The paper introduces ORMOT, a new task that extends Referring Multi‑Object Tracking to omnidirectional 360° imagery, ensuring full scene context for language‑guided tracking. It presents ORSet, a dataset of 27 omnidirectional scenes with 848 language descriptions and 3,401 annotated objects, and introduces ORTrack, an LVLM‑driven framework that performs zero‑shot detection and robust cross‑frame association. Experiments on ORSet show that ORTrack achieves state‑of‑the‑art performance, establishing a strong baseline for future research.
By Zihan Zhou, Sijia Chen, Yanqiu Yu, En Yu, Wenbing Tao
CoMAP introduces a framework that jointly evolves textual world models and agent policies through a closed‑loop interaction. At each decision step the world model forecasts future state feedback for candidate actions, while the agent reflects on the reliability of this feedback to refine its action. The resulting on‑policy trajectories are used to self‑distill and update the world model, improving prediction accuracy and long‑horizon decision‑making across embodied planning, web navigation, and tool‑use benchmarks.
By Youwei Liu, Jian Wang, Hanlin Wang, Wenjie Li
The article discusses how current world models, while achieving high predictive likelihood and visual fidelity, often fail to preserve the evidence needed for safe decision-making in embodied systems. It identifies three structural mismatches—likelihood versus risk, prediction versus intervention, and finite-horizon prediction versus accumulated consequences—and proposes the Risk‑Informed World Model (RIWM) as a decision‑centric framework. RIWM emphasizes consequences, intervention, epistemic uncertainty, and recoverability, integrating decision‑relevant representation, counterfactual reasoning, safety‑critical episodic memory, and runtime safety assurance to better support safety‑critical embodied systems.
By Kailang Ma, Heye Huang, Inhi Kim, Kitae Jang
FlexMap is a vectorized high‑definition map construction framework that works with flexible camera configurations without needing calibrated rigs or explicit 2D‑to‑BEV transformations. It replaces geometric projection with a geometry foundation model that encodes cross‑view 3D structure, and uses a spatial‑temporal enhancement module and a camera‑aware decoder to separate spatial reasoning from temporal aggregation. Experiments on nuScenes and Argoverse 2 show that FlexMap outperforms pose‑dependent baselines and remains accurate even when camera views are missing or pose estimates are inaccurate.
By Run Wang, Chaoyi Zhou, Amir Salarpour, Xi Liu, Zhi-Qi Cheng, Feng Luo, Mert D. Pes\'e, Siyu Huang
The paper presents an end‑to‑end JEPA world model that enhances latent prediction with inverse dynamics and state alignment to improve goal‑conditioned robotic planning. By preventing latent collapse and grounding representations in physical configuration, the model achieves top success rates on tasks such as TwoRoom, PushT, and OGBench‑Cube, outperforming the baseline LeWorldModel. Ablation studies confirm that state alignment consistently boosts planning success over inverse dynamics alone across all four benchmark tasks.
By Muyuan Liu (GENISOM AI, Beijing, China), Yue Huang (GENISOM AI, Beijing, China), Zheng Liang (GENISOM AI, Beijing, China), Xiang Gao (GENISOM AI, Beijing, China)
FWBC‑VLA is a force‑aware framework that links vision‑language‑action (VLA) models with whole‑body compensation control for wheeled‑legged robots. It introduces HSR‑Force, a sensorless residual‑torque estimator that infers contact strength and encodes this information as tokens for the VLA action decoder, allowing the policy to detect contact onset, loading, and release. The system fine‑tunes a pretrained VLA backbone on a large WL&Arm dataset, combines proprioceptive, Jacobian‑derived force, and contact estimates to generate corrective actions, and demonstrates effectiveness in real‑world tasks such as whiteboard wiping and door opening.
By Yutian Zhang, Siyuan Ma, Liwen Yang, Yang Li, Ce Hao, Haozhen Chi, Dong We, Qiaojun Yu, Dibo Hou
The paper introduces GEO Defender, a two‑stage defense system designed to protect generative search engines from malicious Generative Engine Optimization (GEO) attacks that rewrite web documents to manipulate generated answers. GEO Defender comprises a Shield Reranker, which learns a defensive residual to demote GEO‑rewritten documents while maintaining relevance, and a Training‑Free Shield Generation component that creates a natural‑language library guiding the target LLM’s source usage during inference. Experiments on both closed‑source and open‑source large language models show that GEO Defender dramatically lowers attack success rates from 50.32% to 6.20%, preserves over 94% of benign evidence usage, and maintains answer quality while generalizing to unseen attacks.
By Haozhang Li, Yangguang Shao, Xinjie Lin, Zhong Guan, Mi Zhou, Junzheng Shi
The paper introduces a low‑cost, open experimental platform for end‑to‑end autonomous driving on miniature Ackermann vehicles, combining a physical car, printed track, data collection tools, trajectory registration, and a Webots digital twin. It implements command‑conditioned behavior cloning, achieving a mean cross‑track error of 6.1 cm on the real vehicle and demonstrating the impact of camera field of view in simulation. Using synthetic data from the digital twin and a sim‑to‑real image translator, a higher‑capacity policy trained on both synthetic and real data completes all four track routes, outperforming the baseline trained only on real data.
By Gustavo Claudio Karl Couto, Eric Aislan Antonelo, Gabriel George Zipperer
The paper introduces the Temperature Scaling Attack (TSA), a training‑time method that degrades model confidence calibration while keeping predictive accuracy largely intact. TSA injects temperature scaling with a learning‑rate coupling during local federated training, shifting confidence scores and causing significant calibration errors (e.g., a 145% increase on CIFAR‑100) with less than a 2% drop in accuracy. The authors provide a convergence analysis for non‑IID settings and demonstrate TSA’s effectiveness across three benchmarks, robust aggregation, and post‑hoc calibration defenses, highlighting its impact on mission‑critical systems such as healthcare verification and autonomous driving.
By Kichang Lee, Jaeho Jin, JaeYeon Park, Songkuk Kim, JeongGil Ko
RoboTok is an internet‑scale data engine that retrieves human manipulation videos from the web to train dexterous robot policies. It learns a latent motion space from 3D hand trajectories in actor‑centered reference frames, allowing manipulation behaviors to be compared across different viewpoints, scenes, and occlusions while remaining compact for efficient search. Experiments show RoboTok retrieves more relevant demonstrations and improves downstream robot task success compared to existing retrieval methods.
By Howard Qian, Yiting Chen, Yunfei Xie, Kejia Ren, Podshara Chanrungmaneekul, Gaotian Wang, Bowen Wen, Chen Wei, Kaiyu Hang
DropClick is a click‑guided segmentation tool designed to ease the annotation of agricultural vision datasets. It uses single‑click inputs to generate pseudo‑labels, reducing the need for a click on every object and achieving high mIoU scores on SB20 and BUP20 datasets. The method also serves as a pseudo‑labelling approach that can train a Mask2Former model with significantly less user input while maintaining performance.
By Patrick Zimmer, Michael Halstead, Chris McCool
The paper introduces a low‑cost, open experimental platform for end‑to‑end autonomous driving on miniature Ackermann vehicles. It combines a physical vehicle, a printed urban track, data collection tools, trajectory registration, and a Webots digital twin to link simulation and real‑world experiments. Using command‑conditioned behavior cloning, the authors demonstrate that a neural policy can follow lanes with a mean cross‑track error of 6.1 cm, and that synthetic data plus a sim‑to‑real image translator improves performance on all track routes.
The paper introduces set difference captioning for autonomous driving datasets, aiming to generate natural‑language descriptions of differences between two image subsets. It adapts a two‑stage approach to focus on object‑centric patches, enabling attribution of differences to specific objects or categories. A new benchmark, AD‑Diff Bench, is presented to evaluate this method, especially for sparse, real‑world differences, and the authors provide open‑weight models and code for reproducibility.
SV-WAM is a surround‑view world‑action model that keeps all six camera views for autonomous driving while enabling efficient inference by discarding the video branch during deployment. It uses future‑video prediction as dense training supervision and introduces an action‑centered causal mask to prevent future‑video tokens from influencing action tokens during joint denoising. A differentiable drivable‑area compliance regularizer further improves safety by penalizing vehicle‑footprint corners that approach or cross drivable boundaries. Experiments on NAVSIMv2 and nuScenes show state‑of‑the‑art planning performance with low latency and strong zero‑shot transfer.
The paper presents an end‑to‑end JEPA world model that enhances latent prediction with inverse dynamics and state alignment to better support goal‑conditioned robotic planning. By incorporating inverse dynamics, the model prevents latent collapse and encodes action information, while state alignment ties consecutive latent states to their physical configurations and motions. Experiments on four benchmark tasks show the model achieves top success rates on TwoRoom, PushT, and OGBench‑Cube, and its state alignment consistently improves planning performance over inverse dynamics alone.
The paper presents BRIDGE, an open‑source 88 cm tall humanoid robot designed through a data‑driven morphology‑control co‑design framework that aligns robot shape with human‑like movement. It introduces a new metric combining kinematic retargeting fidelity and dynamic tracking performance to evaluate morphological fidelity, achieving state‑of‑the‑art results against baseline humanoids. The released platform, along with its control policy, demonstrates superior human motion capture, robust balance, and dynamic maneuvers, with supporting videos and code available online.
DailyBench is a unified benchmark designed to evaluate AI-generated image detectors on both modern full-image synthesis and object-level manipulation. It comprises two subsets: FakeBench, featuring high‑quality images from recent open‑source and commercial generative models, and ManipulationBench, containing subtle local edits applied to real images using advanced image‑conditional models. Experiments show that detectors with high accuracy on older datasets perform poorly on DailyBench, revealing significant robustness gaps.
By Xin Jiang, Hao Tang, Junyao Gao, Meiqi Cao, Fei Shen, Dongming Zhang, Yongdong Zhang
The paper introduces Spatially Aware World Action Model (SA‑WAM), a diffusion‑based framework that extends existing World Action Models by incorporating depth information alongside RGB to enable 3‑D‑aware action and future‑state prediction. SA‑WAM repurposes a pretrained video diffusion model, using a nonlinear encoding to map unbounded depth into the tokenizer’s bounded domain, thus preserving pretrained visual priors without 3‑D‑specific fine‑tuning. The model achieves state‑of‑the‑art performance on RoboCasa and LIBERO‑Plus benchmarks and demonstrates superior real‑world performance on a UR5 robotic arm in randomized environments, while also providing analysis linking world‑model prediction quality to rollout success.
By Javier Alejandro Lopetegui Gonzalez, Paul Pacaud, Cordelia Schmid
The article proposes a foundational ontology, Activity Theory-based foundational ontology (ATFOt), to formally represent contradictions in dialogue-based human‑robot interactions. Using METHONTOLOGY and Activity Theory, the authors provide natural language, set‑theoretic, and first‑order logic definitions of dialogues and contradictions, and introduce three novel principles for guiding human‑robot dialogue. The work aims to create an interoperable framework applicable across HRI and human‑agent interaction domains.
By Maitreyee Tewari, Michele Persiani
VIPS is a benchmark for vehicle‑to‑infrastructure cooperative autonomous driving that uses pseudo‑simulation to combine vehicle and infrastructure observations, enabling scalable yet realistic evaluation of robustness and error propagation without full simulation. The paper also introduces CoS‑V2X, a cooperative planning framework that employs sparse representations to model vehicle‑infrastructure interactions efficiently and robustly under heterogeneous observations.
By Hoonhee Cho, Jae-Young Kang, Giwon Lee, Hyemin Yang, Heejun Park, Kuk-Jin Yoon