gaussian mixture model, multiple sampling and prediction refinement to promote prediction diversity, training stability and trajectory smoothness, respectively. Extensive experiments show that: 1)DynGroupNet can capture time-varying group behaviors, infer time-varying interaction category and interaction strength during trajectory prediction without any relation supervision on physical simulation datasets; 2)DynGroupNet outperforms the state-of-the-art trajectory prediction methods by a significant improvement of 22.6%/28.0%, 26.9%/34.9%, 5.1%/13.0% in ADE/FDE on the NBA, NFL Football and SDD datasets and achieve the state-of-the-art performance on the ETH-UCY dataset.

Reinforcement learning with verifiable rewards (RLVR) has become the mainstream technique for training LLM agents. However, RLVR highly depends on well-crafted task queries and corresponding ground-truth answers to provide accurate rewards, which requires massive human efforts and hinders the RL scaling processes, especially under agentic scenarios. Although a few recent works explore task synthesis methods, the difficulty of generated agentic tasks can hardly be controlled to provide effective RL training advantages. To achieve agentic RLVR with higher scalability, we explore self-play training for deep search agents, in which the learning LLM utilizes multi-turn search engine calling and acts simultaneously as both a task proposer and a problem solver. The task proposer aims to generate deep search queries with well-defined ground-truth answers and increasing task difficulty. The problem solver tries to handle the generated search queries and output the correct answer predictions. To ensure that each generated search query has accurate ground truth, we collect all the searching results from the proposer's trajectory as external knowledge, then conduct retrieval-augmentation generation (RAG) to test whether the proposed query can be correctly answered with all necessary search documents provided. In this search self-play (SSP) game, the proposer and the solver co-evolve their agent capabilities through both competition and cooperation. With substantial experimental results, we find that SSP can significantly improve search agents' performance uniformly on various benchmarks without any supervision under both from-scratch and continuous RL training setups. The code is at https://github.com/Alibaba-Quark/SSP.

Obtaining the precise 3D motion of a table tennis ball from standard monocular videos is a challenging problem, as existing methods trained on synthetic data struggle to generalize to the noisy, imperfect ball and table detections of the real world. This is primarily due to the inherent lack of 3D ground truth trajectories and spin annotations for real-world video. To overcome this, we propose a novel two-stage pipeline that divides the problem into a front-end perception task and a back-end 2D-to-3D uplifting task. This separation allows us to train the front-end components with abundant 2D supervision from our newly created TTHQ dataset, while the back-end uplifting network is trained exclusively on physically-correct synthetic data. We specifically re-engineer the uplifting model to be robust to common real-world artifacts, such as missing detections and varying frame rates. By integrating a ball detector and a table keypoint detector, our approach transforms a proof-of-concept uplifting method into a practical, robust, and high-performing end-to-end application for 3D table tennis trajectory and spin analysis.

Reinforcement Learning with Verifiable Rewards (RLVR) has advanced the reasoning capabilities of Large Language Models (LLMs) by leveraging direct outcome verification instead of learned reward models. Building on this paradigm, Group Relative Policy Optimization (GRPO) eliminates the need for critic models but suffers from indiscriminate credit assignment for intermediate steps, which limits its ability to identify effective reasoning strategies and incurs overthinking. In this work, we introduce a model-free and verifiable process supervision via probing the model's belief in the correct answer throughout its reasoning trajectory. By segmenting the generation into discrete steps and tracking the conditional probability of the correct answer appended at each segment boundary, we efficiently compute interpretable segment-wise progress measurements to refine GRPO's trajectory-level feedback. This approach enables more targeted and sample-efficient policy updates, while avoiding the need for intermediate supervision derived from costly Monte Carlo rollouts or auxiliary models. Experiments on mathematical and general-domain benchmarks show consistent gains over GRPO across diverse models: up to 2.6-point accuracy improvements and 13.7% reasoning-length reductions on math tasks, and up to 2.4 points and 4% on general-domain tasks, demonstrating strong generalization.

End-to-end GUI agents for real desktop environments require large amounts of high-quality interaction data, yet collecting human demonstrations is expensive and existing synthetic pipelines often suffer from limited task diversity or noisy, goal-drifting trajectories. We present a trajectory expansion framework Anchor that bootstraps scalable desktop supervision from a small set of verified seed demonstrations. Starting from each seed, we identify branch points that correspond to meaningful state changes and propose new, state-grounded task variants conditioned on the current GUI context. An executing agent then follows the proposed instructions to generate new trajectories, while a verifier enforces task completion via state-aware checks and trajectory-level consistency. To improve supervision quality, we further apply task-conditioned step-level filtering to remove ungrounded actions and denoise post-branch segments to maintain coherent intent. Experiments on standard desktop benchmarks, OSWorld and WindowsAgentArena, show that models fine-tuned on our expanded corpus achieve consistent improvements over zero-shot agents and representative synthesis baselines, and generalize across applications and operating systems.

Tool-using LLM agents fail through trajectories rather than only final responses, as they may execute unsafe tool calls, follow injected instructions, comply with harmful requests, or over-refuse benign tasks despite producing a seemingly safe answer. Existing safety-alignment signals are largely response-level or off-policy, and often incur a safety-utility trade-off: improving agent safety comes at the cost of degraded task performance. Such sparse and single-objective rewards severely limit real-world usability. To bridge this gap, we propose FATE, an on-policy self-evolving framework that transforms verifier-scored failures into repair supervision without expert demonstrations. For each failure, the same policy proposes repair candidates, which are then re-scored by verifiers and filtered across security, utility, over-refusal control, and trajectory validity. This dense trajectory-level information is then used as a supervision signal for agent self-evolution. During this process, we further introduce Pareto-Front Policy Optimization (PFPO), combining supervised warmup with Pareto-aware policy optimization to preserve safety-utility trade-offs. Experiments on AgentDojo, AgentHarm, and ATBench show that FATE improves safety across different models and scales while preserving useful behavior. Compared with strong baselines, FATE reduces attack success rate by 33.5%, harmful compliance by 82.6%, and improves external trajectory-safety diagnosis by 6.5%. These results suggest that failed trajectories can provide structured repair supervision for safer self-evolving agents.

On-policy distillation (OPD), which supervises a student on its own sampled trajectories, has emerged as a data-efficient post-training method for improving reasoning while avoiding the reward dependence of reinforcement learning and the catastrophic forgetting often observed in standard supervised fine-tuning. However, standard OPD typically computes teacher supervision under noisy student-generated contexts and often relies on a single stochastic teacher rollout per prompt. As a result, the supervision signal can be high-variance: the sampled teacher trajectory can be incorrect, uninformative, or poorly matched to the student's current reasoning behavior. To address this limitation, we propose BRTS, a Best-of-N Rollout Teacher Selection framework for on-policy distillation. BRTS augments standard student-context OPD with a teacher-context supervision branch constructed from the curated teacher trajectory. Rather than distilling from the first sampled teacher rollout, BRTS samples a small pool of teacher trajectories and selects the auxiliary trajectory using a simple priority rule: correctness first, student alignment second. When multiple correct teacher trajectories are available, BRTS chooses the one most aligned with the student's current behavior; when unconditioned teacher samples fail on harder prompts, it invokes a ground-truth-conditioned recovery step to elicit a natural derivation. The selected trajectory is then used to provide reliable teacher-context supervision inside the OPD loop, augmented with an auxiliary loss on the teacher trajectory. Experiments on AIME 2024, AIME 2025, and AMC 2023 show that BRTS improves over standard OPD on challenging reasoning benchmarks, with the largest gains on harder datasets. Our code is available at https://github.com/BWGZK-keke/BRTS.

On-policy reinforcement learning has become the dominant paradigm for reasoning alignment in large language models, yet its sparse, outcome-level rewards make token-level credit assignment notoriously difficult. On-Policy Distillation (OPD) alleviates this by introducing dense, token-level KL supervision from a teacher model, but typically applies this supervision uniformly across all rollouts, ignoring fundamental differences in signal quality. We propose Signal-Calibrated On-Policy Distillation Enhancement (SCOPE), a dual-path adaptive training framework that routes on-policy rollouts by correctness into two complementary supervision paths. For incorrect trajectories, SCOPE performs teacher-perplexity-weighted KL distillation to prioritize instances where the teacher demonstrates genuine corrective capability, while down-weighting unreliable guidance. For correct trajectories, it applies student-perplexity-weighted MLE to concentrate reinforcement on low-confidence samples at the capability boundary rather than over-reinforcing already mastered ones. Both paths employ a group-level normalization to adaptively calibrate weight distributions, accounting for the intrinsic difficulty variance across prompts. Extensive experiments on six reasoning benchmarks show that SCOPE achieves an average relative improvement of 11.42% in Avg@32 and 7.30% in Pass@32 over competitive baselines, demonstrating its consistent effectiveness.

We present Lang2Motion, a framework for language-guided point trajectory generation by aligning motion manifolds with joint embedding spaces. Unlike prior work focusing on human motion or video synthesis, we generate explicit trajectories for arbitrary objects using motion extracted from real-world videos via point tracking. Our transformer-based auto-encoder learns trajectory representations through dual supervision: textual motion descriptions and rendered trajectory visualizations, both mapped through CLIP's frozen encoders. Lang2Motion achieves 34.2% Recall@1 on text-to-trajectory retrieval, outperforming video-based methods by 12.5 points, and improves motion accuracy by 33-52% (12.4 ADE vs 18.3-25.3) compared to video generation baselines. We demonstrate 88.3% Top-1 accuracy on human action recognition despite training only on diverse object motions, showing effective transfer across motion domains. Lang2Motion supports style transfer, semantic interpolation, and latent-space editing through CLIP-aligned trajectory representations.

The landscape of high-performance image generation models is currently shifting from the inefficient multi-step ones to the efficient few-step counterparts (e.g, Z-Image-Turbo and FLUX.2-klein). However, these models present significant challenges for directly continuous supervised fine-tuning. For example, applying the commonly used fine-tuning technique would compromises their inherent few-step inference capability. To address this, we propose D-OPSD, a novel training paradigm for step-distilled diffusion models that enables on-policy learning during supervised fine-tuning. We first find that the modern diffusion model where the LLM/VLM serves as the encoder can inherit its encoder's in-context capabilities. This enables us to make the training as an on-policy self-distillation process. Specifically, during training, we make the model acts as both the teacher and the student with different contexts, where the student is conditioned only on the text feature, while the teacher is conditioned on the multimodal feature of both the text prompt and the target image. Training minimizes the two predicted distributions over the student's own roll-outs. By optimized on the model's own trajectory and under it's own supervision, D-OPSD enables the model to learn new concept, style, etc. without sacrificing the original few-step capacity.

Reinforcement Learning with Verifiable Rewards (RLVR) has significantly advanced the reasoning capacity of Large Language Models (LLMs). However, RLVR solely relies on final answers as outcome rewards, neglecting the correctness of intermediate reasoning steps. Training on these process-wrong but outcome-correct rollouts can lead to hallucination and answer-copying, severely undermining the model's generalization and robustness. To address this, we incorporate a Contrastive Learning mechanism into the Policy Optimization (CLIPO) to generalize the RLVR process. By optimizing a contrastive loss over successful rollouts, CLIPO steers the LLM to capture the invariant structure shared across correct reasoning paths. This provides a more robust cross-trajectory regularization than the original single-path supervision in RLVR, effectively mitigating step-level reasoning inconsistencies and suppressing hallucinatory artifacts. In experiments, CLIPO consistently improves multiple RLVR baselines across diverse reasoning benchmarks, demonstrating uniform improvements in generalization and robustness for policy optimization of LLMs. Our code and training recipes are available at https://github.com/Qwen-Applications/CLIPO.

Creating flexible 3D scenes from a single image is vital when direct 3D data acquisition is costly or impractical. We introduce NavCrafter, a novel framework that explores 3D scenes from a single image by synthesizing novel-view video sequences with camera controllability and temporal-spatial consistency. NavCrafter leverages video diffusion models to capture rich 3D priors and adopts a geometry-aware expansion strategy to progressively extend scene coverage. To enable controllable multi-view synthesis, we introduce a multi-stage camera control mechanism that conditions diffusion models with diverse trajectories via dual-branch camera injection and attention modulation. We further propose a collision-aware camera trajectory planner and an enhanced 3D Gaussian Splatting (3DGS) pipeline with depth-aligned supervision, structural regularization and refinement. Extensive experiments demonstrate that NavCrafter achieves state-of-the-art novel-view synthesis under large viewpoint shifts and substantially improves 3D reconstruction fidelity.

GUI agents must remember both useful experience from earlier tasks and unfinished progress in the current interaction. Latent memory offers a compact solution by compressing multimodal trajectories into a few continuous tokens. Existing methods, however, usually map each trajectory to one fixed memory block and train it mainly through next-action supervision. This creates three practical problems: important details may be lost during compression, the same memory block must serve different decision stages, and irrelevant retrieved trajectories may still mislead the agent. We introduce FocusMem, which separates these responsibilities within a compact latent-memory interface. A role-aware content basis encourages episodic memory to retain reusable experience and working memory to retain task progress. A state-conditioned readout generates a decision-specific view of the same stored evidence, while a lightweight trust gate can suppress memory blocks that appear irrelevant to the current step. All components are trained while the GUI policy remains frozen. Across five GUI-agent benchmarks, FocusMem consistently outperforms a fully matched action-only fixed-memory baseline and prior latent memory adaptations. Further analysis shows that semantic and functional supervision preserve complementary information, state-conditioned readout is more robust as surrounding trajectory context grows, and the trust gate reduces the harm caused by injected irrelevant episodic evidence. These results show that effective latent memory depends not only on compressing past interaction, but also on what is retained, what is exposed, and what is allowed.

Long-horizon agentic reasoning requires large language models to act over long interaction histories containing thoughts, tool calls, observations, and partial conclusions. The challenge is not merely that these histories grow long, but that information needed for the current decision may be scattered across distant steps and only become relevant later. Existing approaches address this difficulty by truncating the interaction history, compressing it into shorter surrogates, or retrieving selected parts of it for reuse, but they do not explicitly model how access to past interaction should adapt to the agent's evolving state. We instead cast long-horizon reasoning as a problem of state-adaptive memory. To this end, we propose State-Adaptive Memory~(SAM), a standalone framework that consolidates ongoing interaction into compact memory cues while preserving raw trajectory pages for intent-driven recall. These cues are not treated as replacements for history; rather, they serve as lightweight handles that allow the agent to reconstruct temporally distant information according to its current needs, without retraining the underlying backbone. We further optimize the memory module through expert-guided supervision and reinforcement learning, aligning it with trajectory-level utility. Across BrowseComp, BrowseComp-ZH, WideSearch, and HLE, SAM consistently outperforms strong baselines over diverse agent backbones. Our results suggest that explicit memory modeling provides a simple and effective foundation for long-horizon agentic reasoning.

The widespread adoption of generative AI models has intensified concerns about misuse, including the creation of unsafe or disturbing imagery. To mitigate such issues, several concept erasure approaches have been proposed to remove harmful content from multimodal generative models. Yet concept erasure for autoregressive image generation remains largely unexplored, despite the growing relevance of these models in recent trends toward unified multimodal architectures. In this work, we fill this gap by introducing Obliviate, a guidance-based concept erasure method for autoregressive image generation. Our method builds on three key design choices: KL-based supervision over visual token distributions, trajectory-level updates over full autoregressive rollouts, and aligned visual prefixes for stable target construction. We evaluate Obliviate on three state-of-the-art autoregressive text-to-image models, Liquid, Emu3-Gen, and Janus-Pro, covering the erasure of explicit content, graphic violence, and branded imagery. Obliviate consistently outperforms current alternatives, reducing nudity on the defensive RAB benchmark from 91.58 to 3.15 while preserving overall model utility.

On-policy distillation (OPD) has become a promising paradigm for reasoning-oriented post-training of large language models (LLMs), especially when combined with reinforcement learning from verifiable rewards (RLVR). Existing OPD methods rely on reverse KL (RKL)-based teacher supervision over trajectories sampled from the student policy. However, we identify a critical limitation: under large teacher--student policy divergence, RL-driven exploration often produces trajectories outside the teacher distribution, resulting in uninformative negative feedback. To address this, we propose Teacher-Guided Policy Optimization (TGPO), an on-policy reasoning distillation method that remains effective under large policy divergence settings. Rather than relying solely on evaluative supervision, TGPO uses teacher to directly guide token level generation conditioning on student-generated contexts; together with RLVR-style trajectory level rewards, TGPO steers exploration toward improved continuations. Experiments on reasoning benchmarks show that TGPO consistently outperforms existing RKL-based OPD methods and remains robust across different teacher models.

Large language model (LLM) agents offer a promising data-driven approach to automating Site Reliability Engineering (SRE), yet their enterprise deployment is constrained by three challenges: restricted access to proprietary data, unsafe action execution under permission-governed environments, and the inability of closed systems to improve from failures. We present AOI (Autonomous Operations Intelligence), a trainable multi-agent framework formulating automated operations as a structured trajectory learning problem under security constraints. Our approach integrates three key components. First, a trainable diagnostic system applies Group Relative Policy Optimization (GRPO) to distill expert-level knowledge into locally deployed open-source models, enabling preference-based learning without exposing sensitive data. Second, a read-write separated execution architecture decomposes operational trajectories into observation, reasoning, and action phases, allowing safe learning while preventing unauthorized state mutation. Third, a Failure Trajectory Closed-Loop Evolver mines unsuccessful trajectories and converts them into corrective supervision signals, enabling continual data augmentation. Evaluated on the AIOpsLab benchmark, our contributions yield cumulative gains. (1) The AOI runtime alone achieves 66.3% best@5 success on all 86 tasks, outperforming the prior state-of-the-art (41.9%) by 24.4 points. (2) Adding Observer GRPO training, a locally deployed 14B model reaches 42.9% avg@1 on 63 held-out tasks with unseen fault types, surpassing Claude Sonnet 4.5. (3) The Evolver converts 37 failed trajectories into diagnostic guidance, improving end-to-end avg@5 by 4.8 points while reducing variance by 35%.

As large language model agents tackle increasingly complex long-horizon tasks, effective post-training becomes critical. Prior work faces fundamental challenges: outcome-only rewards fail to precisely attribute credit to intermediate steps, estimated step-level rewards introduce systematic noise, and Monte Carlo sampling approaches for step reward estimation incur prohibitive computational cost. Inspired by findings that only a small fraction of high-entropy tokens drive effective RL for reasoning, we propose Critical Step Optimization (CSO), which focuses preference learning on verified critical steps, decision points where alternate actions demonstrably flip task outcomes from failure to success. Crucially, our method starts from failed policy trajectories rather than expert demonstrations, directly targeting the policy model's weaknesses. We use a process reward model (PRM) to identify candidate critical steps, leverage expert models to propose high-quality alternatives, then continue execution from these alternatives using the policy model itself until task completion. Only alternatives that the policy successfully executes to correct outcomes are verified and used as DPO training data, ensuring both quality and policy reachability. This yields fine-grained, verifiable supervision at critical decisions while avoiding trajectory-level coarseness and step-level noise. Experiments on GAIA-Text-103 and XBench-DeepSearch show that CSO achieves 37% and 26% relative improvement over the SFT baseline and substantially outperforms other post-training methods, while requiring supervision at only 16% of trajectory steps. This demonstrates the effectiveness of selective verification-based learning for agent post-training.

Extending the capabilities of Large Language Models (LLMs) with functions or tools for environment interaction has led to the emergence of the agent paradigm. In industry, training an LLM is not always feasible because of the scarcity of domain data, legal holds on proprietary customer data, rapidly changing business requirements, and the need to prototype new assistants. Agents provide an elegant solution to the above by relying on the zero-shot reasoning abilities of the underlying LLM and utilizing tools to explore and reason over customer data and respond to user requests. However, there are two concerns here: (I) acquiring large scale customer queries for agent testing is time-consuming, and (II) high reliance on the tool call sequence (or trajectory) followed by the agent to respond to user queries may lead to unexpected or incorrect behavior. To address this, we propose MAG-V, a multi-agent framework to first generate a dataset of questions that mimic customer queries; and second, reverse-engineer alternate questions from the responses for trajectory verification. Initial results indicate that our synthetic data can improve agent performance on actual customer queries. Furthermore, our trajectory verification methodology, inspired by distant supervision and using traditional machine learning (ML) models, outperforms a GPT-4o judge baseline by 11% accuracy and matches the performance of a GPT-4 judge on our constructed dataset. Overall, our approach is a step towards unifying diverse task agents into a cohesive framework for achieving an aligned objective.

Step distillation has become a leading technique for accelerating diffusion models, among which Distribution Matching Distillation (DMD) and Consistency Distillation are two representative paradigms. While consistency methods enforce self-consistency along the full PF-ODE trajectory to steer it toward the clean data manifold, vanilla DMD relies on sparse supervision at a few predefined discrete timesteps. This restricted discrete-time formulation and mode-seeking nature of the reverse KL divergence tends to exhibit visual artifacts and over-smoothed outputs, often necessitating complex auxiliary modules -- such as GANs or reward models -- to restore visual fidelity. In this work, we introduce Continuous-Time Distribution Matching (CDM), migrating the DMD framework from discrete anchoring to continuous optimization for the first time. CDM achieves this through two continuous-time designs. First, we replace the fixed discrete schedule with a dynamic continuous schedule of random length, so that distribution matching is enforced at arbitrary points along sampling trajectories rather than only at a few fixed anchors. Second, we propose a continuous-time alignment objective that performs active off-trajectory matching on latents extrapolated via the student's velocity field, improving generalization and preserving fine visual details. Extensive experiments on different architectures, including SD3-Medium and Longcat-Image, demonstrate that CDM provides highly competitive visual fidelity for few-step image generation without relying on complex auxiliary objectives. Code is available at https://github.com/byliutao/cdm.

Domain-specific supervised fine-tuning (SFT) often improves in-domain performance at the cost of degrading a model's general capabilities. We view this degradation through two practical gaps in domain SFT: a supervision-compatibility gap, where domain targets differ in style and reasoning format from the original model's natural responses, and a trajectory-preservation gap, where teacher-forced SFT optimizes fixed target tokens without constraining the model's behavior on its own generated prefixes. This process fails to preserve the model's original behavior. We propose RAFT (Data Refinement and Adaptive Distillation for Domain Fine-Tuning with Alleviated Forgetting), a two-stage framework that addresses both factors. First, RAFT constructs model-compatible supervision through self-conditioned rewriting, semantic filtering, and answer fusion. Second, RAFT performs Answer-Conditioned On-Policy Distillation, where the original instruction-tuned model provides soft targets on student-generated trajectories while being conditioned on the fused answer as helpful context. We further introduce top-K temperature distillation and EMA-based adaptive loss balancing to stabilize the domain-general trade-off. Across three instruction-tuned backbones and five domains, RAFT improves average domain accuracy by 23.2% over standard SFT, while recovering part of the SFT-induced degradation on MS-Bench and IFEval, with relative improvements of 18.2% and 10.2%, respectively. These results show that coupling data refinement with trajectory-level preservation provides an effective recipe for domain fine-tuning with alleviated forgetting.

Memory-augmented LLM agents enable interactions that extend beyond finite context windows by storing, updating, and reusing information across sessions. However, training such agents with reinforcement learning in multi-session environments is challenging because memory turns the agent's past actions into part of its future environment. Once different rollouts write, update, or delete different memories, they no longer share the same intermediate memory state, making trajectory-level comparisons fundamentally unfair. This violates a key assumption behind group-relative methods such as GRPO, where rollouts are compared as if they were sampled from the same effective environment. Consequently, trajectory-level rewards provide noisy or biased credit signals for long-horizon memory operations. To address this challenge, we introduce Memory-R2, a training framework for long-horizon memory-augmented LLM agents. Its core algorithm, LoGo-GRPO, combines local and global group-relative optimization. The global objective preserves end-to-end learning from long-horizon trajectory-level rewards, while local rerollouts compare different memory-operation outcomes from the same intermediate memory state, yielding fairer group comparisons and more precise supervision for memory construction. Beyond credit assignment, Memory-R2 jointly optimizes memory formation and memory evolution with a shared-parameter co-learning design, where a fact extractor and a memory manager are instantiated from the same LLM backbone through role-specific prompts. To stabilize multi-step RL over long memory horizons, we adopt a progressive curriculum that increases the training horizon from 8 to 16 to 32 sessions. Together, these components provide an effective training paradigm for memory-augmented LLM agents in long-horizon multi-session settings.

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, extending these models to large-scale RGB stream 3D reconstruction remains challenging due to memory limitations. In this work, we propose VGGT-Long, a simple yet effective system that pushes the limits of monocular 3D reconstruction to kilometer-scale, unbounded outdoor environments. Our approach addresses the scalability bottlenecks of existing models through a chunk-based processing strategy combined with overlapping alignment and lightweight loop closure optimization. Without requiring camera calibration, depth supervision or model retraining, VGGT-Long achieves trajectory and reconstruction performance comparable to traditional methods. We evaluate our method on KITTI, Waymo, and Virtual KITTI datasets. VGGT-Long not only runs successfully on long RGB sequences where foundation models typically fail, but also produces accurate and consistent geometry across various conditions. Our results highlight the potential of leveraging foundation models for scalable monocular 3D scene in real-world settings, especially for autonomous driving scenarios. Code is available at https://github.com/DengKaiCQ/VGGT-Long.

Multimodal driving planning faces a long-standing tension between two paradigms: scoring-based methods benefit from dense reward supervision but are confined to a fixed action vocabulary, while anchor-based methods generate proposals dynamically yet suffer from sparse supervision constrained to a single ground-truth trajectory. In this work, we propose FlowR2A, which resolves this tension by reframing simulation-based rewards from discriminative targets into generative conditions. By learning the reward-conditioned action distribution from dense trajectory-reward pairs with a flow-matching decoder, FlowR2A unifies the dense supervision of scoring-based methods with the proposal generation of anchor-based methods in a single generative model, forcing the model to internalize the correlation between an action and its outcomes in safety, progress, comfort, and rule compliance. To balance hard safety constraints against soft progress objectives, we introduce fine-grained per-timestep reward conditioning and reward noise augmentation. The generative formulation naturally supports controllable test-time sampling via reward guidance and anchored sampling, producing high-quality proposals. FlowR2A achieves state-of-the-art results on the NAVSIM v1 and v2 benchmarks, with multimodal proposals of substantially higher quality than prior methods.

Post-training Large Language Models (LLMs) with explicit reasoning trajectories can enhance their reasoning abilities. However, acquiring such high-quality trajectory data typically demands meticulous supervision from humans or superior models, which can be either expensive or license-constrained. In this paper, we explore how far an LLM can improve its reasoning by self-synthesizing reasoning paths as training data without any additional supervision. Existing self-synthesizing methods, such as STaR, suffer from poor generalization to out-of-domain (OOD) reasoning tasks. We hypothesize it is due to that their self-synthesized reasoning paths are too task-specific, lacking general task-agnostic reasoning guidance. To address this, we propose Reasoning Generalist via Self-Improvement (ReGenesis), a method to self-synthesize reasoning paths as post-training data by progressing from abstract to concrete. More specifically, ReGenesis self-synthesizes reasoning paths by converting general reasoning guidelines into task-specific ones, generating reasoning structures, and subsequently transforming these structures into reasoning paths, without the need for human-designed task-specific examples used in existing methods. We show that ReGenesis achieves superior performance on all in-domain and OOD settings tested compared to existing methods. For six OOD tasks specifically, while previous methods exhibited an average performance decrease of approximately 4.6% after post training, ReGenesis delivers around 6.1% performance improvement. We also conduct in-depth analysis of our framework and show ReGenesis is effective across various LLMs and design choices.

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address this limitation either by scaling spatial supervision with synthetic data or by coupling VLMs with world models at inference time. However, the former often lacks explicit modeling of motion-conditioned state transitions, while the latter incurs substantial computational overhead. In this work, we propose World2VLM, a training framework that distills spatial imagination from a generative world model into a vision-language model. Given an initial observation and a parameterized camera trajectory, we use a view-consistent world model to synthesize geometrically aligned future views and derive structured supervision for both forward (action-to-outcome) and inverse (outcome-to-action) spatial reasoning. We post-train the VLM with a two-stage recipe on a compact dataset generated by this pipeline and evaluate it on multiple spatial reasoning benchmarks. World2VLM delivers consistent improvements over the base model across diverse benchmarks, including SAT-Real, SAT-Synthesized, VSI-Bench, and MindCube. It also outperforms the test-time world-model-coupled methods while eliminating the need for expensive inference-time generation. Our results suggest that world models can serve not only as inference-time tools, but also as effective training-time teachers, enabling VLMs to internalize spatial imagination in a scalable and efficient manner.

Agent memory shapes how Large Language Model (LLM)-powered agents, akin to the human brain, progressively refine themselves through environment interactions. Existing paradigms remain constrained: parametric memory forcibly adjusts model parameters, and retrieval-based memory externalizes experience into structured databases, yet neither captures the fluid interweaving of reasoning and memory that underlies human cognition. To address this gap, we propose MemGen, a dynamic generative memory framework that equips agents with a human-esque cognitive faculty. It consists of a memory trigger, which monitors the agent's reasoning state to decide explicit memory invocation, and a memory weaver, which takes the agent's current state as stimulus to construct a latent token sequence as machine-native memory to enrich its reasoning. In this way, MemGen enables agents to recall and augment latent memory throughout reasoning, producing a tightly interwoven cycle of memory and cognition. Extensive experiments across eight benchmarks show that MemGen surpasses leading external memory systems such as ExpeL and AWM by up to 38.22%, exceeds GRPO by up to 13.44%, and exhibits strong cross-domain generalization ability. More importantly, we find that without explicit supervision, MemGen spontaneously evolves distinct human-like memory faculties, including planning memory, procedural memory, and working memory, suggesting an emergent trajectory toward more naturalistic forms of machine cognition.

Recent advances in Reinforcement Learning (RL) have underscored its potential for incentivizing reasoning capabilities of Large Language Models (LLMs). However, existing step-level efforts suffer from costly annotations that limit domain coverage, while scalar scores further impose an information bottleneck, offering insufficient semantic bandwidth to improve intermediate decisions. Alternative language-critique approaches, which rely on frozen or external critics, provide richer textual feedback but lack the scalability needed for sustained policy improvement. In this work, we propose language-driven stepwise trajectory redirection, termed as STRIDE, a novel training framework that shifts process supervision from scalar rewards to learnable stepwise language feedback. Specifically, we co-train a generator and a generative verifier using only outcome-based rewards, eliminating external annotations, while delivering sustained policy improvement through jointly aligned verifier training. The verifier's stepwise language critiques explicitly localize and explain failures, enabling the generator to redirect reasoning trajectories at intermediate steps toward alternative decisions. The trajectory redirection design guarantees harmless policy improvement, even under noisy or suboptimal verifier feedback. Experiments on diverse reasoning benchmarks show that STRIDE significantly outperforms state-of-the-art baselines, as well as achieving breakthroughs on zero-pass-rate problems where scalar methods yield no learning signal in our ablation studies, demonstrating the effectiveness of learnable stepwise language feedback for enhancing LLM reasoning.

Tool-using agents based on Large Language Models (LLMs) excel in tasks such as mathematical reasoning and multi-hop question answering. However, in long trajectories, agents often trigger excessive and low-quality tool calls, increasing latency and degrading inference performance, making managing tool-use behavior challenging. In this work, we conduct entropy-based pilot experiments and observe a strong positive correlation between entropy reduction and high-quality tool calls. Building on this finding, we propose using entropy reduction as a supervisory signal and design two reward strategies to address the differing needs of optimizing tool-use behavior. Sparse outcome rewards provide coarse, trajectory-level guidance to improve efficiency, while dense process rewards offer fine-grained supervision to enhance performance. Experiments across diverse domains show that both reward designs improve tool-use behavior: the former reduces tool calls by 72.07% compared to the average of baselines, while the latter improves performance by 22.27%. These results position entropy reduction as a key mechanism for enhancing tool-use behavior, enabling agents to be more adaptive in real-world applications.

Multimodal Dataset Distillation (MDD) seeks to condense large-scale image-text datasets into compact surrogates while retaining their effectiveness for cross-modal learning. Despite recent progress, existing MDD approaches often suffer from \textbf{Modality Collapse}, characterized by over-concentrated intra-modal representations and enlarged distributional gap across modalities. In this paper, at the first time, we identify this issue as stemming from a fundamental conflict between the over-compression behavior inherent in dataset distillation and the cross-modal supervision imposed by contrastive objectives. To alleviate modality collapse, we introduce RepBlend, a novel MDD framework that weakens overdominant cross-modal supervision via representation blending, thereby significantly enhancing intra-modal diversity. Additionally, we observe that current MDD methods impose asymmetric supervision across modalities, resulting in biased optimization. To address this, we propose symmetric projection trajectory matching, which synchronizes the optimization dynamics using modality-specific projection heads, thereby promoting balanced supervision and enhancing cross-modal alignment. Experiments on Flickr-30K and MS-COCO show that RepBlend consistently outperforms prior state-of-the-art MDD methods, achieving significant gains in retrieval performance (e.g., +9.4 IR@10, +6.3 TR@10 under the 100-pair setting) and offering up to 6.7times distillation speedup.

Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by human experts. To complement for the lack of data diversity, we introduce a novel and scalable simulation framework capable of synthesizing massive unseen states upon existing driving logs. Our pipeline utilizes advanced neural rendering with a reactive environment to generate high-fidelity multi-view observations controlled by the perturbed ego trajectory. Furthermore, we develop a pseudo-expert trajectory generation mechanism for these newly simulated states to provide action supervision. Upon the synthesized data, we find that a simple co-training strategy on both real-world and simulated samples can lead to significant improvements in both robustness and generalization for various planning methods on challenging real-world benchmarks, up to +6.8 EPDMS on navhard and +2.9 on navtest. More importantly, such policy improvement scales smoothly by increasing simulation data only, even without extra real-world data streaming in. We further reveal several crucial findings of such a sim-real learning system, which we term SimScale, including the design of pseudo-experts and the scaling properties for different policy architectures. Our simulation data and code would be released.

Reinforcement learning (RL) has emerged as a central paradigm for post-training LLM agents, yet its trajectory-level reward signal provides only coarse supervision for long-horizon interaction. On-Policy Self-Distillation (OPSD) complements RL by introducing dense token-level guidance from a teacher branch augmented with privileged context. However, transferring OPSD to multi-turn agents proves problematic: compounding multi-turn instability destabilizes supervision, while skill-conditioned privileged guidance requires asymmetric treatment for negative teacher rejections may arise from imperfect skills retrieval or utilization. We introduce SDAR (Self-Distilled Agentic Reinforcement Learning), which treats OPSD as a gated auxiliary objective while keeping RL as the primary optimization backbone. SDAR maps detached token-level signals into a sigmoid gate, strengthening distillation on teacher-endorsed positive-gap tokens and softly attenuating negative teacher rejections. Across the Qwen2.5 and Qwen3 families on ALFWorld, WebShop, and Search-QA, SDAR substantially improves over GRPO (+9.4% on ALFWorld, +7.0% on Search-QA, +10.2% on WebShop-Acc), avoids the instability of naive GRPO+OPSD, and consistently outperforms hybrid RL--OPSD baselines across model scales.

Large language models are increasingly trained as interactive agents for long-horizon tasks involving multi-turn interaction, tool use, and environment feedback. Outcome-based reinforcement learning (RL) provides a practical optimization paradigm, but its sparse trajectory-level rewards offer limited guidance on intermediate decisions, leaving a supervision gap between episode-level outcomes and token-level policy learning. We propose SEED (SElf-Evolving On-Policy Distillation), a self-evolving framework that converts completed on-policy trajectories into training-time hindsight skills and distills their behavioral effect back into the policy model. SEED first fine-tunes the policy to analyze completed trajectories and generate natural-language skills that capture reusable workflows, decisive observations, or failure-avoidance rules. During RL, the current policy both collects trajectories and serves as the analyzer that extracts hindsight skills from them. Policy updates therefore improve subsequent decision making and skill analysis together, allowing hindsight supervision to evolve with the policy. SEED then re-scores the sampled actions under ordinary and skill-augmented contexts, converting the skill-induced probability shift into a dense token-level on-policy distillation signal. This signal is jointly optimized with outcome-based RL, keeping the auxiliary supervision aligned with the current trajectory distribution. Extensive experiments on text-based and vision-based agentic tasks show that SEED consistently improves performance and sample efficiency, exhibiting robust generalization to unseen scenarios. Our code is available at https://github.com/jinyangwu/SEED.

Recently, Multimodal Large Language Models (MLLMs) have been widely integrated into diffusion frameworks primarily as text encoders to tackle complex tasks such as spatial reasoning. However, this paradigm suffers from two critical limitations: (i) MLLMs text encoder exhibits insufficient reasoning depth. Single-step encoding fails to activate the Chain-of-Thought process, which is essential for MLLMs to provide accurate guidance for complex tasks. (ii) The guidance remains invariant during the decoding process. Invariant guidance during decoding prevents DiT from progressively decomposing complex instructions into actionable denoising steps, even with correct MLLM encodings. To this end, we propose Endogenous Chain-of-Thought (EndoCoT), a novel framework that first activates MLLMs' reasoning potential by iteratively refining latent thought states through an iterative thought guidance module, and then bridges these states to the DiT's denoising process. Second, a terminal thought grounding module is applied to ensure the reasoning trajectory remains grounded in textual supervision by aligning the final state with ground-truth answers. With these two components, the MLLM text encoder delivers meticulously reasoned guidance, enabling the DiT to execute it progressively and ultimately solve complex tasks in a step-by-step manner. Extensive evaluations across diverse benchmarks (e.g., Maze, TSP, VSP, and Sudoku) achieve an average accuracy of 92.1%, outperforming the strongest baseline by 8.3 percentage points.

Reinforcement learning with verifiable rewards (RLVR) has substantially improved the reasoning capabilities of large language models on tasks such as mathematical reasoning and code generation. However, most RLVR methods assign a scalar outcome reward to an entire trajectory, resulting in sparse supervision and limited token-level credit assignment. On-policy distillation (OPD) provides denser supervision by distilling token-level distributions from a stronger teacher model, but requires an additional teacher and typically assumes a shared vocabulary. On-policy self-distillation (OPSD) removes this dependency by conditioning the same model on privileged information to construct a teacher policy. However, directly matching the teacher distribution may cause information leakage and unstable optimization. RLSD avoids direct matching by using the teacher signal only to modulate update magnitudes, but it cannot provide an explicit correction direction when the sampled reasoning fails. To address this tradeoff, we introduce H^{2}SD, a hybrid hindsight self distillation framework that uses the teacher differently according to trajectory correctness. For successful trajectories, the teacher receives the student response confirmed as correct together with a rephrasing instruction, and its probabilities on the original response tokens are used to modulate update magnitudes without changing the direction determined by the reward. For failed trajectories, we condition the teacher on a reference hint containing key reasoning steps and a verified answer, and minimize the reverse KL divergence from the student to the teacher. Experiments on multiple challenging reasoning benchmarks show that H^2SD consistently outperforms representative RLVR, OPSD, and RLSD baselines while maintaining stable optimization and favorable generation efficiency.

On-policy training has emerged as a powerful post-training paradigm for improving the reasoning capabilities of large language models, and is often enhanced by golden trajectories from stronger expert models. However, when the expert fails on harder problems, existing trajectory-guided methods lose their main source of supervision, and these failed trajectories are typically discarded as negative samples. We argue that such failures, which we call Golden Negative Trajectories, can still provide valuable reasoning signals when treated not as demonstrations to imitate, but as flawed trajectories to reflect upon. We identify a Reflection Advantage: for hard problems, reflecting on a flawed trajectory can be easier and more effective than solving the problem directly from scratch. Motivated by this, we propose ReflectRL, a lightweight plug-and-play framework that learns from Golden Negative Trajectories during on-policy training. ReflectRL first uses these trajectories to elicit Reflective Reasoning, then applies Reflective-to-Direct Policy Transition to transfer the acquired reasoning behavior back to Direct Reasoning. Experiments across 9 benchmarks, 4 LLM backbones, and 4 on-policy training methods show that ReflectRL consistently improves reasoning performance with minimal overhead.

Privileged on-policy distillation provides dense supervision for multi-turn agents by allowing a synchronized teacher to re-score the student's response at every turn with access to training-only references, such as successful trajectories. In interactive environments, however, the student's preceding actions continually change the execution state. As the student takes different actions or completes subgoals in a different order, its rollout may reach states not covered by the reference, making the reference an unreliable source of guidance for the state actually reached. Applying privileged distillation indiscriminately therefore creates state--reference mismatch. This mismatch motivates a central objective: providing privileged reference guidance that remains compatible with the student's current execution state. We introduce State-Matched Routing and Contextualized Self-Distillation (SMRC-SD), which explicitly determines when and how a privileged trajectory should guide an on-policy student. At each turn, SMRC-SD verifies whether the student's current execution state matches a supported state along the reference trajectory. Distillation is applied only at matched states, filtering out turns for which the reference lacks locally compatible guidance. For each matched state, SMRC-SD further constructs state-conditioned teacher context from the successful trajectory, grounding supervision in the state actually reached. Across ALFWorld and WebShop, SMRC-SD consistently outperforms unconditional successful full-path distillation. With Qwen3-1.7B, it improves task success from 0.746 to 0.865 on ALFWorld and from 0.574 to 0.693 on WebShop. Controlled routing and context ablations support both selecting locally supported turns and constructing state-compatible teacher context as contributors to these gains. Code is available at https://github.com/liujunzhuo/SMRC-SD.

Reinforcement learning (RL) has emerged as a promising paradigm for inducing explicit reasoning behaviors in large language and vision-language models. However, reasoning-oriented RL post-training remains fundamentally challenging due to sparse trajectory-level rewards, leading to ambiguous credit assignment and severe exploration failures that can trap the policy in a ``learning cliff.'' Recent on-policy distillation methods introduce dense teacher supervision to stabilize optimization, but apply it uniformly across all generated trajectories. We argue that such uniform distillation is ill-suited for reasoning-intensive tasks, as low-quality on-policy trajectories often originate from early logical errors, and distillation under flawed contexts injects noisy and misaligned gradients. To address these challenges, we propose Knowledge-Enhanced Preference Optimization (KEPO), a unified post-training framework that integrates: (i) a quality-gated on-policy distillation objective that selectively applies dense teacher guidance only to high-quality trajectories, and (ii) a knowledge-enhanced exploration strategy that leverages hints learned from a teacher model to rejectively sample reward-positive on-policy trajectories for RL, thereby mitigating exploration collapse. Evaluated on a challenging medical visual question answering benchmark under single-source generalization, KEPO demonstrates improved training stability, more coherent reasoning behaviors, and superior out-of-distribution performance over reinforcement learning and on-policy distillation baselines.

Vision-language models (VLMs) have shown impressive capabilities across diverse tasks, motivating efforts to leverage these models to supervise robot learning. However, when used as evaluators in reinforcement learning (RL), today's strongest models often fail under partial observability and distribution shift, enabling policies to exploit perceptual errors rather than solve the task. To address this limitation, we introduce SOLE-R1 (Self-Observing LEarner), a video-language reasoning model explicitly designed to serve as the sole reward signal for online RL. Given only raw video observations and a natural-language goal, SOLE-R1 performs per-timestep spatiotemporal chain-of-thought (CoT) reasoning and produces dense estimates of task progress that can be used directly as rewards. To train SOLE-R1, we develop a large-scale video trajectory and reasoning synthesis pipeline that generates temporally grounded CoT traces aligned with continuous progress supervision. This data is combined with foundational spatial and multi-frame temporal reasoning, and used to train the model with a hybrid framework that couples supervised fine-tuning with RL from verifiable rewards. Across four different simulation environments and a real-robot setting, SOLE-R1 enables zero-shot online RL from random initialization: robots learn previously unseen manipulation tasks without ground-truth rewards, success indicators, demonstrations, or task-specific tuning. SOLE-R1 succeeds on 24 unseen tasks and substantially outperforms strong vision-language rewarders, including GPT-5 and Gemini-3-Pro, while exhibiting markedly greater robustness to reward hacking.

Chain-of-Thought (CoT) reasoning has become a powerful driver of trajectory prediction in VLA-based autonomous driving, yet its autoregressive nature imposes a latency cost that is prohibitive for real-time deployment. Latent CoT methods attempt to close this gap by compressing reasoning into continuous hidden states, but consistently fall short of their explicit counterparts. We suggest that this is due to purely linguistic latent representations compressing a symbolic abstraction of the world, rather than the causal dynamics that actually govern driving. Thus, we present OneVL (One-step latent reasoning and planning with Vision-Language explanations), a unified VLA and World Model framework that routes reasoning through compact latent tokens supervised by dual auxiliary decoders. Alongside a language decoder that reconstructs text CoT, we introduce a visual world model decoder that predicts future-frame tokens, forcing the latent space to internalize the causal dynamics of road geometry, agent motion, and environmental change. A three-stage training pipeline progressively aligns these latents with trajectory, language, and visual objectives, ensuring stable joint optimization. At inference, the auxiliary decoders are discarded and all latent tokens are prefilled in a single parallel pass, matching the speed of answer-only prediction. Across four benchmarks, OneVL becomes the first latent CoT method to surpass explicit CoT, delivering state-of-the-art accuracy at answer-only latency, and providing direct evidence that tighter compression, when guided in both language and world-model supervision, produces more generalizable representations than verbose token-by-token reasoning. Project Page: https://xiaomi-embodied-intelligence.github.io/OneVL

Long-horizon search agents must make multiple sequential actions (steps) to search, retrieve, verify, and integrate evidence to reach a final answer. However, existing methods for training these agents typically treat all steps within a trajectory uniformly during both supervised fine-tuning (SFT) and reinforcement learning (RL), failing to distinguish useful actions from erroneous or redundant ones. In this paper, we propose Answer-Backtracked Credit Assignment (ABC), a fine-grained credit assignment framework for training long-horizon search agents by converting sparse trajectory-level outcomes into dense step-level supervision that rewards useful actions (even in failed trajectories) while suppressing erroneous or redundant actions. Specifically, given a potentially obscure query and its corresponding ground-truth answer, ABC first performs Answer-Backtracked Clue Recovery, which traces back from the answer to recover intermediate clues required to solve the question. It then applies Clue-Anchored Step Scoring to evaluate each search step against these clues, converting sparse binary outcome supervision into dense step-level rewards. Based on these rewards, we develop ABC-SFT, which reweights the loss of each turn, and ABC-GRPO, which uses the step-level scores as rewards in GRPO. Building on this framework, we train ABSeeker based on Qwen3.5-4B with only 8.5k examples. ABSeeker achieves 37.3% on BrowseComp and 39.1% on BrowseComp-ZH. With context management, the scores further improve to 55.3% and 52.9%, respectively, significantly outperforming same-scale (4B) agents and even matching the performance of larger ones (approximately 30B). These results demonstrate the effectiveness of answer-backtracked step-level credit assignment for training long-horizon search agents.

We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or adapting these models to produce policies or low-level actions, we advocate for a generative scheme, which uses these models to automatically generate diversified tasks, scenes, and training supervisions, thereby scaling up robotic skill learning with minimal human supervision. Our approach equips a robotic agent with a self-guided propose-generate-learn cycle: the agent first proposes interesting tasks and skills to develop, and then generates corresponding simulation environments by populating pertinent objects and assets with proper spatial configurations. Afterwards, the agent decomposes the proposed high-level task into sub-tasks, selects the optimal learning approach (reinforcement learning, motion planning, or trajectory optimization), generates required training supervision, and then learns policies to acquire the proposed skill. Our work attempts to extract the extensive and versatile knowledge embedded in large-scale models and transfer them to the field of robotics. Our fully generative pipeline can be queried repeatedly, producing an endless stream of skill demonstrations associated with diverse tasks and environments.

Vision-language models (VLMs) excel at multimodal understanding, yet their text-only decoding forces them to verbalize visual reasoning, limiting performance on tasks that demand visual imagination. Recent attempts train VLMs to render explicit images, but the heavy image-generation pre-training often hinders the reasoning ability. Inspired by the way humans reason with mental imagery-the internal construction and manipulation of visual cues-we investigate whether VLMs can reason through interleaved multimodal trajectories without producing explicit images. To this end, we present a Machine Mental Imagery framework, dubbed as Mirage, which augments VLM decoding with latent visual tokens alongside ordinary text. Concretely, whenever the model chooses to ``think visually'', it recasts its hidden states as next tokens, thereby continuing a multimodal trajectory without generating pixel-level images. Begin by supervising the latent tokens through distillation from ground-truth image embeddings, we then switch to text-only supervision to make the latent trajectory align tightly with the task objective. A subsequent reinforcement learning stage further enhances the multimodal reasoning capability. Experiments on diverse benchmarks demonstrate that Mirage unlocks stronger multimodal reasoning without explicit image generation.

On-policy distillation (OPD) trains a student policy by matching a stronger teacher on the student's own trajectories, offering a promising framework for language agent training. However, its application to long-horizon agentic tasks remains insufficiently explored. We identify two key inefficiencies in vanilla agent OPD: (1) full-horizon rollouts often waste wall-clock resources on tail turns that provide weak and noisy KL supervision, and (2) trajectory-level KL objectives concentrate most of the loss on shallow tokens, leaving deeper decision turns under-trained once initial behaviors are aligned. To address these challenges, we propose TurnOPD, a turn-level budgeting strategy for efficient on-policy distillation of long-horizon agents. TurnOPD consists of two budget controllers: adaptive rollout-depth budgeting, which uses probe-based turn statistics to determine rollout length, and progressive turn-normalized loss budgeting, which gradually shifts KL weighting from token-level to turn-balanced supervision. Experiments on ALFWorld, WebShop, and Multi-Hop Search with task-specialized teacher models show that TurnOPD achieves superior validation accuracy under equal wall-clock training budgets and advances the accuracy--time frontier beyond vanilla OPD.

On-Policy distillation (OPD) in large language models is shifting from full-trace KL supervision toward more selective training paradigms. Recent OPD methods increasingly focus on selecting which trajectories to learn from, which tokens are most informative, and which supervision signals are most reliable. Motivated by this trend, we rethink optimization granularity of OPD and propose \fireicon\ FiRe-OPD (Filter, then Reweight), which jointly adjusts supervision signals at both trajectory and token levels. In details, FiRe-OPD first filters trajectories to remove low-quality rollout samples, and then applies soft reweighting within the retained trajectories to emphasize informative tokens. Compared with hard token selection, FiRe-OPD leverages a soft-weighting mechanism to effectively mitigate information loss and enhance optimization stability, thereby achieving finer-grained OPD optimization. We validate the effectiveness of FiRe-OPD across strong-to-weak, single-teacher, and multi-teacher settings, and demonstrate its superiority over recent token-level OPD methods ( (e.g., +6.25 on AIME 2024 in strong-to-weak, +18.81 on Miner in multi-teacher). Our code is available at https://github.com/YuYingLi0/FiRe-OPD.

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack explicit step-by-step reasoning, instead emitting final actions without considering affordance constraints or geometric relations. Their post-training pipelines also rarely reinforce reasoning quality, relying primarily on supervised fine-tuning with weak reward design. To address these challenges, we present VLA-R1, a reasoning-enhanced VLA that integrates Reinforcement Learning from Verifiable Rewards (RLVR) with Group Relative Policy Optimization (GRPO) to systematically optimize both reasoning and execution. Specifically, we design an RLVR-based post-training strategy with verifiable rewards for region alignment, trajectory consistency, and output formatting, thereby strengthening reasoning robustness and execution accuracy. Moreover, we develop VLA-CoT-13K, a high-quality dataset that provides chain-of-thought supervision explicitly aligned with affordance and trajectory annotations. Furthermore, extensive evaluations on in-domain, out-of-domain, simulation, and real-robot platforms demonstrate that VLA-R1 achieves superior generalization and real-world performance compared to prior VLA methods. We plan to release the model, code, and dataset following the publication of this work. Code: https://github.com/GigaAI-research/VLA-R1. Website: https://gigaai-research.github.io/VLA-R1.

Executable software engineering data is valuable for training SWE agents, but scaling it remains difficult for two reasons: only a small fraction of real repository changes yield verifiable, high-signal task instances, and naively building repository-specific environments quickly becomes the dominant systems cost. We present SWE-Next, an execution-grounded framework for scalable SWE task and trajectory collection. On the data side, SWE-Next mines real merged pull requests, executes candidate base/merged commit pairs, and retains only those that produce strict test improvements without regressions, yielding self-verifying instances. It also applies strict submission gating so that collected trajectories remain evidence-driven rather than speculative. On the systems side, SWE-Next introduces reusable repo-quarter profiles, which reuse the same environment across nearby commits in time while keeping each task run separate and reproducible. Using only 30 hours and 639GB of environment storage, SWE-Next processes 3,971 seed repositories and 102,582 candidate commit pairs mined from real merged PRs to construct a dataset of 2,308 self-verifying instances. Experiments show that SWE-Next improves downstream pass@1 with fewer or comparable training trajectories, indicating that its gains come not from a stronger trajectory generator, but from higher-signal execution-grounded supervision and more efficient data collection.

Visual tool use has emerged as a fundamental capability for multimodal agents to actively acquire evidence beyond a fixed image encoding. The prevailing recipe learns this capability from teacher-generated trajectories filtered for answer correctness, implicitly assuming that every successful demonstration provides effective supervision. We argue this assumption is flawed: a strong teacher often reaches the correct answer without needing its tool calls, and imitating such trajectories teaches a student that tool calls accompany correct answers, not that tool observations ground them. We present OpenVisTool, an open framework for constructing instructive visual tool-use trajectories that provide effective supervision for tool learning. The key insight is that a trajectory should be retained only if its answer is correct (outcome validity) and its tool observations causally contribute to that answer (causal utility). The framework operates in three stages: difficulty screening to select queries that are not reliably answerable without tools, domain-specific trajectory synthesis to elicit coherent tool-use trajectories, and supervision verification to jointly test both conditions. Rather than encouraging models to imitate tool calls, the resulting supervision teaches when and how visual evidence should be acquired. Using this framework, we construct OpenVisTool-42K, a dataset spanning five visual reasoning domains, together with OpenVisTool-Bench, a benchmark covering the same domains. Across four backbones (4B-27B), fine-tuning on OpenVisTool-42K consistently improves visual tool-use performance and yields gains on two out-of-distribution benchmarks; the larger models approach leading closed-source systems. The evidence suggests that effective visual tool use is learned from causally grounded supervision rather than tool-calling patterns.

Referring segmentation aims to segment the target objects in images or videos based on the textual query. Despite remarkable progress over the past years, existing works always assume that the user-provided queries are already precise and clear. However, this assumption is impractical. In real-world scenarios, it is unrealistic to expect all users to thoroughly review their visual content and carefully ensure their queries are unique and unambiguous. When encountering such cases, existing segmentation models tend to arbitrarily guess the user preferences, often resulting in undesired outcomes. To address this limitation, we propose IC-Seg, a novel agentic framework that proactively clarifies user intent through multi-turn conversation before segmentation. To effectively incentivize this capability, we further introduce Hi-GRPO, a new hierarchical optimization strategy that injects dense and informative supervision signals at the trajectory, turn, and step levels. This strategy encourages efficient intent clarification, effectively eliminating redundant interactions and improving overall dialogue quality. For evaluation, we establish Ambi-RVOS, a referring video object segmentation benchmark with ambiguous user queries. Extensive experiments demonstrate that IC-Seg not only outperforms existing methods by a large margin in resolving ambiguous queries, but also maintains state-of-the-art performance on standard reasoning segmentation benchmarks. Code and data will be released at https://github.com/iSEE-Laboratory/IC-Seg.

End-to-end driving requires a coherent understanding of future scenes, yet existing methods model these scenes using task-specific heads and output formats, with limited scalability. Can video generation instead provide a shared predictor? We introduce SUV, a unified end-to-end driving framework that casts future Scene Understanding as Video generation using a pretrained video foundation model. SUV models future appearance, semantics, relative depth, and instance-level dynamics as video streams with a shared video expert, without stream-specific visual prediction heads. Through joint video-action attention, the action expert attends to the latent representations of all future streams and generates the ego trajectory. Experiments show that SUV directly predicts all four future streams, while controlled ablations show that structured future supervision and direct future-stream access yield higher trajectory planning scores. With only a single front camera and no candidate-trajectory selection, SUV outperforms a broad set of recent state-of-the-art methods on both NAVSIM-v2 splits, achieving 91.0 EPDMS on navtest and 36.9 on navhard. On the long-tail WOD-E2E benchmark, SUV achieves a competitive RFS of 7.94.

Vision-Language-Action (VLA) models excel at end-to-end robotic manipulation but struggle with out-of-distribution (OOD) generalization when familiar sub-tasks are recombined in unseen configurations. We identify two mutually reinforcing failure modes: trajectory overfitting, where models overfit to holistic trajectory patterns rather than compositional sub-skill semantics; and perceptual shortcut, where action tokens over-rely on wrist-view textures at the expense of global spatial grounding. To address both, we introduce AC-VLA, a plug-and-play Action Compositional learning framework comprising two architecture-agnostic components: (i) a compositional learning module that uses an LLM-driven instruction decomposer and a proprioceptive trajectory aligner to generate dense sub-task supervision, followed by mixed training on complete demonstrations and decomposed data to endow the model with compositional generalization; and (ii) a state-conditioned asymmetric masking strategy that suppresses wrist-view inputs during closed-gripper phases, enforcing global semantic grounding. All components are architectural modification-free and directly integrable into any VLA backbone. Instantiated on π_{0.5} and evaluated on LIBERO and LIBERO-OOD benchmarks, AC-VLA achieves a ~28% absolute improvement on compositional OOD tasks while maintaining near-perfect in-distribution performance.

Real-world image super-resolution (Real-SR) has been revolutionized by leveraging the powerful generative priors of large-scale diffusion and flow-based models. However, fine-tuning these models on limited LR-HR pairs often precipitates "prior collapse" that the model sacrifices its inherent generative richness to overfit specific training degradations. This issue is further exacerbated in one-step generation, where the absence of multi-step refinement leads to significant trajectory drift and artifact generation. In this paper, we propose Allo{SR}^2, a novel framework that rectifies one-step SR trajectories via allomorphic generative flows to maintain high-fidelity generative realism. Specifically, we utilize Signal-to-Noise Ratio (SNR) Guided Trajectory Initialization to establish a physically grounded starting state by aligning the degradation level of LR latent features with the optimal anchoring timestep of the pre-trained flow. To ensure a stable, curvature-free path for one-step inference, we propose Flow-Anchored Trajectory Consistency (FATC), which enforces velocity-level supervision across intermediate states. Furthermore, we develop Allomorphic Trajectory Matching (ATM), a self-adversarial alignment strategy that minimizes the distributional discrepancy between the SR flow and the generative flow in a unified vector field. Extensive experiments on both synthetic and real-world benchmarks demonstrate that Allo{SR}^2 achieves state-of-the-art performance in one-step Real-SR, offering a superior balance between restoration fidelity and generative realism while maintaining extreme efficiency.

Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-to-end provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that map raw image observations directly to torques at the robot's motors. The policies are represented by deep convolutional neural networks (CNNs) with 92,000 parameters, and are trained using a partially observed guided policy search method, which transforms policy search into supervised learning, with supervision provided by a simple trajectory-centric reinforcement learning method. We evaluate our method on a range of real-world manipulation tasks that require close coordination between vision and control, such as screwing a cap onto a bottle, and present simulated comparisons to a range of prior policy search methods.

High-quality and carefully curated data is a cornerstone of training medical large language models, as it directly impacts both generalization and robustness to unseen clinical tasks. We investigate strategies for training and data curation to develop a robust multimodal reasoning model in the medical domain. Our work focuses on supervised fine-tuning (SFT) and explores data recipes that leverage structured reasoning traces. Using our proposed data recipe, we scale experiments to a dataset of over 8 million examples and 6.8 billion response tokens, achieving state-of-the-art performance among open-source models across diverse out-of-distribution medical benchmark tasks. Our results further indicate that curating a high-quality, diverse training dataset with varying structured reasoning trace lengths enables the fine-tuned model to self-calibrate its reasoning trajectory lengths based on the downstream task, without explicit supervision. We present key insights, describe the data curation strategy, and outline next steps toward developing robust medical vision-language reasoning system.

Expert-level scientific reasoning remains challenging for large language models, particularly on benchmarks such as Humanity's Last Exam (HLE), where rigid tool pipelines, brittle multi-agent coordination, and inefficient test-time scaling often limit performance. We introduce ReThinker, a confidence-aware agentic framework that orchestrates retrieval, tool use, and multi-agent reasoning through a stage-wise Solver-Critic-Selector architecture. Rather than following a fixed pipeline, ReThinker dynamically allocates computation based on model confidence, enabling adaptive tool invocation, guided multi-dimensional reflection, and robust confidence-weighted selection. To support scalable training without human annotation, we further propose a reverse data synthesis pipeline and an adaptive trajectory recycling strategy that transform successful reasoning traces into high-quality supervision. Experiments on HLE, GAIA, and XBench demonstrate that ReThinker consistently outperforms state-of-the-art foundation models with tools and existing deep research systems, achieving state-of-the-art results on expert-level reasoning tasks.

Safety hazards in the home are a leading cause of preventable domestic injuries, motivating an automated inspector that actively explores a home and reports hazards before they cause harm. We introduce HomeSafeBench, the first benchmark for free-exploration home safety inspection with egocentric visual feedback, in which an embodied agent navigates a fully interactive 3D home, adjusts its viewpoint, and reports hazards purely from rendered first-person views. Built on the VirtualHome simulator, it covers five categories of common household hazards and comprises 1,000 human-validated inspection tasks. Evaluating a broad range of state-of-the-art Vision-Language Models (VLMs) reveals a large gap, where the best model reaches only about 34.7% F1, far below the 98.0% of a human inspector. Moreover, precision far exceeds recall across models, revealing a systematic tendency to under-report hazards that reflects a shared deficiency in risk recognition. To close this gap at low cost, we propose CueBack, an offline data-construction method that exploits the clue-precedes-confirmation structure of inspection, backtracking a privileged trajectory to the earliest frame where a hazard cue becomes visible and rewriting it into executable supervision. Fine-tuning a 4B-size VLM on CueBack-constructed data raises the average F1 from 18.7% to 45.3% on an out-of-distribution test set, surpassing the strongest closed-source model performance 34.7%. The benchmark, training dataset, and code are available at https://github.com/BITHLP/HomeSafeBench.

Sidewalk micromobility is a promising solution for last-mile transportation, but current learning-based control methods struggle in complex urban environments. Imitation learning (IL) learns policies from human demonstrations, yet its reliance on fixed offline data often leads to compounding errors, limited robustness, and poor generalization. To address these challenges, we propose a framework that advances IL through corrective behavior expansion and multi-scale imitation learning. On the data side, we augment teleoperation datasets with diverse corrective behaviors and sensor augmentations to enable the policy to learn to recover from its own mistakes. On the model side, we introduce a multi-scale IL architecture that captures both short-horizon interactive behaviors and long-horizon goal-directed intentions via horizon-based trajectory clustering and hierarchical supervision. Real-world experiments show that our approach significantly improves robustness and generalization in diverse sidewalk scenarios.

Recent advances in embodied AI highlight the potential of vision language models (VLMs) as agents capable of perception, reasoning, and interaction in complex environments. However, top-performing systems rely on large-scale models that are costly to deploy, while smaller VLMs lack the necessary knowledge and skills to succeed. To bridge this gap, we present Embodied Reasoning Agent (ERA), a two-stage framework that integrates prior knowledge learning and online reinforcement learning (RL). The first stage, Embodied Prior Learning, distills foundational knowledge from three types of data: (1) Trajectory-Augmented Priors, which enrich existing trajectory data with structured reasoning generated by stronger models; (2) Environment-Anchored Priors, which provide in-environment knowledge and grounding supervision; and (3) External Knowledge Priors, which transfer general knowledge from out-of-environment datasets. In the second stage, we develop an online RL pipeline that builds on these priors to further enhance agent performance. To overcome the inherent challenges in agent RL, including long horizons, sparse rewards, and training instability, we introduce three key designs: self-summarization for context management, dense reward shaping, and turn-level policy optimization. Extensive experiments on both high-level planning (EB-ALFRED) and low-level control (EB-Manipulation) tasks demonstrate that ERA-3B surpasses both prompting-based large models and previous training-based baselines. Specifically, it achieves overall improvements of 8.4\% on EB-ALFRED and 19.4\% on EB-Manipulation over GPT-4o, and exhibits strong generalization to unseen tasks. Overall, ERA offers a practical path toward scalable embodied intelligence, providing methodological insights for future embodied AI systems.