PDS Joint: A Parametric Double-Spiral Joint Tailored for Dexterous Hands

Compliant joints can embed safety and adaptability into dexterous hands, but achieving large-stroke anthropomorphic motion while maintaining joint-specific, directiondependent stiffness and reliable proprioception remains challenging. This paper presents the PDS joint, a parametric doublespiral (PDS) compliant joint that enables systematic shaping of directional stiffness across multiple deformation modes, including flexion/extension, abduction/adduction, and pronation/supination. We instantiate the joint using Archimedean and logarithmic spiral templates for different hand joints and introduce an asymmetry ratio to tailor stiffness distributions for both grasp stability and hyperextension resistance. To make the joint practically usable under large deformation, we co-design embedded inductive proprioception and propose a learningbased calibration pipeline that maps raw inductive signals to joint states using ArUco-marker tracking. Experiments characterize the stiffness landscapes across geometric parameters and demonstrate a non-monotonic dependence of lateral support on asymmetry, indicating the importance of principled parameter tuning. For joint-state estimation in the most challenging abduction/adduction motion, a learned multilayer-perceptron (MLP) mapping reduces the error compared with conventional curve fitting by 41.6%. Finally, we integrate the proposed joints into an open-source dexterous hand as a demonstration platform, on which the hand grasps a set of nine everyday objects and performs safe, contact-rich human-involved interactions.

Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Models

Foundation models in language and multimodality achieve strong generalization by aligning heterogeneous data under a unified formulation and training at scale. In this report, we investigate whether this scaling recipe can be applied to robotic manipulation to achieve genuine generalization. This is challenging because, unlike text, manipulation data is heterogeneous by nature, expensive to collect, and narrow in diversity, making alignment and scale simultaneously difficult. We present Qwen-RobotManip, a generalizable Vision-Language-Action foundation model built on Qwen-VL. Qwen-RobotManip introduces a unified alignment framework across the representation, motion, and behavioral dimensions of manipulation, making large-scale multi-source training coherent rather than conflicting. This alignment capability in turn enables Qwen-RobotManip to absorb manipulation data at a scale that prior training regimes could not sustain. A human-to-robot synthesis pipeline converts egocentric hand demonstrations into robot trajectories across 15 platforms, and a rigorous curation pipeline harmonizes heterogeneous datasets. Using only open-source datasets and human videos without proprietary data collection, Qwen-RobotManip constructs a ~38,100-hour pretraining corpus and exhibits emergent generalization capabilities, including zero-shot instruction following, robustness to perturbations, reactive error recovery, and cross-embodiment transfer. We find that standard benchmarks fail to capture pretraining quality and instead adopt OOD settings including RoboCasa365, LIBERO-Plus, EBench, RoboTwin-Clean2Rand, RoboTwin-IF, and RoboTwin-XE. Qwen-RobotManip substantially outperforms prior state-of-the-art models, including $π$0.5, across all OOD settings, ranks 1st in RoboChallenge with a 20% relative improvement, and is validated on real-robot platforms including AgileX ALOHA, Franka, UR, and ARX.

Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation

We introduce Qwen-RobotWorld, a language-conditioned video world model for embodied intelligence. With natural language as a unified action interface, it predicts physically grounded future visual trajectories from current observations across robotic manipulation, autonomous driving, indoor navigation, and human-to-robot transfer. This unified formulation provides three promising application directions: synthetic data generation for policy training augmentation, scalable virtual environments for policy evaluation, and language-guided planning signals for downstream robot control. This is achieved through a three-part design: a) Double-Stream MMDiT with MLLM Action Encoding, where a 60-layer double-stream diffusion transformer couples frozen Qwen2.5-VL semantics with video-VAE latents through layer-wise joint attention; b) Embodied World Knowledge (EWK), an 8.6M video-text corpus (200M+ frames) with action-language mapping over 20+ embodiments and 500+ action categories; and c) General+Expert Progressive Curriculum, a two-stage training strategy that first learns general visual priors and then injects embodied specialization under a shared language interface. Extensive results show strong competitiveness: ranks 1st overall on EWMBench and DreamGen Bench, outperforms all open-source models on WorldModelBench and PBench. Additional zero-shot analyses on RoboTwin-IF benchmark further support robust generalization and multi-view consistency.

Improving Code-Switching ASR with Code-Mixing Guided Synthetic Speech

Code-switch (CS) Automatic Speech Recognition (ASR) remains challenging due to limited availability of high quality CS text-speech pairs for training. Although synthetic data augmentation via Text-to-speech (TTS) has been explored, existing CS TTS approaches primarily optimise reconstruction fidelity and do not explicitly enforce language-boundary consistency, thereby limiting their effectiveness for CS ASR augmentation. This paper proposes a code-mixing guided preference-learning framework that steers synthetic speech generation toward improved code-switching fidelity using the Code Mixing Index (CMI). Experiments on the SEAME Mandarin-English conversational corpus demonstrate that the proposed method enhances the utility of synthetic data for ASR fine-tuning. Specifically, when fine-tuning Whisper Large, the proposed approach reduces Mixed Error Rate (MER) from 12.1%/17.8% to 8.9%/14.2% on the DevMAN and DevSGE sets, respectively.

From Rigid to Dynamic: Entropy-Guided Adaptive Inference for Long-Context LLMs

Existing sparse attention and KV cache compression methods for long-context LLM inference typically apply fixed sparsity patterns or uniform budgets across all attention heads, overlooking the substantial variation in attention behavior among heads and contexts. We observe two distinct entropy patterns among attention heads: Rigid Heads, whose entropy stays near zero across input segments, and Dynamic Heads, whose entropy fluctuates significantly. Crucially, the distribution of these types is context-dependent and cannot be predetermined offline. We therefore propose EntropyInfer, a training-free framework that uses attention entropy to adaptively allocate compute at the granularity of individual heads and segments during prefilling. For decoding, we introduce a latent KV cache compression scheme that leverages generated output tokens, rather than prefill tokens alone, to identify and retain the most critical cache entries. Extensive experiments on Llama, Qwen and openPangu model series show that EntropyInfer consistently outperforms baselines including SnapKV, AdaKV, and CritiPrefill, achieving up to 2.39$\times$ end-to-end speedup beyond 100k tokens with minimal quality degradation compared to full attention. The code is released in https://github.com/SHA-4096/EntropyInfer.

Event-driven dynamic trajectories reconstruction and measurement of mechanical parameters for fragments

During warhead detonation, high-density, high-speed, and mutually occluded fragments are generated. Their mechanical parameters (position, velocity, kinetic energy) directly determine the lethality of the warhead fragment field. However, high-intensity flash and smoke in detonation scenarios severely hinder the accurate acquisition of these mechanical parameters. To address this challenge, this paper integrates experimental mechanics approaches and presents an event-driven method for reconstructing the dynamic trajectories of fragments and measuring their mechanical parameters. As a novel brain-inspired visual sensor, event cameras offer microsecond-level temporal resolution and high dynamic range lighting change perception, overcoming the difficulty of accurately measuring high-speed targets under strong flash interference. The method constructs a multi-event-camera vision system, adopting three geometric constraints: time-correlated epipolar constraint to find potential matching event point pairs, and trifocal tensor line constraint plus local homography constraint to eliminate mismatches. A comprehensive probability model is established, with entropy weight method determining the weight of each constraint's probability to quantitatively filter mismatches. 3D trajectory reconstruction is achieved via spatial line-line intersection and nonlinear optimization. Finally, the velocity and kinetic energy of the fragments are calculated based on the reconstructed trajectory. This method provides reliable technical support for the mechanical damage evaluation of warhead fragment fields and the tactical protection design.

Data Agents Under Attack: Vulnerabilities in LLM-Driven Analytical Systems

Data agents integrate LLM-driven reasoning with relational data access, executable analytical tools, and multi-step workflow orchestration, making them increasingly central to enterprise analytics. This integration introduces new security vulnerabilities across data resources, database execution, and agent reasoning, recombining concerns from database security and general-purpose LLM-agent security into failure modes that neither line of work captures on its own. To address this gap, we present a systematic security study of data agents. Our contributions are threefold. First, we develop a layered vulnerability framework that identifies eight data agent-specific risks across interpretation, execution, and policy layers. Second, we introduce an attack taxonomy organized by adversary goal, tactic, and technique, covering three goals, seven tactics, and fourteen techniques, and pair it with an LLM-driven payload generation pipeline grounded in real database schemas. Third, we evaluate these attacks on six systems, including four open-source data agents and two production cloud analytics services. Our experiments reveal substantial security vulnerabilities across current systems and yield four key takeaways.

QCFuse: Query-Aware Cache Fusion via Compressed View for Efficient RAG Serving

Retrieval-augmented generation (RAG) improves large language model (LLM) answer quality by grounding generation in external evidence, but processing retrieved contexts makes the prefill stage a dominant serving cost. RAG cache fusion reduces this cost by reusing precomputed key-value (KV) caches for retrieved chunks and selectively recomputing tokens under the current prompt. Existing selectors, however, face a dilemma between quality and efficiency: fast query-agnostic or final-layer query-to-context selectors can miss request-relevant evidence, whereas full-view query-aware selectors require broad context and layer visibility before recomputation and therefore stall the layer-wise cache-fusion pipeline. We present QCFuse, a compressed-view query-aware selector for RAG cache fusion. QCFuse uses chunk-anchor query probing to condition user-query states on compact per-chunk anchors and critical-layer profiling to identify recomputation tokens without all-layer inspection. We implement QCFuse in SGLang and evaluate it on four open-weight LLMs across six datasets. QCFuse reaches full-prefill-level quality. At matched quality, QCFuse achieves an average prefill-time speedup of 1.7x over full prefill and 1.5x over ProphetKV, the strongest quality-preserving baseline.

Agents' Last Exam

Recent AI systems have achieved strong results on a wide range of benchmarks, yet these gains have not translated into economically meaningful deployment across many professional domains. We argue that this gap is largely an evaluation problem: widely used benchmarks lack sustained performance measurement on real and economically valuable workflows. This paper introduces Agents' Last Exam (ALE), a benchmark designed to evaluate AI agents on long-horizon, economically valuable, real-world tasks with verifiable outcomes. Developed in collaboration with 250+ industry experts, ALE covers non-physical industries defined with reference to O*NET / SOC 2018 (the U.S. federal occupational taxonomy). It is organized around a task taxonomy with 55 subfields grouped into 13 industry clusters covering 1K+ tasks. Current results show that the hardest tier remains far from saturated: across mainstream harness and backbone configurations, the average full pass rate is 2.6%. ALE is designed as a living benchmark: its task pool grows continuously as new workflows and industries are onboarded. More broadly, ALE is intended not merely as another leaderboard, but as an instrument for closing the gap between benchmark success and GDP-relevant impact.

An interpretable and trustworthy AI framework for large-scale longitudinal structure-pain association studies using data from the Osteoarthritis Initiative (OAI)

Purpose: To develop an interpretable and trustworthy AI framework that combines deep learning based MRI Osteoarthritis Knee Score (MOAKS) prediction with interpretable statistical modeling to study structure-pain relationships at scale using data from the Osteoarthritis Initiative (OAI). Materials and Methods: We first developed a deep learning framework to predict MOAKS features directly from knee MRIs and incorporated conformal prediction to provide prediction uncertainty quantification. This uncertainty-aware strategy enables explicit filtering of model outputs, retaining only high-confidence MOAKS predictions at the knee level. Second, we applied a longitudinal latent class mixed model (LCMM) to examine associations between key structural abnormalities and four complementary knee pain measurements. Results: Among the three MRI-defined abnormalities (i.e., bone marrow lesions (BML), cartilage loss (CART), and meniscal extrusion (ME)), our framework substantially improved the Matthews correlation coefficient (MCC) and some other metrics. For example, MCC increased from 0.69 to 0.91 for BML, from 0.45 to 0.80 for CART, and from 0.59 to 0.89 for ME. Using these high-confidence predictions, we expanded the sample size to 2,175 knees for the LCMM analysis. Two distinct pain trajectories were identified (rapid and stable pain progression). The estimated odds ratios (95% CI) for the rapid progression group were 1.62 (1.12-2.35) for BML, 1.83 (1.24-2.70) for CART loss, and 2.50 (1.75-3.57) for ME. Conclusion: These results highlight the importance of these structural abnormalities as risk factors for pain and functional progression in osteoarthritis.