Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

FlowDirector: Training-Free Flow Steering for Precise Text-to-Video Editing

Text-driven video editing aims to modify video content according to natural language instructions. While recent training-free approaches have made progress by leveraging pre-trained diffusion models, they typically rely on inversion-based techniques that map input videos into the latent space, which often leads to temporal inconsistencies and degraded structural fidelity. To address this, we propose FlowDirector, a novel inversion-free video editing framework. Our framework models the editing process as a direct evolution in data space, guiding the video via an Ordinary Differential Equation (ODE) to smoothly transition along its inherent spatiotemporal manifold, thereby preserving temporal coherence and structural details. To achieve localized and controllable edits, we introduce an attention-guided masking mechanism that modulates the ODE velocity field, preserving non-target regions both spatially and temporally. Furthermore, to address incomplete edits and enhance semantic alignment with editing instructions, we present a guidance-enhanced editing strategy inspired by Classifier-Free Guidance, which leverages differential signals between multiple candidate flows to steer the editing trajectory toward stronger semantic alignment without compromising structural consistency. Extensive experiments across benchmarks demonstrate that FlowDirector achieves state-of-the-art performance in instruction adherence, temporal consistency, and background preservation, establishing a new paradigm for efficient and coherent video editing without inversion.

RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics

Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained vision language models (VLMs), recent approaches are still not qualified to accurately understand the complex 3D scenes and dynamically reason about the instruction-indicated locations for interaction. To this end, we propose RoboRefer, a 3D-aware VLM that can first achieve precise spatial understanding by integrating a disentangled but dedicated depth encoder via supervised fine-tuning (SFT). Moreover, RoboRefer advances generalized multi-step spatial reasoning via reinforcement fine-tuning (RFT), with metric-sensitive process reward functions tailored for spatial referring tasks. To support SFT and RFT training, we introduce RefSpatial, a large-scale dataset of 20M QA pairs (2x prior), covering 31 spatial relations (vs. 15 prior) and supporting complex reasoning processes (up to 5 steps). In addition, we introduce RefSpatial-Bench, a challenging benchmark filling the gap in evaluating spatial referring with multi-step reasoning. Experiments show that SFT-trained RoboRefer achieves state-of-the-art spatial understanding, with an average success rate of 89.6%. RFT-trained RoboRefer further outperforms all other baselines by a large margin, even surpassing Gemini-2.5-Pro by 17.4% in average accuracy on RefSpatial-Bench. Notably, RoboRefer can be integrated with various control policies to execute long-horizon, dynamic tasks across diverse robots (e,g., UR5, G1 humanoid) in cluttered real-world scenes.

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to acquire bimanual policies. However, transferring knowledge from single-arm datasets or pre-trained VLA models often fails to generalize effectively, primarily due to the scarcity of bimanual data and the fundamental differences between single-arm and bimanual manipulation. In this paper, we propose a novel bimanual foundation policy by fine-tuning the leading text-to-video models to predict robot trajectories and training a lightweight diffusion policy for action generation. Given the lack of embodied knowledge in text-to-video models, we introduce a two-stage paradigm that fine-tunes independent text-to-flow and flow-to-video models derived from a pre-trained text-to-video model. Specifically, optical flow serves as an intermediate variable, providing a concise representation of subtle movements between images. The text-to-flow model predicts optical flow to concretize the intent of language instructions, and the flow-to-video model leverages this flow for fine-grained video prediction. Our method mitigates the ambiguity of language in single-stage text-to-video prediction and significantly reduces the robot-data requirement by avoiding direct use of low-level actions. In experiments, we collect high-quality manipulation data for real dual-arm robot, and the results of simulation and real-world experiments demonstrate the effectiveness of our method.

ViStoryBench: Comprehensive Benchmark Suite for Story Visualization

Story visualization, which aims to generate a sequence of visually coherent images aligning with a given narrative and reference images, has seen significant progress with recent advancements in generative models. To further enhance the performance of story visualization frameworks in real-world scenarios, we introduce a comprehensive evaluation benchmark, ViStoryBench. We collect a diverse dataset encompassing various story types and artistic styles, ensuring models are evaluated across multiple dimensions such as different plots (e.g., comedy, horror) and visual aesthetics (e.g., anime, 3D renderings). ViStoryBench is carefully curated to balance narrative structures and visual elements, featuring stories with single and multiple protagonists to test models' ability to maintain character consistency. Additionally, it includes complex plots and intricate world-building to challenge models in generating accurate visuals. To ensure comprehensive comparisons, our benchmark incorporates a wide range of evaluation metrics assessing critical aspects. This structured and multifaceted framework enables researchers to thoroughly identify both the strengths and weaknesses of different models, fostering targeted improvements.

SynLogic: Synthesizing Verifiable Reasoning Data at Scale for Learning Logical Reasoning and Beyond

Recent advances such as OpenAI-o1 and DeepSeek R1 have demonstrated the potential of Reinforcement Learning (RL) to enhance reasoning abilities in Large Language Models (LLMs). While open-source replication efforts have primarily focused on mathematical and coding domains, methods and resources for developing general reasoning capabilities remain underexplored. This gap is partly due to the challenge of collecting diverse and verifiable reasoning data suitable for RL. We hypothesize that logical reasoning is critical for developing general reasoning capabilities, as logic forms a fundamental building block of reasoning. In this work, we present SynLogic, a data synthesis framework and dataset that generates diverse logical reasoning data at scale, encompassing 35 diverse logical reasoning tasks. The SynLogic approach enables controlled synthesis of data with adjustable difficulty and quantity. Importantly, all examples can be verified by simple rules, making them ideally suited for RL with verifiable rewards. In our experiments, we validate the effectiveness of RL training on the SynLogic dataset based on 7B and 32B models. SynLogic leads to state-of-the-art logical reasoning performance among open-source datasets, surpassing DeepSeek-R1-Distill-Qwen-32B by 6 points on BBEH. Furthermore, mixing SynLogic data with mathematical and coding tasks improves the training efficiency of these domains and significantly enhances reasoning generalization. Notably, our mixed training model outperforms DeepSeek-R1-Zero-Qwen-32B across multiple benchmarks. These findings position SynLogic as a valuable resource for advancing the broader reasoning capabilities of LLMs. We open-source both the data synthesis pipeline and the SynLogic dataset at https://github.com/MiniMax-AI/SynLogic.

Pessimism Principle Can Be Effective: Towards a Framework for Zero-Shot Transfer Reinforcement Learning

Transfer reinforcement learning aims to derive a near-optimal policy for a target environment with limited data by leveraging abundant data from related source domains. However, it faces two key challenges: the lack of performance guarantees for the transferred policy, which can lead to undesired actions, and the risk of negative transfer when multiple source domains are involved. We propose a novel framework based on the pessimism principle, which constructs and optimizes a conservative estimation of the target domain's performance. Our framework effectively addresses the two challenges by providing an optimized lower bound on target performance, ensuring safe and reliable decisions, and by exhibiting monotonic improvement with respect to the quality of the source domains, thereby avoiding negative transfer. We construct two types of conservative estimations, rigorously characterize their effectiveness, and develop efficient distributed algorithms with convergence guarantees. Our framework provides a theoretically sound and practically robust solution for transfer learning in reinforcement learning.

Erased or Dormant? Rethinking Concept Erasure Through Reversibility

To what extent does concept erasure eliminate generative capacity in diffusion models? While prior evaluations have primarily focused on measuring concept suppression under specific textual prompts, we explore a complementary and fundamental question: do current concept erasure techniques genuinely remove the ability to generate targeted concepts, or do they merely achieve superficial, prompt-specific suppression? We systematically evaluate the robustness and reversibility of two representative concept erasure methods, Unified Concept Editing and Erased Stable Diffusion, by probing their ability to eliminate targeted generative behaviors in text-to-image models. These methods attempt to suppress undesired semantic concepts by modifying internal model parameters, either through targeted attention edits or model-level fine-tuning strategies. To rigorously assess whether these techniques truly erase generative capacity, we propose an instance-level evaluation strategy that employs lightweight fine-tuning to explicitly test the reactivation potential of erased concepts. Through quantitative metrics and qualitative analyses, we show that erased concepts often reemerge with substantial visual fidelity after minimal adaptation, indicating that current methods suppress latent generative representations without fully eliminating them. Our findings reveal critical limitations in existing concept erasure approaches and highlight the need for deeper, representation-level interventions and more rigorous evaluation standards to ensure genuine, irreversible removal of concepts from generative models.

Rethink the Role of Deep Learning towards Large-scale Quantum Systems

Characterizing the ground state properties of quantum systems is fundamental to capturing their behavior but computationally challenging. Recent advances in AI have introduced novel approaches, with diverse machine learning (ML) and deep learning (DL) models proposed for this purpose. However, the necessity and specific role of DL models in these tasks remain unclear, as prior studies often employ varied or impractical quantum resources to construct datasets, resulting in unfair comparisons. To address this, we systematically benchmark DL models against traditional ML approaches across three families of Hamiltonian, scaling up to 127 qubits in three crucial ground-state learning tasks while enforcing equivalent quantum resource usage. Our results reveal that ML models often achieve performance comparable to or even exceeding that of DL approaches across all tasks. Furthermore, a randomization test demonstrates that measurement input features have minimal impact on DL models' prediction performance. These findings challenge the necessity of current DL models in many quantum system learning scenarios and provide valuable insights into their effective utilization.

A Finite-Sample Analysis of Distributionally Robust Average-Reward Reinforcement Learning

Robust reinforcement learning (RL) under the average-reward criterion is crucial for long-term decision making under potential environment mismatches, yet its finite-sample complexity study remains largely unexplored. Existing works offer algorithms with asymptotic guarantees, but the absence of finite-sample analysis hinders its principled understanding and practical deployment, especially in data-limited settings. We close this gap by proposing Robust Halpern Iteration (RHI), the first algorithm with provable finite-sample complexity guarantee. Under standard uncertainty sets -- including contamination sets and $\ell_p$-norm balls -- RHI attains an $\epsilon$-optimal policy with near-optimal sample complexity of $\tilde{\mathcal O}\left(\frac{SA\mathcal H^{2}}{\epsilon^{2}}\right)$, where $S$ and $A$ denote the numbers of states and actions, and $\mathcal H$ is the robust optimal bias span. This result gives the first polynomial sample complexity guarantee for robust average-reward RL. Moreover, our RHI's independence from prior knowledge distinguishes it from many previous average-reward RL studies. Our work thus constitutes a significant advancement in enhancing the practical applicability of robust average-reward methods to complex, real-world problems.