APT: Atomic Physical Transitions for Causal Video-Language Understanding

Physical events are not understood by their names alone, but by the causal state changes that compose them. A clip-level label such as "bounce" can be correct while hiding the process that makes the event physically valid, from support loss and contact onset to rebound and settling. To make this hidden process explicit, we introduce Atomic Physical Transitions (APTs): minimal, temporally localized state changes that bind a visible cue to an active physical mechanism and before/after dynamical regimes. An APT chain represents a video as an ordered causal transition sequence rather than a single aggregate event label: event labels tell what happened; APT chains explain why it happened. To make APTs learnable by VLMs, we construct mixed-source APT data from human annotations and simulator ground truth, covering 14 transition types across contact, gravity, friction, and rotation/stability, with 27,303 timed instances over 1,246 trials. Using this data, we find that current VLMs miss transition-level physics, with zero-shot recall at most 14% and errors dominated by missed transitions. Direct fine-tuning on APT chains improves transition detection but causes event-level forgetting, indicating that the model learns a specialized answer format rather than a reusable physical representation. We therefore propose APT-Tune, a parameter-efficient recipe that teaches VLMs to use causal transitions without forgetting how to answer video questions. It combines image-pad-aware supervision, format-conditional co-training, and mechanism-conditioned domain-to-type decoding to make APT learning format-robust and physically grounded. With only 11 M LoRA parameters on Qwen3-VL-2B, APT-Tune substantially improves APT recall while also improving event-level video transfer. These results show that APTs are not a new answer format, but a human-aligned causal supervision signal for physical video understanding.

AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation

Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical knowledge needed to specify where and how robots should act. In this work, we present AnnotateAnything, a general automatic annotation framework that converts passive 3D assets into manipulation-ready assets with structured, diverse, and executable manipulation labels. AnnotateAnything is built around two complementary pipelines. First, a unified visual-language annotation pipeline using vision-language reasoning to infer object semantics, interaction constraints, and 3D-grounded cues, providing human-prior guidance for identifying meaningful interaction regions. Second, a fully automatic and massively parallel physics annotation pipeline grounds these priors in each asset's geometry and physical constraints through candidate generation, geometry optimization and trajectory generation. This pipeline produces diverse and executable action annotations, including grasp poses, dexterous contacts, articulation waypoints, insertion directions, hanging affordances, and navigation targets. Using the generated annotations, we further build an asynchronous parallel simulation data-collection system across diverse objects, tasks, and robot embodiments. Experiments demonstrate that AnnotateAnything achieves superior annotation efficiency, data-collection efficiency, and task success rates over existing annotation and data-generation pipelines, while also supporting downstream tasks such as affordance detection, robotic VQA, and visual instruction finetuning. We provide project materials on the project page and plan to release the full code, annotations, and benchmark to facilitate future research. Videos, code, demo assets, and annotations are provided in supplementary materials Project page: https://tourmaline-caramel-169490.netlify.app.

MagicSim: A Unified Infrastructure for Executable Embodied Interaction

Robot learning and embodied agents now require simulation to serve as a shared execution substrate linking control, skills, and planning, not only as a renderer, controller testbed, or fixed task environment. Existing pipelines split these layers with "magic" actions, disconnected training environments, or forward-only renders that cannot reproduce, evaluate, and annotate the same episode. We present MagicSim, an embodied interaction infrastructure built around one deterministic batched runtime and a shared Markov decision process (MDP). From YAML-first specifications that decouple contents, placement, behavior, and agent exposure, MagicSim constructs diverse executable worlds spanning task families, interaction regimes, physics, layouts, sensors, avatars, and robot embodiments in one reset-and-step loop. A common execution interface grounds high-level commands through controllers, atomicskills, planner primitives, and asynchronous planning, realizing them as robot actions rather than simulator-side state edits. One task definition supports three capabilities: benchmark and RL evaluation, an autocollect interface that automatically turns commands into grounded trajectories, and agent/VLM-facing interaction. For automatic execution, commands flow through a Command->Skill->Planner->Robot->Record pipeline, while per-environment command, skill, planning, retry, annotation, and episode states advance independently above the shared physics tick. Successful rollouts are saved as structured multimodal trajectories aligning language supervision, action representations, visual/geometric representations, and task-level status with the executed episode. MagicSim thus unifies diverse world construction, embodied execution, task evaluation, automatic rollout generation, and interactive agent interfaces in one planner-in-the-loop runtime.

Hyperbolic Neural Population Geometry Benefits Computation

Neural population geometry shapes downstream computation. Recent empirical findings in neurobiology suggest that a hyperbolic structure underlies population activity in the hippocampus. Here we provide a theoretical framework for this phenomenon. First, we propose a plausible construction of hippocampal tuning curves that statistically induces hyperbolic geometry. Next, we establish a connection between neural decoding and associative memory by demonstrating that the Modern Hopfield Network update rule computes the minimum mean-squared-error (MMSE) estimator. Finally, we introduce a novel associative memory model defined in hyperbolic space that yields significantly larger capacity than leading models. Our results suggest that animals encode spatial information as a latent hyperbolic cognitive map, improving both memory capacity and decoding accuracy.

A Theory on Flow Matching with Neural Networks

In this work, we develop theoretical foundation for flow matching with neural-network-parameterized conditional velocity fields. We establish convergence guarantees for gradient descent in the over-parameterized 2-layered ReLU neural network regime. We derive generalization bounds for the conditional velocity-field matching objective. Building on these results, we provide Wasserstein-distance guarantees for the samples generated by the induced flow. Our analysis is based on generalization bound for multi-task representation learning with unbounded losses, which may be of independent interest beyond flow-based generative modeling. These theoretical results are validated through extensive experiments on both synthetic and real-world image benchmarks.

Controllable Lung Nodule Synthesis via Histogram-Regularized Latent Diffusion Models

While automated diagnosis systems have achieved remarkable success in computed tomography (CT)-based lung cancer screening, their development remains limited by the scarcity of diverse, annotated pulmonary nodule datasets. Diffusion-based generative models offer a promising strategy for data synthesis; however, many existing conditional approaches primarily optimize spatial reconstruction losses, which encourage voxel-wise similarity but may inadequately constrain lesion-level intensity distributions. As a result, these methods may produce over-smoothed texture profiles and underrepresent the distinct attenuation characteristics of different nodule subtypes, including solid, part-solid, and ground-glass nodules. To address this challenge, we propose a controllable latent diffusion model that synthesizes pulmonary nodules within full 3D CT volumes while accurately modeling nodule-specific intensity distributions. Specifically, rather than relying solely on spatial losses, we introduce a histogram-based regularization term that constrains voxel intensity distributions during the generative process. The model combines subtype, spatial mask, and Hounsfield unit (HU) histogram conditioning with the differentiable feature-space histogram regularization term to better align lesion-level intensity distributions, improving the visual plausibility and subtype consistency of synthesized nodules. Extensive experiments on lung CT data demonstrate that our framework achieves strong visual realism, validated through both quantitative metrics and a visual Turing test. Furthermore, when used for data augmentation, the generated nodules improve performance in downstream clinical tasks, particularly for underrepresented nodule subtypes, and show a potential benefit for subtype-informed malignancy classification.

Security of OpenClaw Agents: Fundamentals, Attacks, and Countermeasures

The rapid evolution of large language model (LLM)-driven autonomous agents has given rise to OpenClaw, a new class of open-source agent frameworks that operate as continuously running, skill-augmented systems with persistent memory, multi-channel interaction, and high degrees of autonomy. Such capabilities enable OpenClaw agents to autonomously execute complex, multi-step tasks and interact seamlessly with external applications, but simultaneously introduce a substantially enlarged attack surface. In particular, the combination of high-privilege operations and persistent memory exposes OpenClaw agents to various emerging threats, including skill poisoning, cognitive manipulation, multi-agent cascading failures, and supply-chain vulnerabilities. In this survey, we present a comprehensive study of the security landscape of OpenClaw agents. We first examine the general architecture and key characteristics that distinguish OpenClaw agents from traditional AI agent systems. We categorize existing security and privacy threats into a layered framework and analyze how vulnerabilities arise during agent reasoning, action execution, and external interaction. Representative defense mechanisms are also reviewed to draw the current defense landscape. Finally, several unresolved issues related to the reliability and trustworthiness of OpenClaw ecosystems are discussed.

SEP-Attack: A Simple and Effective Paradigm for Transfer-Based Textual Adversarial Attack

Despite the strong performance of deep neural networks in modern Web and language applications, they remain vulnerable to adversarial attacks, especially transferable attacks that generate adversarial examples using surrogate models without accessing the victim model. Transferable attacks in the text domain are still under-explored, with only a few studies addressing this challenging issue, often with suboptimal results due to equal treatment of submodels or inaccurate estimation of importance scores. To address these challenges, we propose a simple yet effective paradigm for transfer-based textual adversarial attack, named SEP-Attack. Specifically, we employ the Determinantal Point Process (DPP) to generate diverse surrogate ensemble weights, representing the transferability of submodels. Using these weights, we introduce a new metric to evaluate prediction confidence scores, which in turn are used to calculate word importance scores and generate adversarial candidates. Finally, we quantify the transferability score for each candidate and select the top ones as the final transferable adversarial examples. Experiments conducted on four datasets and two real-world APIs validate the efficacy of SEP-Attack, significantly outperforming state-of-the-art baselines.

TIGER: Text-Informed Generalized Enzyme-Reaction Retrieval

Enzyme-reaction retrieval is a fundamental problem in computational biology, underpinning enzyme characterization, reaction mechanism elucidation, and the rational design of metabolic pathways and biocatalysts. As a bidirectional task, it entails both enzyme-to-reaction and reaction-to-enzyme mapping. However, existing approaches suffer from poor generalization across tasks and distributions, with performance highly sensitive to dataset splits and substantial asymmetry between retrieval directions. To address these challenges, we present TIGER, a Text-Informed Generalized Enzyme-Reaction Retrieval framework that leverages protein-to-text generation models to distill textual semantic knowledge from enzyme sequences, providing a generalized representation that bridges enzymes and biochemical reactions. To ensure the quality and reliability of textual semantics, we design a Dynamic Gating Network that adaptively fuses text-derived knowledge with sequence features, enabling more consistent and informative enzyme representations, while a Structure-Shared Feature Projector aligns enzyme and reaction representations within a unified latent space. Extensive experiments demonstrate that, under bidirectional retrieval supervision, TIGER significantly outperforms state-of-the-art baselines across diverse distributions and exhibits strong robustness and transferability across tasks.

SPACENUM: Revisiting Spatial Numerical Understanding in VLMs

Vision-Language Models (VLMs) are increasingly deployed in embodied environments, where they need produce numerical outputs such as action magnitudes and spatial coordinates. Although these numbers appear meaningful, it remains unclear whether these numerical outputs are genuinely grounded in spatial perception. Therefore, in this work, we revisit spatial numerical understanding through SpaceNum, a unified framework that captures two complementary settings: numbers as dynamic transitions during spatial exploration, and numbers as static layouts in spatial reasoning. We formulate two bidirectional tasks, Num2Space and Space2Num, to evaluate how well VLMs map between vision-side spatial structure and language-side numerical representations. We systematically study whether current VLMs truly understand numerical values in spatial settings. Across dynamic transitions and static layouts, we find that models largely fail to ground numbers in spatial meaning and often perform close to random guess. Through error analysis, reasoning trace analysis, and controlled interventions, we show that current VLMs rely heavily on shallow spatial cues, struggle to build stable coordinate-aware representations, and fail to abstract structured spatial layouts from visual observations. We further show that explicit reasoning provides only marginal gains, while tuning can partially improve spatial numerical understanding and transfer to external spatial reasoning benchmarks.