Token-Based Affordance Grounding with Large Vision-Language Models

Affordance grounding aims to localize image regions that support a specific action, serving as a core capability for physical intelligence and embodied perception. Previous studies have primarily relied on weakly supervised learning with action labels from exocentric images. However, these methods often struggle with visually ambiguous exocentric images containing co-occurring actions; moreover, they fail to distinguish semantically similar actions because existing methods typically rely on brief action phrases that lack rich semantic details for action-specific localization. Although large vision-language models (LVLMs) encode rich action semantics and their action-conditioned textual outputs implicitly contain spatial cues, they do not directly provide action-specific spatial localization. To address these problems, we propose TokAG, a zero-shot affordance grounding framework that exploits the token-level semantic-spatial signals in LVLMs to localize action-relevant regions without external supervision. We observe that attention maps associated with different LVLM output tokens vary significantly, with many attending to irrelevant regions such as the background. Thus, we introduce a spatial-aware token-selection mechanism to systematically evaluate each output token and select the one whose attention maps exhibit dominant activation over the target object, instead of relying on arbitrary attention maps. By extracting these object-focused attention maps, we transform the LVLM's implicit semantic signals into zero-shot affordance heatmaps. Our zero-shot framework consistently outperforms prior weakly supervised approaches across multiple benchmarks, improving NSS by 10.7% on the unseen split of AGD20K and by 29.7% on HICO-IIF. The code and models will be made publicly available.

CraBERT: Efficient Phoneme Encoder Pre-Training via Cascade Fusion of Subword Representations for Text-to-Speech

This paper introduces CraBERT, a pre-trained phoneme encoder (PPEnc) designed for efficient pre-training in text-to-speech (TTS). CraBERT employs a cascade-fusion architecture and a subword-phoneme alignment algorithm to integrate representations from a pre-trained subword-level BERT into a phoneme-level BERT. This design provides prior word- and sentence-level information, reducing the amount of pre-training required by the phoneme encoder. Subjective listening evaluations show that CraBERT achieves MOS values comparable to existing PPEncs after approximately one epoch of pre-training, whereas the baselines in our comparison are pre-trained for approximately ten epochs. These results demonstrate that CraBERT can efficiently learn representations suitable for improving the perceived naturalness and prosody of synthesized speech.

MusaCoder: Native GPU Kernel Generation with Full-Stack Training on Moore Threads GPU

Native GPU kernel generation turns high-level tensor programs into executable, efficient low-level code. Existing Large Language Models (LLMs) struggle with this task, while execution-based reinforcement learning suffers from sparse rewards, reward hacking, and training instability. We present MusaCoder, a full-stack training framework for native GPU kernel generation on CUDA and MUSA backends. MusaCoder combines progressive kernel-oriented data synthesis, diversity-preserving rejection fine-tuning, and execution-feedback Reinforcement Learning (RL) through MooreEval, a distributed verifier and reward environment. To stabilize RL, MusaCoder introduces PrimeEcho for first-turn-anchored multi-turn rewards, Buffered Dynamic Retry for recovering signals from all-failed hard samples, and MirrorPop for off-policy sequence filtering. Experiments on KernelBench and a MUSA-ported variant show that MusaCoder outperforms strong open-source and proprietary baselines in both correctness and empirical speedup, with the 9B model matching or exceeding frontier closed-source models and the 27B model establishing a new state of the art. These results demonstrate not only the effectiveness of full-stack execution-feedback training for native kernel generation, but also the capability of Moore Threads GPUs to support the complete LLM post-training stack, providing a practical foundation for large-model training and optimization on emerging accelerators.

Cosmos 3: Omnimodal World Models for Physical AI

We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 https://openmdw.ai/license/1-1/ License at https://github.com/nvidia/cosmos}{github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3 . The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3 .

AutoMedBench: Towards Medical AutoResearch with Agentic AI Models

Autonomous agents are increasingly expected to support end-to-end medical-AI research workflows, moving beyond isolated prediction tasks or short-form clinical question answering. However, existing medical agent benchmarks primarily evaluate final outputs, providing limited visibility into agent behavior within the research process. To address this gap, we present AutoMedBench, a workflow-aware benchmark for autonomous medical-AI research across diverse medical imaging and multimodal inference tasks, organizing agent execution into a unified five-stage workflow (S1-S5): Plan, Setup, Validate, Inference, and Submit. It comprises long-horizon tasks with each run averaging 33 agent turns, spanning five research tracks: segmentation, image enhancement, visual question answering (VQA), report generation, and lesion detection. Each task is evaluated under two difficulty tiers, Lite and Standard, which use the same data and metrics but differ in the amount of task-brief scaffolding, and each run is scored using both final task performance and S1-S5 stage scores, enabling stage-level analysis from the initial task brief to the final submitted artifact. Across thousands of recorded runs, stage-level scoring reveals that Validate is the weakest workflow stage on average, whereas Setup is the strongest, suggesting that current agents are better at making pipelines executable than at verifying their reliability. Post-run error analysis further shows that verification and submission failures dominate tagged errors, accounting for 37.7% and 38.1% of fired codes respectively, whereas task-understanding errors are rare at 0.9%, and runs with one fired error code have a 48% lower overall score than runs with no error code on average.

CmIVTP: Cross-modal Interaction-based Vessel Trajectory Prediction for Maritime Intelligence

Maritime intelligent transportation systems (MITS) are essential for ensuring navigation safety and efficiency in busy waterways. However, accurate vessel trajectory prediction remains challenging due to the limitations of single-source data. Automatic identification system (AIS) data is often sparse or unavailable for small vessels, while closed-circuit television (CCTV) data alone cannot fully capture dynamic vessel behavior. To mitigate these challenges, we propose a cross-modal interaction-based vessel trajectory prediction (named CmIVTP) framework to model the intricate interactions between vessel dynamics and environmental constraints. Specifically, we introduce a target-aware scene encoder to extract scene semantic features, effectively capturing vessel-environment interactions and enhancing trajectory prediction accuracy. In addition, we propose a cross-modal interaction transformer, which integrates AIS-derived motion features, CCTV-based environmental features, and scene representations. It leverages cross-modal attention mechanisms to simultaneously capture intra-modal semantics and inter-modal interactions, ensuring dynamically consistent and environmentally feasible predictions. Furthermore, we construct a vessel group trajectory bank by clustering historical AIS trajectories into representative motion patterns, providing an efficient and scalable approach for candidate trajectory generation. Additionally, we introduce the maritime multimodal dataset plus (named Maritime-MmD$^+$), a large-scale dataset that synchronizes AIS data and CCTV video data, providing robust support for multimodal trajectory prediction research. Extensive experiments demonstrate that CmIVTP achieves better performance on multimodal-driven vessel trajectory prediction benchmarks. The code resources for this work can be available at https://github.com/LouisYxLu/CmIVTP.

Kinetic-Optimal Scheduling with Moment Correction for Metric-Induced Discrete Flow Matching in Zero-Shot Text-to-Speech

Metric-induced discrete flow matching (MI-DFM) exploits token-latent geometry for discrete generation, but its practical use is limited by two issues: heuristic schedulers requiring hyperparameter search, and finite-step path-tracking error from its first-order continuous-time Markov chain (CTMC) solver. We address both issues. First, we derive a kinetic-optimal scheduler for prescribed scalar-parameterized probability paths, and instantiate it for MI-DFM as a training-free numerical schedule that traverses the path at constant Fisher-Rao speed. Second, we introduce a finite-step moment correction that adjusts the jump probability while preserving the CTMC jump destination distribution. We validate the resulting method, GibbsTTS, on codec-based zero-shot text-to-speech (TTS). Under controlled comparisons with a unified architecture and large-scale dataset, GibbsTTS achieves the best objective naturalness and is preferred in subjective evaluations over masked discrete generative baselines. Additionally, in comparison with the evaluated state-of-the-art TTS systems, GibbsTTS shows strong speaker similarity, achieving the highest similarity on three of four test sets and ranking second on the fourth. Project page: https://ydqmkkx.github.io/GibbsTTSProject

Surg$Σ$: A Spectrum of Large-Scale Multimodal Data and Foundation Models for Surgical Intelligence

Surgical intelligence has the potential to improve the safety and consistency of surgical care, yet most existing surgical AI frameworks remain task-specific and struggle to generalize across procedures and institutions. Although multimodal foundation models, particularly multimodal large language models, have demonstrated strong cross-task capabilities across various medical domains, their advancement in surgery remains constrained by the lack of large-scale, systematically curated multimodal data. To address this challenge, we introduce Surg$Σ$, a spectrum of large-scale multimodal data and foundation models for surgical intelligence. At the core of this framework lies Surg$Σ$-DB, a large-scale multimodal data foundation designed to support diverse surgical tasks. Surg$Σ$-DB consolidates heterogeneous surgical data sources (including open-source datasets, curated in-house clinical collections and web-source data) into a unified schema, aiming to improve label consistency and data standardization across heterogeneous datasets. Surg$Σ$-DB spans 6 clinical specialties and diverse surgical types, providing rich image- and video-level annotations across 18 practical surgical tasks covering understanding, reasoning, planning, and generation, at an unprecedented scale (over 5.98M conversations). Beyond conventional multimodal conversations, Surg$Σ$-DB incorporates hierarchical reasoning annotations, providing richer semantic cues to support deeper contextual understanding in complex surgical scenarios. We further provide empirical evidence through recently developed surgical foundation models built upon Surg$Σ$-DB, illustrating the practical benefits of large-scale multimodal annotations, unified semantic design, and structured reasoning annotations for improving cross-task generalization and interpretability.

LUMEN: Longitudinal Multi-Modal Radiology Model for Prognosis and Diagnosis

Large vision-language models (VLMs) have evolved from general-purpose applications to specialized use cases such as in the clinical domain, demonstrating potential for decision support in radiology. One promising application is assisting radiologists in decision-making by the analysis of radiology imaging data such as chest X-rays (CXR) via a visual and natural language question-answering (VQA) interface. When longitudinal imaging is available, radiologists analyze temporal changes, which are essential for accurate diagnosis and prognosis. The manual longitudinal analysis is a time-consuming process, motivating the development of a training framework that can provide prognostic capabilities. We introduce a novel training framework LUMEN, that is optimized for longitudinal CXR interpretation, leveraging multi-image and multi-task instruction fine-tuning to enhance prognostic and diagnostic performance. We conduct experiments on the publicly available MIMIC-CXR and its associated Medical-Diff-VQA datasets. We further formulate and construct a novel instruction-following dataset incorporating longitudinal studies, enabling the development of a prognostic VQA task. Our method demonstrates significant improvements over baseline models in diagnostic VQA tasks, and more importantly, shows promising potential for prognostic capabilities. These results underscore the value of well-designed, instruction-tuned VLMs in enabling more accurate and clinically meaningful radiological interpretation of longitudinal radiological imaging data.

Improved Evidence Extraction for Document Inconsistency Detection with LLMs

Large language models (LLMs) are becoming useful in many domains due to their impressive abilities that arise from large training datasets and large model sizes. However, research on LLM-based approaches to document inconsistency detection is relatively limited. There are two key aspects of document inconsistency detection: (i) classification of whether there exists any inconsistency, and (ii) providing evidence of the inconsistent sentences. We focus on the latter, and introduce new comprehensive evidence-extraction metrics and a redact-and-retry framework with constrained filtering that substantially improves LLM-based document inconsistency detection over direct prompting. We back our claims with promising experimental results.