IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using tools of varying weights, transporting objects with different masses, and performing contact-rich tasks like table wiping. Previous learning-based approaches typically employ imitation learning policies that output target end-effector poses tracked by low-level impedance controllers. In these systems, forceful interactions are either implicitly realized through steady-state tracking errors or explicitly commanded using wrist force/torque or tactile sensors. However, implicit approaches generalize poorly across object weights, while explicit approaches require specialized hardware and increase system complexity. In this work, we propose IMPACT, a framework that decouples these forceful tasks into task-planning and internal-model-based predictive control. Extensive simulation and real-world experiments demonstrate that the proposed framework achieves higher success rates and improved generalization to unseen object weights, as well as better safety and energy efficiency.

FinStressTS: A Parametric Synthetic Benchmark for Time-Series Forecasting in Finance

Financial forecasting is difficult due to low signal-to-noise ratios, latent factors, heavy tails, regime shifts, and jumps. Real-world benchmarks offer limited failure attribution: researchers can observe underperformance, but often cannot isolate why because mechanisms are unobservable and entangled. Real financial data reveal only one realized path, making it difficult to assess tail-risk calibration or data efficiency. We introduce FinStressTS, a mechanism-aware synthetic benchmark that links model behavior to controlled structural causes. FinStressTS comprises 30 diagnostic environments around six mechanism families: volatility clustering, multi-scale persistence, heavy-tailed shocks, regime switching, self-exciting jumps, and zero-inflated processes. We evaluate two tasks: point forecasting, using NMAE across five settings, and probabilistic forecasting, using CRPS under known data-generating mechanisms. We benchmark 15 models, from classical methods (HAR, VAR) to Transformer forecasters (PatchTST, iTransformer) and deep probabilistic architectures (DeepAR, TSFlow), and use learning curves to measure sample efficiency. Our evaluation reveals three insights. First, performance is mechanism-dependent: autoregressive and linear models are highly competitive, and often outperform Transformer-based models, in several volatility-, tail-, and jump-driven environments. Second, distributional alignment matters: parametric probabilistic models such as DeepAR calibrate well in stationary settings, while flexible models can help when distributions become multimodal or sparse. Third, neural models often require more data to match simple baselines, with larger gains mainly when learning latent regimes or complex distributions. FinStressTS provides an open framework for diagnosing failure modes and advancing risk-aware forecasting.

IMPA-Net: Meteorology-Aware Multi-Scale Attention and Dynamic Loss for Extreme Convective Radar Nowcasting

Short-range prediction of convective precipitation from weather radar observations is essential for severe weather warnings. However, deep learning models trained with pixel-wise error metrics tend to produce overly smooth forecasts that suppress intense echoes critical for hazard detection. This issue is exacerbated by insufficient multi-scale feature interaction and suboptimal fusion of heterogeneous geophysical inputs. We propose IMPA-Net (Integrated Multi-scale Predictive Attention Network), a deterministic 0-2 hour nowcasting framework that addresses these limitations through meteorologically-informed designs at the input, architecture, and loss function levels. A parameter-free Spatial Mixer reorganizes heterogeneous input channels at the mesoscale-$γ$ neighborhood (~2 km) via deterministic channel permutation, providing a structured cross-field prior. An integrated multi-scale predictive attention module serves as the spatiotemporal translator, capturing dynamics from mesoscale-$β$ to mesoscale-$γ$ scales. A Meteorologically-Aware Dynamic Loss employs three-level asymmetric weighting -- adapting across training epochs, storm intensity, and forecast lead time -- to counteract regression-to-the-mean. Evaluated against seven baselines on a multi-source radar dataset over eastern China, IMPA-Net raises the Heidke Skill Score at $\geq$45 dBZ from 0.049 (SimVP baseline) to 0.143 under matched settings. Relative to pySTEPS, it provides a better trade-off between severe-event detection and false-alarm control. Spectral analysis confirms preserved energy across mesoscale bands where competing methods show progressive smoothing. These improvements are shown within a single domain and convective regime; generalizability to other orographic and climatic regions remains to be tested.

AutoScout: Structured Optimization for Automating ML System Configuration

Machine learning (ML) systems expose a rapidly expanding configuration space spanning model-parallelism strategies, communication optimizations, and low-level runtime parameters. End-to-end system efficiency is highly sensitive to these choices, yet identifying high-performance configurations is challenging due to heterogeneous feature types (e.g., sparse and dense parameters), conditional dependencies (e.g., valid execution parameters only under specific upstream decisions), and the high search (profiling) cost. Existing approaches either optimize a narrow subset of configuration dimensions or rely on ad-hoc heuristics that fail to generalize as configuration spaces continue to grow. We present AutoScout, a general-purpose systems configurator for ML training, fine-tuning, and inference. It formulates the system configuration as a mixed-discrete/continuous optimization problem with hierarchical dependencies and introduces a hybrid optimization framework that jointly refines sparse structural decisions and dense execution parameters. To reduce profiling cost, AutoScout adaptively prioritizes high-impact configuration features and ensembles simulators with varying fidelity. Across diverse models, hardware platforms, and deployment objectives, AutoScout consistently identifies high-performance configurations, achieving 2.7-3.0$\times$ training speedup over expert-tuned settings.

OAT: Ordered Action Tokenization

Autoregressive policies offer a compelling foundation for scalable robot learning by enabling discrete abstraction, token-level reasoning, and flexible inference. However, applying autoregressive modeling to continuous robot actions requires an effective action tokenization scheme. Existing approaches either rely on analytical discretization methods that produce prohibitively long token sequences, or learned latent tokenizers that lack structure, limiting their compatibility with next-token prediction. In this work, we identify three desiderata for action tokenization - high compression, total decodability, and a left-to-right causally ordered token space - and introduce Ordered Action Tokenization (OAT), a learned action tokenizer that satisfies all three. OAT discretizes action chunks into an ordered sequence of tokens using transformer with registers, finite scalar quantization, and ordering-inducing training mechanisms. The resulting token space aligns naturally with autoregressive generation and enables prefix-based detokenization, yielding an anytime trade-off between inference cost and action fidelity. Across more than 20 tasks spanning four simulation benchmarks and real-world settings, autoregressive policies equipped with OAT consistently outperform prior tokenization schemes and diffusion-based baselines, while offering significantly greater flexibility at inference time.

e5-omni: Explicit Cross-modal Alignment for Omni-modal Embeddings

Modern information systems often involve different types of items, e.g., a text query, an image, a video clip, or an audio segment. This motivates omni-modal embedding models that map heterogeneous modalities into a shared space for direct comparison. However, most recent omni-modal embeddings still rely heavily on implicit alignment inherited from pretrained vision-language model (VLM) backbones. In practice, this causes three common issues: (i) similarity logits have modality-dependent sharpness, so scores are not on a consistent scale; (ii) in-batch negatives become less effective over time because mixed-modality batches create an imbalanced hardness distribution; as a result, many negatives quickly become trivial and contribute little gradient; and (iii) embeddings across modalities show mismatched first- and second-order statistics, which makes rankings less stable. To tackle these problems, we propose e5-omni, a lightweight explicit alignment recipe that adapts off-the-shelf VLMs into robust omni-modal embedding models. e5-omni combines three simple components: (1) modality-aware temperature calibration to align similarity scales, (2) a controllable negative curriculum with debiasing to focus on confusing negatives while reducing the impact of false negatives, and (3) batch whitening with covariance regularization to better match cross-modal geometry in the shared embedding space. Experiments on MMEB-V2 and AudioCaps show consistent gains over strong bi-modal and omni-modal baselines, and the same recipe also transfers well to other VLM backbones. We release our model checkpoint at https://huggingface.co/Haon-Chen/e5-omni-7B.

Flexible Multitask Learning with Factorized Diffusion Policy

Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these complex task distributions is often difficult, and existing monolithic models often underfit the action distribution and lack the flexibility required for efficient adaptation. We introduce a novel modular diffusion policy framework that factorizes complex action distributions into a composition of specialized diffusion models, each capturing a distinct sub-mode of the behavior space for a more effective overall policy. In addition, this modular structure enables flexible policy adaptation to new tasks by adding or fine-tuning components, which inherently mitigates catastrophic forgetting. Empirically, across both simulation and real-world robotic manipulation settings, we illustrate how our method consistently outperforms strong modular and monolithic baselines.

AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation

Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manipulation capabilities when grasping is infeasible or insufficient. However, enabling a unified framework that generalizes across different tasks, objects, and environments while seamlessly integrating non-prehensile and prehensile (P) actions remains challenging: robots must determine when to invoke NP skills, select the appropriate primitive for each context, and compose P and NP strategies into robust, multi-step plans. We introduce ApaptPNP, a vision-language model (VLM)-empowered task and motion planning framework that systematically selects and combines P and NP skills to accomplish diverse manipulation objectives. Our approach leverages a VLM to interpret visual scene observations and textual task descriptions, generating a high-level plan skeleton that prescribes the sequence and coordination of P and NP actions. A digital-twin based object-centric intermediate layer predicts desired object poses, enabling proactive mental rehearsal of manipulation sequences. Finally, a control module synthesizes low-level robot commands, with continuous execution feedback enabling online task plan refinement and adaptive replanning through the VLM. We evaluate ApaptPNP across representative P&NP hybrid manipulation tasks in both simulation and real-world environments. These results underscore the potential of hybrid P&NP manipulation as a crucial step toward general-purpose, human-level robotic manipulation capabilities. Project Website: https://sites.google.com/view/adaptpnp/home

CSU-PCAST: A Dual-Branch Transformer Framework for medium-range ensemble Precipitation Forecasting

Accurate medium-range precipitation forecasting is crucial for hydrometeorological risk management and disaster mitigation, yet remains challenging for current numerical weather prediction (NWP) systems. Traditional ensemble systems such as the Global Ensemble Forecast System (GEFS) struggle to maintain high skill, especially for moderate and heavy rainfall at extended lead times. This study develops a deep learning-based ensemble framework for multi-step precipitation prediction through joint modeling of a comprehensive set of atmospheric variables. The model is trained on ERA5 reanalysis data at 0.25$^{\circ}$ spatial resolution, with precipitation labels from NASA's Integrated Multi-satellite Retrievals for Global Precipitation Measurement (GPM) constellation (IMERG), incorporating 57 input variables, including upper-air and surface predictors. The architecture employs a patch-based Swin Transformer backbone with periodic convolutions to handle longitudinal continuity and integrates time and noise embeddings through conditional layer normalization. A dual-branch decoder predicts total precipitation and other variables, with targeted freezing of encoder-decoder pathways for specialized training. Training minimizes a hybrid loss combining the Continuous Ranked Probability Score (CRPS) and weighted log1p mean squared error (log1pMSE), balancing probabilistic accuracy and magnitude fidelity. During inference, the model ingests real-time Global Forecast System (GFS) initial conditions to generate 15-day forecasts autoregressively. Evaluation against GEFS using IMERG data demonstrates higher Critical Success Index (CSI) scores at precipitation thresholds of 0.1 mm, 1 mm, 10 mm, and 20 mm, highlighting improved performance for moderate to heavy rainfall.

Search Self-play: Pushing the Frontier of Agent Capability without Supervision

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.