Towards Robotic Dexterous Hand Intelligence: A Survey

Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different assumptions regarding hand embodiments, sensory configurations, task settings, training data, and evaluation protocols, making systematic comparison difficult and obscuring the developmental trajectory of the field. This survey provides a holistic review of dexterous hand research from four complementary aspects. First, we present a hardware-level analysis covering actuation, transmission, perception, and representative hand designs, highlighting the key trade-offs in force capability, compliance, bandwidth, integration, and system complexity. Furthermore, we review control and learning methods for dexterous manipulation from a methodological perspective, grouping representative works by major paradigms and tracing their evolution in chronological order. In addition, we consolidate datasets, modality design, and evaluation practices, which enables methodological progress to be interpreted together with the ways in which it is trained, benchmarked, and assessed. Finally, we discuss the major limitations of current dexterous hand research and summarize the corresponding future directions. By connecting hardware analysis, methodological development, data resources, and evaluation, this survey aims to provide a structured understanding of dexterous hand research and to clarify the most important open challenges for future study.

Remember the Decision, Not the Description: A Rate-Distortion Framework for Agent Memory

Long-horizon language agents must operate under limited runtime memory, yet existing memory mechanisms often organize experience around descriptive criteria such as relevance, salience, or summary quality. For an agent, however, memory is valuable not because it faithfully describes the past, but because it preserves the distinctions between histories that must remain separated under a fixed budget to support good decisions. We cast this as a decision-centric rate-distortion problem, measuring memory quality by the loss in achievable decision quality induced by compression. This yields an exact forgetting boundary for what can be safely forgotten, and a memory-distortion frontier characterizing the optimal tradeoff between memory budget and decision quality. Motivated by this decision-centric view of memory, we propose DeMem, an online memory learner that refines its partition only when data certify that a shared state would induce decision conflict, and prove near-minimax regret guarantees. On both controlled synthetic diagnostics and long-horizon conversational benchmarks, DeMem yields consistent gains under the same runtime budget, supporting the principle that memory should preserve the distinctions that matter for decisions, not descriptions.

Minimizing Modality Gap from the Input Side: Your Speech LLM Can Be a Prosody-Aware Text LLM

Speech large language models (SLMs) are typically built from text large language model (TLM) checkpoints, yet they still suffer from a substantial modality gap. Prior work has mainly attempted to reduce this gap from the output side by making speech generation more text-like, but the gap remains. We argue that the key remaining bottleneck lies on the input side. We propose TextPro-SLM, an SLM that makes spoken input more closely resemble that of a prosody-aware text LLM. TextPro-SLM combines WhisperPro, a unified speech encoder that produces synchronized text tokens and prosody embeddings, with an LLM backbone trained to preserve the semantic capabilities of the original TLM while learning paralinguistic understanding. Experiments show that TextPro-SLM achieves the lowest modality gap among leading SLMs at both 3B and 7B scales, while also delivering strong overall performance on paralinguistic understanding tasks. These gains are achieved with only roughly 1,000 hours of LLM training audio, suggesting that reducing the modality gap from the input side is both effective and data-efficient.

Tencent Advertising Algorithm Challenge 2025: All-Modality Generative Recommendation

Generative recommender systems are rapidly emerging as a new paradigm for recommendation, where collaborative identifiers and/or multi-modal content are mapped into discrete token spaces and user behavior is modelled with autoregressive sequence models. Despite progress on multi-modal recommendation datasets, there is still a lack of public benchmarks that jointly offer large-scale, realistic and fully all-modality data designed specifically for generative recommendation (GR) in industrial advertising. To foster research in this direction, we organised the Tencent Advertising Algorithm Challenge 2025, a global competition built on top of two all-modality datasets for GR: TencentGR-1M and TencentGR-10M. Both datasets are constructed from real de-identified Tencent Ads logs and contain rich collaborative IDs and multi-modal representations extracted with state-of-the-art embedding models. The preliminary track (TencentGR-1M) provides 1 million user sequences with up to 100 interacted items each, where each interaction is labeled with exposure and click signals, while the final track (TencentGR-10M) scales this to 10 million users and explicitly distinguishes between click and conversion events at both the sequence and target level. This paper presents the task definition, data construction process, feature schema, baseline GR model, evaluation protocol, and key findings from top-ranked and award-winning solutions. Our datasets focus on multi-modal sequence generation in an advertising setting and introduce weighted evaluation for high-value conversion events. We release our datasets at https://huggingface.co/datasets/TAAC2025 and baseline implementations at https://github.com/TencentAdvertisingAlgorithmCompetition/baseline_2025 to enable future research on all-modality generative recommendation at an industrial scale. The official website is https://algo.qq.com/2025.

Beyond Benchmark Islands: Toward Representative Trustworthiness Evaluation for Agentic AI

As agentic AI systems move beyond static question answering into open-ended, tool-augmented, and multi-step real-world workflows, their increased authority poses greater risks of system misuse and operational failures. However, current evaluation practices remain fragmented, measuring isolated capabilities such as coding, hallucination, jailbreak resistance, or tool use in narrowly defined settings. We argue that the central limitation is not merely insufficient coverage of evaluation dimensions, but the lack of a principled notion of representativeness: an agent's trustworthiness should be assessed over a representative socio-technical scenario distribution rather than a collection of disconnected benchmark instances. To this end, we propose the Holographic Agent Assessment Framework (HAAF), a systematic evaluation paradigm that characterizes agent trustworthiness over a scenario manifold spanning task types, tool interfaces, interaction dynamics, social contexts, and risk levels. The framework integrates four complementary components: (i) static cognitive and policy analysis, (ii) interactive sandbox simulation, (iii) social-ethical alignment assessment, and (iv) a distribution-aware representative sampling engine that jointly optimizes coverage and risk sensitivity -- particularly for rare but high-consequence tail risks that conventional benchmarks systematically overlook. These components are connected through an iterative Trustworthy Optimization Factory. Through cycles of red-team probing and blue-team hardening, this paradigm progressively narrows the vulnerabilities to meet deployment standards, shifting agent evaluation from benchmark islands toward representative, real-world trustworthiness. Code and data for the illustrative instantiation are available at https://github.com/TonyQJH/haaf-pilot.

X-GS: An Extensible Open Framework for Perceiving and Thinking via 3D Gaussian Splatting

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI applications. However, most existing 3DGS methods operate in isolation, focusing on specific domains such as pose-free 3DGS, online SLAM, and semantic enrichment. In this paper, we introduce X-GS, an extensible open framework consisting of two major components: the X-GS-Perceiver, which unifies a broad range of 3DGS techniques to enable real-time online SLAM and distill semantic features; and the X-GS-Thinker, which interfaces with downstream multimodal models. In our implementation of the Perceiver, we integrate various 3DGS methods through three novel mechanisms: an online Vector Quantization (VQ) module, a GPU-accelerated grid-sampling scheme, and a highly parallelized pipeline design. The Thinker accommodates vision-language models and utilizes the resulting 3D semantic Gaussians, enabling downstream applications such as object detection, caption generation, and potentially embodied tasks. Experimental results on real-world datasets demonstrate the efficiency and newly unlocked multimodal capabilities of the X-GS framework.

Search-R2: Enhancing Search-Integrated Reasoning via Actor-Refiner Collaboration

Search-integrated reasoning enables language agents to transcend static parametric knowledge by actively querying external sources. However, training these agents via reinforcement learning is hindered by the multi-scale credit assignment problem: existing methods typically rely on sparse, trajectory-level rewards that fail to distinguish between high-quality reasoning and fortuitous guesses, leading to redundant or misleading search behaviors. To address this, we propose Search-R2, a novel Actor-Refiner collaboration framework that enhances reasoning through targeted intervention, with both components jointly optimized during training. Our approach decomposes the generation process into an Actor, which produces initial reasoning trajectories, and a Meta-Refiner, which selectively diagnoses and repairs flawed steps via a 'cut-and-regenerate' mechanism. To provide fine-grained supervision, we introduce a hybrid reward design that couples outcome correctness with a dense process reward quantifying the information density of retrieved evidence. Theoretically, we formalize the Actor-Refiner interaction as a smoothed mixture policy, proving that selective correction yields strict performance gains over strong baselines. Extensive experiments across various general and multi-hop QA datasets demonstrate that Search-R2 consistently outperforms strong RAG and RL-based baselines across model scales, achieving superior reasoning accuracy with minimal overhead.

Probability-Entropy Calibration: An Elastic Indicator for Adaptive Fine-tuning

Token-level reweighting is a simple yet effective mechanism for controlling supervised fine-tuning, but common indicators are largely one-dimensional: the ground-truth probability reflects downstream alignment, while token entropy reflects intrinsic uncertainty induced by the pre-training prior. Ignoring entropy can misidentify noisy or easily replaceable tokens as learning-critical, while ignoring probability fails to reflect target-specific alignment. RankTuner introduces a probability--entropy calibration signal, the Relative Rank Indicator, which compares the rank of the ground-truth token with its expected rank under the prediction distribution. The inverse indicator is used as a token-wise Relative Scale to reweight the fine-tuning objective, focusing updates on truly under-learned tokens without over-penalizing intrinsically uncertain positions. Experiments on multiple backbones show consistent improvements on mathematical reasoning benchmarks, transfer gains on out-of-distribution reasoning, and pre code generation performance over probability-only or entropy-only reweighting baselines.

UrbanMoE: A Sparse Multi-Modal Mixture-of-Experts Framework for Multi-Task Urban Region Profiling

Urban region profiling, the task of characterizing geographical areas, is crucial for urban planning and resource allocation. However, existing research in this domain faces two significant limitations. First, most methods are confined to single-task prediction, failing to capture the interconnected, multi-faceted nature of urban environments where numerous indicators are deeply correlated. Second, the field lacks a standardized experimental benchmark, which severely impedes fair comparison and reproducible progress. To address these challenges, we first establish a comprehensive benchmark for multi-task urban region profiling, featuring multi-modal features and a diverse set of strong baselines to ensure a fair and rigorous evaluation environment. Concurrently, we propose UrbanMoE, the first sparse multi-modal, multi-expert framework specifically architected to solve the multi-task challenge. Leveraging a sparse Mixture-of-Experts architecture, it dynamically routes multi-modal features to specialized sub-networks, enabling the simultaneous prediction of diverse urban indicators. We conduct extensive experiments on three real-world datasets within our benchmark, where UrbanMoE consistently demonstrates superior performance over all baselines. Further in-depth analysis validates the efficacy and efficiency of our approach, setting a new state-of-the-art and providing the community with a valuable tool for future research in urban analytics

Semi-supervised Instruction Tuning for Large Language Models on Text-Attributed Graphs

The emergent reasoning capabilities of Large Language Models (LLMs) offer a transformative paradigm for analyzing text-attributed graphs. While instruction tuning is the prevailing method for adapting pre-trained LLMs to graph learning tasks like node classification, it requires a substantial volume of annotated (INSTRUCTION, OUTPUT) pairs deriving from labeled nodes. This requirement is particularly prohibitive in the social domain, where obtaining expert labels for sensitive or evolving content is costly and slow. Furthermore, standard graph instruction tuning fails to exploit the vast amount of unlabeled nodes, which contain latent correlations due to edge connections that are beneficial for downstream predictions. To bridge this gap, we propose a novel Semi-supervised Instruction Tuning pipeline for Graph Learning, named SIT-Graph. Notably, SIT-Graph is model-agnostic and can be seamlessly integrated into any graph instruction tuning method that utilizes LLMs as the predictor. SIT-Graph operates via an iterative self-training process. Initially, the model is fine-tuned using instruction pairs constructed solely from the labeled nodes. Then it generates confidence-filtered pseudo-responses for unlabeled nodes to strategically augment the dataset for the next round of fine-tuning. Finally, this iterative refinement progressively aligns the LLM with the underlying node correlations. Extensive experiments demonstrate that when incorporated into state-of-the-art graph instruction tuning methods, SIT-Graph significantly enhances their performance on text-attributed graph benchmarks, achieving over 20% improvement under the low label ratio settings.