USIM and U0: A Vision-Language-Action Dataset and Model for General Underwater Robots

Underwater environments present unique challenges for robotic operation, including complex hydrodynamics, limited visibility, and constrained communication. Although data-driven approaches have advanced embodied intelligence in terrestrial robots and enabled task-specific autonomous underwater robots, developing underwater intelligence capable of autonomously performing multiple tasks remains highly challenging, as large-scale, high-quality underwater datasets are still scarce. To address these limitations, we introduce USIM, a simulation-based multi-task Vision-Language-Action (VLA) dataset for underwater robots. USIM comprises over 561K frames from 1,852 trajectories, totaling approximately 15.6 hours of BlueROV2 interactions across 20 tasks in 9 diverse scenarios, ranging from visual navigation to mobile manipulation. Building upon this dataset, we propose U0, a VLA model for general underwater robots, which integrates binocular vision and other sensor modalities through multimodal fusion, and further incorporates a convolution-attention-based perception focus enhancement module (CAP) to improve spatial understanding and mobile manipulation. Across tasks such as inspection, obstacle avoidance, scanning, and dynamic tracking, the framework achieves a success rate of 80%, while in challenging mobile manipulation tasks, it reduces the distance to the target by 21.2% compared with baseline methods, demonstrating its effectiveness. USIM and U0 show that VLA models can be effectively applied to underwater robotic applications, providing a foundation for scalable dataset construction, improved task autonomy, and the practical realization of intelligent general underwater robots.

FocusMed: A Large Language Model-based Framework for Enhancing Medical Question Summarization with Focus Identification

With the rapid development of online medical platforms, consumer health questions (CHQs) are inefficient in diagnosis due to redundant information and frequent non-professional terms. The medical question summary (MQS) task aims to transform CHQs into streamlined doctors' frequently asked questions (FAQs), but existing methods still face challenges such as poor identification of question focus and model hallucination. This paper explores the potential of large language models (LLMs) in the MQS task and finds that direct fine-tuning is prone to focus identification bias and generates unfaithful content. To this end, we propose an optimization framework based on core focus guidance. First, a prompt template is designed to drive the LLMs to extract the core focus from the CHQs that is faithful to the original text. Then, a fine-tuning dataset is constructed in combination with the original CHQ-FAQ pairs to improve the ability to identify the focus of the question. Finally, a multi-dimensional quality evaluation and selection mechanism is proposed to comprehensively improve the quality of the summary from multiple dimensions. We conduct comprehensive experiments on two widely-adopted MQS datasets using three established evaluation metrics. The proposed framework achieves state-of-the-art performance across all measures, demonstrating a significant boost in the model's ability to identify critical focus of questions and a notable mitigation of hallucinations. The source codes are freely available at https://github.com/DUT-LiuChao/FocusMed.

Towards Better Optimization For Listwise Preference in Diffusion Models

Reinforcement learning from human feedback (RLHF) has proven effectiveness for aligning text-to-image (T2I) diffusion models with human preferences. Although Direct Preference Optimization (DPO) is widely adopted for its computational efficiency and avoidance of explicit reward modeling, its applications to diffusion models have primarily relied on pairwise preferences. The precise optimization of listwise preferences remains largely unaddressed. In practice, human feedback on image preferences often contains implicit ranked information, which conveys more precise human preferences than pairwise comparisons. In this work, we propose Diffusion-LPO, a simple and effective framework for Listwise Preference Optimization in diffusion models with listwise data. Given a caption, we aggregate user feedback into a ranked list of images and derive a listwise extension of the DPO objective under the Plackett-Luce model. Diffusion-LPO enforces consistency across the entire ranking by encouraging each sample to be preferred over all of its lower-ranked alternatives. We empirically demonstrate the effectiveness of Diffusion-LPO across various tasks, including text-to-image generation, image editing, and personalized preference alignment. Diffusion-LPO consistently outperforms pairwise DPO baselines on visual quality and preference alignment.

Signed Graph Learning with Hidden Nodes

Signed graphs, which are characterized by both positive and negative edge weights, have recently attracted significant attention in the field of graph signal processing (GSP). Existing works on signed graph learning typically assume that all graph nodes are available. However, in some specific applications, only a subset of nodes can be observed while the remaining nodes stay hidden. To address this challenge, we propose a novel method for identifying signed graph that accounts for hidden nodes, termed \textit{signed graph learning with hidden nodes under column-sparsity regularization} (SGL-HNCS). Our method is based on the assumption that graph signals are smooth over signed graphs, i.e., signal values of two nodes connected by positive (negative) edges are similar (dissimilar). Rooted in this prior assumption, the topology inference of a signed graph is formulated as a constrained optimization problem with column-sparsity regularization, where the goal is to reconstruct the signed graph Laplacian matrix without disregarding the influence of hidden nodes. We solve the constrained optimization problem using a tailored block coordinate descent (BCD) approach. Experimental results using synthetic data and real-world data demonstrate the efficiency of the proposed SGL-HNCS method.

Rethinking Domain-Specific LLM Benchmark Construction: A Comprehensiveness-Compactness Approach

Numerous benchmarks have been built to evaluate the domain-specific abilities of large language models (LLMs), highlighting the need for effective and efficient benchmark construction. Existing domain-specific benchmarks primarily focus on the scaling law, relying on massive corpora for supervised fine-tuning or generating extensive question sets for broad coverage. However, the impact of corpus and question-answer (QA) set design on the precision and recall of domain-specific LLMs remains unexplored. In this paper, we address this gap and demonstrate that the scaling law is not always the optimal principle for benchmark construction in specific domains. Instead, we propose Comp-Comp, an iterative benchmarking framework based on a comprehensiveness-compactness principle. Here, comprehensiveness ensures semantic recall of the domain, while compactness enhances precision, guiding both corpus and QA set construction. To validate our framework, we conducted a case study in a well-renowned university, resulting in the creation of XUBench, a large-scale and comprehensive closed-domain benchmark. Although we use the academic domain as the case in this work, our Comp-Comp framework is designed to be extensible beyond academia, providing valuable insights for benchmark construction across various domains.

DIVER: A Multi-Stage Approach for Reasoning-intensive Information Retrieval

Retrieval-augmented generation has achieved strong performance on knowledge-intensive tasks where query-document relevance can be identified through direct lexical or semantic matches. However, many real-world queries involve abstract reasoning, analogical thinking, or multi-step inference, which existing retrievers often struggle to capture. To address this challenge, we present \textbf{DIVER}, a retrieval pipeline tailored for reasoning-intensive information retrieval. DIVER consists of four components: document processing to improve input quality, LLM-driven query expansion via iterative document interaction, a reasoning-enhanced retriever fine-tuned on synthetic multi-domain data with hard negatives, and a pointwise reranker that combines LLM-assigned helpfulness scores with retrieval scores. On the BRIGHT benchmark, DIVER achieves state-of-the-art nDCG@10 scores of 41.6 and 28.9 on original queries, consistently outperforming competitive reasoning-aware models. These results demonstrate the effectiveness of reasoning-aware retrieval strategies in complex real-world tasks. Our code and retrieval model will be released soon.

Learning to Align, Aligning to Learn: A Unified Approach for Self-Optimized Alignment

Alignment methodologies have emerged as a critical pathway for enhancing language model alignment capabilities. While SFT (supervised fine-tuning) accelerates convergence through direct token-level loss intervention, its efficacy is constrained by offline policy trajectory. In contrast, RL(reinforcement learning) facilitates exploratory policy optimization, but suffers from low sample efficiency and stringent dependency on high-quality base models. To address these dual challenges, we propose GRAO (Group Relative Alignment Optimization), a unified framework that synergizes the respective strengths of SFT and RL through three key innovations: 1) A multi-sample generation strategy enabling comparative quality assessment via reward feedback; 2) A novel Group Direct Alignment Loss formulation leveraging intra-group relative advantage weighting; 3) Reference-aware parameter updates guided by pairwise preference dynamics. Our theoretical analysis establishes GRAO's convergence guarantees and sample efficiency advantages over conventional approaches. Comprehensive evaluations across complex human alignment tasks demonstrate GRAO's superior performance, achieving 57.70\%,17.65\% 7.95\% and 5.18\% relative improvements over SFT, DPO, PPO and GRPO baselines respectively. This work provides both a theoretically grounded alignment framework and empirical evidence for efficient capability evolution in language models.

GMF-Drive: Gated Mamba Fusion with Spatial-Aware BEV Representation for End-to-End Autonomous Driving

Diffusion-based models are redefining the state-of-the-art in end-to-end autonomous driving, yet their performance is increasingly hampered by a reliance on transformer-based fusion. These architectures face fundamental limitations: quadratic computational complexity restricts the use of high-resolution features, and a lack of spatial priors prevents them from effectively modeling the inherent structure of Bird's Eye View (BEV) representations. This paper introduces GMF-Drive (Gated Mamba Fusion for Driving), an end-to-end framework that overcomes these challenges through two principled innovations. First, we supersede the information-limited histogram-based LiDAR representation with a geometrically-augmented pillar format encoding shape descriptors and statistical features, preserving critical 3D geometric details. Second, we propose a novel hierarchical gated mamba fusion (GM-Fusion) architecture that substitutes an expensive transformer with a highly efficient, spatially-aware state-space model (SSM). Our core BEV-SSM leverages directional sequencing and adaptive fusion mechanisms to capture long-range dependencies with linear complexity, while explicitly respecting the unique spatial properties of the driving scene. Extensive experiments on the challenging NAVSIM benchmark demonstrate that GMF-Drive achieves a new state-of-the-art performance, significantly outperforming DiffusionDrive. Comprehensive ablation studies validate the efficacy of each component, demonstrating that task-specific SSMs can surpass a general-purpose transformer in both performance and efficiency for autonomous driving.

4KAgent: Agentic Any Image to 4K Super-Resolution

We present 4KAgent, a unified agentic super-resolution generalist system designed to universally upscale any image to 4K resolution (and even higher, if applied iteratively). Our system can transform images from extremely low resolutions with severe degradations, for example, highly distorted inputs at 256x256, into crystal-clear, photorealistic 4K outputs. 4KAgent comprises three core components: (1) Profiling, a module that customizes the 4KAgent pipeline based on bespoke use cases; (2) A Perception Agent, which leverages vision-language models alongside image quality assessment experts to analyze the input image and make a tailored restoration plan; and (3) A Restoration Agent, which executes the plan, following a recursive execution-reflection paradigm, guided by a quality-driven mixture-of-expert policy to select the optimal output for each step. Additionally, 4KAgent embeds a specialized face restoration pipeline, significantly enhancing facial details in portrait and selfie photos. We rigorously evaluate our 4KAgent across 11 distinct task categories encompassing a total of 26 diverse benchmarks, setting new state-of-the-art on a broad spectrum of imaging domains. Our evaluations cover natural images, portrait photos, AI-generated content, satellite imagery, fluorescence microscopy, and medical imaging like fundoscopy, ultrasound, and X-ray, demonstrating superior performance in terms of both perceptual (e.g., NIQE, MUSIQ) and fidelity (e.g., PSNR) metrics. By establishing a novel agentic paradigm for low-level vision tasks, we aim to catalyze broader interest and innovation within vision-centric autonomous agents across diverse research communities. We will release all the code, models, and results at: https://4kagent.github.io.

KG2QA: Knowledge Graph-enhanced Retrieval-Augmented Generation for Communication Standards Question Answering

There are many types of standards in the field of communication. The traditional consulting model has a long cycle and relies on the knowledge and experience of experts, making it difficult to meet the rapidly developing technological demands. This paper combines the fine-tuning of large language models with the construction of knowledge graphs to implement an intelligent consultation and question-answering system for communication standards. The experimental results show that after LoRA tuning on the constructed dataset of 6,587 questions and answers in the field of communication standards, Qwen2.5-7B-Instruct demonstrates outstanding professional capabilities in the field of communication standards on the test set. BLEU-4 rose from 18.8564 to 66.8993, and evaluation indicators such as ROUGE also increased significantly, outperforming the fine-tuning effect of the comparison model Llama-3-8B-Instruct. Based on the ontology framework containing 6 entity attributes and 10 relation attributes, a knowledge graph of the communication standard domain containing 13,906 entities and 13,524 relations was constructed, showing a relatively good query accuracy rate. The intelligent consultation and question-answering system enables the fine-tuned model on the server side to access the locally constructed knowledge graph and conduct graphical retrieval of key information first, which is conducive to improving the question-answering effect. The evaluation using DeepSeek as the Judge on the test set shows that our RAG framework enables the fine-tuned model to improve the scores at all five angles, with an average score increase of 2.26%. And combined with web services and API interfaces, it has achieved very good results in terms of interaction experience and back-end access, and has very good practical application value.