AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance

We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expensive full-body motion capture and error-prone trajectory retargeting, which bottleneck scalable data collection and policy learning, or decompose upper- and lower-body control into separate hierarchical representations, sacrificing the coordinated whole-body motions that loco-manipulation requires. We close this gap by learning a single latent motion representation that any keypoint subset can address. To achieve this, we first train a privileged teacher tracker on a large unstructured motion corpus and distill it online into a deterministic encoder-decoder student whose latent space is a unit sphere. We then train a transformer keypoint encoder that admits any subset of body keypoints through masked self-attention, aligning it to the privileged latent. Additionally, we treat the frozen decoder as a motor prior and specialize downstream tasks with a lightweight residual corrector in the latent space. We demonstrate the effectiveness of AnyBody by tracking large-scale human motions from arbitrary keypoint subsets, free-form control, flexibly teleoperating, and learning downstream behaviors including locomotion, in-air writing, and obstacle-reach.

Neuro-Symbolic Drive: Rule-Grounded Faithful Reasoning for Driving VLAs

Driving VLA models incorporating Chain-of-Thought (CoT) reasoning are attractive because they leverage pretrained VLM representations and expose intermediate decisions in natural language, yet current rationales often lack the step-by-step decision semantics needed to keep the rationale causally connected to the planned motion. We introduce Neuro-Symbolic Drive, a neuro-symbolic driving framework that supervises a driving VLA with rule-grounded reasoning traces extracted directly from classical rule-based planners. Our key observation is that rule-based planners are symbolic AI systems that already function as executable reasoning engines: they reason about active safety constraints, search over candidate maneuvers, and select a final trajectory. We instrument these planners in simulation to capture both the executed trajectory and the internal decision trace at each rule-evaluation step. Each trace is serialized into structured rule-grounded reasoning and paired with the trajectory to fine-tune Qwen3.5-4B as a driving VLA. Because these traces are derived directly from the planner states that determine the action, they ensure reasoning is structurally coupled to motion generation by construction, rather than by post-hoc alignment. On our simulator-generated benchmark, detailed rule-grounded reasoning reduces ADE@3s from 0.47 to 0.26 and miss rate from 8.30% to 6.40% under three-camera perception, and from 0.54 to 0.26 and 10.13% to 5.99% under eight-camera perception. Neuro-Symbolic Drive thus converts neuro-symbolic planning logic into structured supervision. Code base: https://github.com/XiangboGaoBarry/Neural-Symbolic-Drive.

Multimodal LLM-Empowered Re-Ranking for Generalizable Person Re-Identification

Domain Generalizable (DG) person re-identification (Re-ID) has attracted growing research interest due to its potential for deployment in unseen real-world scenarios. Most existing approaches address DG Re-ID by focusing on training domain-generalizable encoders but ignore the possible refinements in inference stage. In contrast, this work explores an alternative direction which improves inference re-ranking to enhance DG Re-ID. Conventional re-ranking methods typically rely on neighborhood-based distances to refine the initial ranking list, inherently depending on features produced by the Re-ID encoder. However, they deteriorate on target domains since the encoder lacks sufficient generalizability to produce reliable feature distances on unseen scenarios. Inspired by the remarkable generalization capabilities of recent Multimodal Large Language Models (MLLMs), we propose an MLLM-empowered distance metric to improve re-ranking in DG Re-ID. Specifically, we first adapt an MLLM to Re-ID data through supervised fine-tuning, which incorporates a domain-agnostic prompt and a query-candidate hard mining scheme. Then, the adapted MLLM is employed to compute a $μ$-distance during inference, which is robust to domain gap and significantly enhances subsequent re-ranking performance. Our approach is model-agnostic and can be seamlessly integrated into previous re-ranking frameworks. Extensive experiments demonstrate that our approach consistently yields substantial performance improvements across multiple DG Re-ID benchmarks. The code of this work will be released at https://github.com/RikoLi/MUSE soon.

When Poison Fails After Retrieval: Revisiting Corpus Poisoning under Chunking and Reranking Pipelines

Retrieval-Augmented Generation (RAG) systems are vulnerable to corpus poisoning attacks that manipulate downstream model outputs through malicious knowledge injection. Existing studies mainly evaluate poisoning under simplified retrieval settings, overlooking practical RAG pipelines involving document chunking, dense retrieval, reranking, and grounded generation. In this paper, we revisit corpus poisoning under realistic multi-stage retrieval pipelines and show that many existing attacks substantially degrade after reranking despite achieving high retrieval-stage relevance. We identify retrieval granularity mismatch as a key reason for this failure: document-level adversarial signals are often fragmented during chunking, while rerankers favor locally coherent and answer-bearing passages rather than globally optimized semantic similarity. Based on this observation, we propose Chunk-aware and Rerank-Consistent Poisoning (CRCP), a poisoning framework that jointly optimizes retrieval relevance, reranker consistency, and chunk-boundary robustness. CRCP explicitly models chunking transformations during optimization to generate locally self-contained adversarial passages that remain effective under varying chunking configurations. Experiments on standard RAG benchmarks with multiple retrievers and rerankers show that existing poisoning methods are highly sensitive to chunk size and reranking strategies, whereas CRCP achieves substantially higher attack success rates and stronger robustness across realistic retrieval pipelines. Our findings highlight an important realism gap in current RAG security evaluation and suggest that poisoning in modern RAG systems should be studied as a multi-stage retrieval consistency problem rather than a retrieval-only problem.

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.

From 'What' to 'How' and 'Why': Sharing LLM-Generated Retrospective Summaries of Older Adults' Passive Tracking Data with Remote Family Members

With the growing prevalence of modern ubiquitous computing technologies, multi-modal tracking systems hold promise for providing timely awareness and reassurance to stakeholders such as remote family members (RFMs) of older adults, who play a central role in care coordination. However, combining heterogeneous data streams into high-level, meaningful content - such as retrospective summaries - remains challenging. While recent work has demonstrated the promise of large language models (LLMs) for interpreting multi-modal tracking data, less attention has been given to generating narrative accounts for stakeholders like RFMs, who possess rich personal knowledge of older adults and strong emotional responsibility, yet have limited visibility into their daily lives and limited capacity for caregiving. In this work, we explore how LLMs can be used to generate retrospective summaries from multi-modal tracking data for RFMs of older adults. We leveraged and customized an existing system, Vital Insight, to generate initial summaries on different dates and data availability scenarios as technology probes, and conducted interviews with 11 RFMs to gather feedback. Based on these insights, we redesigned the system into a multi-layer, multi-agent, insight-driven summary approach that builds from objective statistics and descriptions to enriched, context-aware narratives. We then compared the redesigned summaries with the initial versions through a survey with the same 11 RFMs and found significant improvements in satisfaction, perceived helpfulness, trust, and willingness to receive the summaries. We conclude by presenting design implications for AI-generated summaries for RFMs and broader contexts, emphasizing the need to support RFMs' sensemaking shift from simply presenting ''What'' data were collected, to explaining ''How'' is my loved one doing and ''Why''.

Large Language Models in Transportation Systems Management and Operations: From Text Reasoning to Multi-modal Decision Support

Transportation systems management and operations (TSMO) increasingly depends on timely interpretation of heterogeneous data, from various sensor streams, incident reports, traveler feedback, and visual observations. Large language models (LLMs), including emerging multi-modal large language models (MM-LLMs), provide a new mechanism for integrating these structured and unstructured inputs into operator-facing decision support. This survey paper reviews LLM- and MM-LLM-based applications in TSMO across three domains: transportation operations & services (supply), mobility & fleet services (demand), and data, modeling & decision support. Using a PRISMA-guided screening process, we synthesize current studies while distinguishing operationally oriented applications from prototype and emerging concepts. We further identify recurring challenges in data heterogeneity, real-time inference, explainability, multi-modal fusion, and governance. Finally, we outline existing gaps and future directions in localized adaptation, edge deployment, benchmarking, and cross-agency collaboration. Overall, LLM-based systems appear most promising as a decision-support layer, with MM-LLMs offering particular value when heterogeneous text, visual, and sensor inputs must be integrated.

EvoNav: Evolutionary Reward Function Design for Robot Navigation with Large Language Models

Robot navigation is a crucial task with applications to social robots in dynamic human environments. While Reinforcement Learning (RL) has shown great promise for this problem, the policy quality is highly sensitive to the specification of reward functions. Hand-crafted rewards require substantial domain expertise and embed inductive biases that are difficult to audit or adapt, limiting their effectiveness and leading to suboptimal performance. In this paper, we propose EvoNav, an evolutionary framework that automates the design of robot navigation reward functions via large language models (LLMs). To overcome prohibitively costly policy training, EvoNav evaluates each candidate proposal from the LLM via a progressive three-stage warm-up-boost procedure. EvoNav advances from analytical proxies with low-cost surrogates, such as small datasets and analytic rules, to lightweight rollouts and, finally, to full policy training, enabling computationally efficient exploration under effective feedback. Experiment results show that EvoNav produces more effective navigation policies than manually designed RL rewards and state-of-the-art reward design methods.

Cooperative Informative Sensing for Monitoring Dynamic Indoor Environments via Multi-Agent Reinforcement Learning

Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation quality, existing multi-robot monitoring and active perception approaches typically rely on coverage or visitation based objectives that are weakly aligned with the accuracy requirements of human-centric monitoring tasks. In this work, we formulate cooperative active observation as a decentralized control problem in which multiple robots adjust their motion to directly optimize monitoring accuracy under partial observability. We propose a learning-based framework for cooperative policies from decentralized observations using multi-agent reinforcement learning (MARL), supported by an architecture that handles variable numbers of humans and temporal dependencies. Simulation results across diverse indoor environments and monitoring tasks show that the proposed approach consistently outperforms classical coverage, persistent monitoring, and learning-free multi-robot baselines, while remaining robust to changes in the number of observed humans.

A Wearable ECG Device for Differentiating Hypertrophic Cardiomyopathy from Acquired Left Ventricular Hypertrophy

Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current diagnostic methods -- cardiovascular magnetic resonance (CMR), echocardiography, and genetic testing -- are limited by high costs, operator dependency, or insufficient accuracy, while standard electrocardiogram (ECG) analysis cannot reliably distinguish HCM from acquired left ventricular hypertrophy (LVH). This paper presents a wearable ECG device paired with a classification algorithm that differentiates HCM from acquired LVH using ECG signals alone. The portable device integrates a 3-lead electrode system, an AD8232 signal conditioning module, an Arduino Nano 33 BLE microcontroller, and a lithium polymer battery. The algorithm extracts two quantitative indices -- HCM Index~1 and HCM Index~2 -- from each heartbeat and classifies patients via dual statistical thresholds. Validation on 483 LVH patients (PhysioNet) and 29 HCM patients (digitized clinical records) yields 75.86\% sensitivity, 99.17\% specificity, and an F1-score of 80.00\%. Leave-one-out cross-validation confirms generalizability, with cross-validated sensitivity of 72.41\%, specificity of 98.96\%, and F1-score of 76.36\% (95\% confidence intervals reported). A digitization confound analysis demonstrates that the classification is driven by physiological cardiac features rather than data source artifacts. A simulated device acquisition chain analysis confirms that the wearable hardware's signal characteristics are compatible with the classification algorithm. The system offers a promising tool for affordable HCM screening in resource-limited settings.