EviATTA: Evidential Active Test-Time Adaptation for Medical Segment Anything Models

Deploying foundational medical Segment Anything Models (SAMs) via test-time adaptation (TTA) is challenging under large distribution shifts, where test-time supervision is often unreliable. While active test-time adaptation (ATTA) introduces limited expert feedback to improve reliability, existing ATTA methods still suffer from unreliable uncertainty estimation and inefficient utilization of sparse annotations. To address these issues, we propose Evidential Active Test-Time Adaptation (EviATTA), which is, to our knowledge, the first ATTA framework tailored for medical SAMs. Specifically, we adopt the Dirichlet-based Evidential Modeling to decompose overall predictive uncertainty into distribution uncertainty and data uncertainty. Building on this decomposition, we design a Hierarchical Evidential Sampling strategy, where image-wise distribution uncertainty is used to select informative shifted samples, while distance-aware data uncertainty guides sparse pixel annotations to resolve data ambiguities. We further introduce Dual Consistency Regularization, which enforces progressive prompt consistency on sparsely labeled samples to better exploit sparse supervision and applies variational feature consistency on unlabeled samples to stabilize adaptation. Extensive experiments on six medical image segmentation datasets demonstrate that EviATTA consistently improves adaptation reliability with minimal expert feedback under both batch-wise and instance-wise test-time adaptation settings.

GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization

Synthesizing high-quality dexterous grasps is a fundamental challenge in robot manipulation, requiring adherence to diversity, kinematic feasibility (valid hand-object contact without penetration), and dynamic stability (secure multi-contact forces). The recent framework Dexonomy successfully ensures broad grasp diversity through dense sampling and improves kinematic feasibility via a simulator-based refinement method that excels at resolving exact collisions. However, its reliance on fixed contact points restricts the hand's reachability and prevents the optimization of grasp metrics for dynamic stability. Conversely, purely gradient-based optimizers can maximize dynamic stability but rely on simplified contact approximations that inevitably cause physical penetrations. To bridge this gap, we propose GraspADMM, a novel grasp synthesis framework that preserves sampling-based diversity while improving kinematic feasibility and dynamic stability. By formulating the refinement stage using the Alternating Direction Method of Multipliers (ADMM), we decouple the target contact points on the object from the actual contact locations on the hand. This decomposition allows the pipeline to alternate between updating the target object points to directly maximize dynamic grasp metrics, and adjusting the hand pose to physically reach these targets while strictly respecting collision boundaries. Extensive experiments demonstrate that GraspADMM significantly outperforms state-of-the-art baselines, achieving a nearly 15\% absolute improvement in grasp success rate for type-unaware synthesis and roughly a 100\% relative improvement in type-aware synthesis. Furthermore, our approach maintains robust, physically plausible grasp generation even under extreme low-friction conditions.

Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning

Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting contact among multiple interacting objects with inherently coupled dynamics. Existing approaches lack explicit modeling of such complex dynamics and therefore fall short in non-prehensile manipulation in cluttered environments, which in turn limits their practical applicability in real-world environments. In this paper, we introduce a Dynamics-Aware Policy Learning (DAPL) framework that can facilitate policy learning with a learned representation of contact-induced object dynamics in cluttered environments. This representation is learned through explicit world modeling and used to condition reinforcement learning, enabling extrinsic dexterity to emerge without hand-crafted contact heuristics or complex reward shaping. We evaluate our approach in both simulation and the real world. Our method outperforms prehensile manipulation, human teleoperation, and prior representation-based policies by over 25% in success rate on unseen simulated cluttered scenes with varying densities. The real-world success rate reaches around 50% across 10 cluttered scenes, while a practical grocery deployment further demonstrates robust sim-to-real transfer and applicability.

Rethinking the Practicality of Vision-language-action Model: A Comprehensive Benchmark and An Improved Baseline

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To improve the practicality of VLAs, we propose a comprehensive benchmark and an improved baseline. First, we propose CEBench, a new benchmark spanning diverse embodiments in both simulation and the real world with consideration of domain randomization. We collect 14.4k simulated trajectories and 1.6k real-world expert-curated trajectories to support training on CEBench. Second, using CEBench as our testbed, we study three critical aspects of VLAs' practicality and offer several key findings. Informed by these findings, we introduce LLaVA-VLA, a lightweight yet powerful VLA designed for practical deployment on consumer-grade GPUs. Architecturally, it integrates a compact VLM backbone with multi-view perception, proprioceptive tokenization, and action chunking. To eliminate reliance on costly pre-training, LLaVA-VLA adopts a two-stage training paradigm including post-training and fine-tuning. Furthermore, LLaVA-VLA extends the action space to unify navigation and manipulation. Experiments across embodiments demonstrate the capabilities of generalization and versatility of LLaVA-VLA , while real-world mobile manipulation experiments establish it as the first end-to-end VLA model for mobile manipulation. We will open-source all datasets, codes, and checkpoints upon acceptance to foster reproducibility and future research.

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation has the potential to leverage such diverse data, existing instantiations struggle to scale to foundation-level due to coarse data usage and fragmented datasets. We introduce LDA-1B, a robot foundation model that scales through universal embodied data ingestion by jointly learning dynamics, policy, and visual forecasting, assigning distinct roles to data of varying quality. To support this regime at scale, we assemble and standardize EI-30k, an embodied interaction dataset comprising over 30k hours of human and robot trajectories in a unified format. Scalable dynamics learning over such heterogeneous data is enabled by prediction in a structured DINO latent space, which avoids redundant pixel-space appearance modeling. Complementing this representation, LDA-1B employs a multi-modal diffusion transformer to handle asynchronous vision and action streams, enabling stable training at the 1B-parameter scale. Experiments in simulation and the real world show LDA-1B outperforms prior methods (e.g., $π_{0.5}$) by up to 21\%, 48\%, and 23\% on contact-rich, dexterous, and long-horizon tasks, respectively. Notably, LDA-1B enables data-efficient fine-tuning, gaining 10\% by leveraging 30\% low-quality trajectories typically harmful and discarded.

M2A: Multimodal Memory Agent with Dual-Layer Hybrid Memory for Long-Term Personalized Interactions

This work addresses the challenge of personalized question answering in long-term human-machine interactions: when conversational history spans weeks or months and exceeds the context window, existing personalization mechanisms struggle to continuously absorb and leverage users' incremental concepts, aliases, and preferences. Current personalized multimodal models are predominantly static-concepts are fixed at initialization and cannot evolve during interactions. We propose M2A, an agentic dual-layer hybrid memory system that maintains personalized multimodal information through online updates. The system employs two collaborative agents: ChatAgent manages user interactions and autonomously decides when to query or update memory, while MemoryManager breaks down memory requests from ChatAgent into detailed operations on the dual-layer memory bank, which couples a RawMessageStore (immutable conversation log) with a SemanticMemoryStore (high-level observations), providing memories at different granularities. In addition, we develop a reusable data synthesis pipeline that injects concept-grounded sessions from Yo'LLaVA and MC-LLaVA into LoCoMo long conversations while preserving temporal coherence. Experiments show that M2A significantly outperforms baselines, demonstrating that transforming personalization from one-shot configuration to a co-evolving memory mechanism provides a viable path for high-quality individualized responses in long-term multimodal interactions. The code is available at https://github.com/Little-Fridge/M2A.

CL-bench: A Benchmark for Context Learning

Current language models (LMs) excel at reasoning over prompts using pre-trained knowledge. However, real-world tasks are far more complex and context-dependent: models must learn from task-specific context and leverage new knowledge beyond what is learned during pre-training to reason and resolve tasks. We term this capability context learning, a crucial ability that humans naturally possess but has been largely overlooked. To this end, we introduce CL-bench, a real-world benchmark consisting of 500 complex contexts, 1,899 tasks, and 31,607 verification rubrics, all crafted by experienced domain experts. Each task is designed such that the new content required to resolve it is contained within the corresponding context. Resolving tasks in CL-bench requires models to learn from the context, ranging from new domain-specific knowledge, rule systems, and complex procedures to laws derived from empirical data, all of which are absent from pre-training. This goes far beyond long-context tasks that primarily test retrieval or reading comprehension, and in-context learning tasks, where models learn simple task patterns via instructions and demonstrations. Our evaluations of ten frontier LMs find that models solve only 17.2% of tasks on average. Even the best-performing model, GPT-5.1, solves only 23.7%, revealing that LMs have yet to achieve effective context learning, which poses a critical bottleneck for tackling real-world, complex context-dependent tasks. CL-bench represents a step towards building LMs with this fundamental capability, making them more intelligent and advancing their deployment in real-world scenarios.

Analysis of Sensing in OFDM-based ISAC under the Influence of Sampling Jitter

To enable integrated sensing and communication (ISAC) in cellular networks, a wide range of additional requirements and challenges are either imposed or become more critical. One such impairment is sampling jitter (SJ), which arises due to imperfections in the sampling instants of the clocks of digital-to-analog converters (DACs) and analog-to-digital converters (ADCs). While SJ is already well studied for communication systems based on orthogonal frequency-division multiplexing (OFDM), which is expected to be the waveform of choice for most sixth-generation (6G) scenarios where ISAC could be possible, the implications of SJ on the OFDM-based radar sensing must still be thoroughly analyzed. Considering that phase-locked loop (PLL)-based oscillators are used to derive sampling clocks, which leads to colored SJ, i.e., SJ with non-flat power spectral density, this article analyzes the resulting distortion of the adopted digital constellation modulation and sensing performance in OFDM-based ISAC for both baseband (BB) and bandpass (BP) sampling strategies and different oversampling factors. For BB sampling, it is seen that SJ induces intercarrier interference (ICI), while for BP sampling, it causes carrier phase error and more severe ICI due to a phase noise-like effect at the digital intermediate frequency. Obtained results for a single-input single-output OFDM-based ISAC system with various OFDM signal parameterizations demonstrate that SJ-induced degradation becomes non-negligible for both BB and BP sampling only for root mean square (RMS) SJ values above 10^-11 s at both DAC and ADC, which corresponds to 0.5*10^-2 times the considered critical sampling period without oversampling. Based on the achieved results, it can be concluded that state-of-the-art hardware enables sufficient communication and sensing robustness against SJ, as RMS SJ values in the femtosecond range can be achieved.

Embodied Robot Manipulation in the Era of Foundation Models: Planning and Learning Perspectives

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation from an algorithmic perspective and organizes recent learning-based approaches within a unified abstraction of high-level planning and low-level control. At the high level, we extend the classical notion of task planning to include reasoning over language, code, motion, affordances, and 3D representations, emphasizing their role in structured and long-horizon decision making. At the low level, we propose a training-paradigm-oriented taxonomy for learning-based control, organizing existing methods along input modeling, latent representation learning, and policy learning. Finally, we identify open challenges and prospective research directions related to scalability, data efficiency, multimodal physical interaction, and safety. Together, these analyses aim to clarify the design space of modern foundation models for robotic manipulation.

Robust Differentiable Collision Detection for General Objects

Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but are inherently non-differentiable, preventing gradient flow and limiting gradient-based optimization in contact-rich tasks such as grasping and manipulation. Recent work introduced efficient first-order randomized smoothing to make witness points differentiable; however, their direction-based formulation is restricted to convex objects and lacks robustness for complex geometries. In this work, we propose a robust and efficient differentiable collision detection framework that supports both convex and concave objects across diverse scales and configurations. Our method introduces distance-based first-order randomized smoothing, adaptive sampling, and equivalent gradient transport for robust and informative gradient computation. Experiments on complex meshes from DexGraspNet and Objaverse show significant improvements over existing baselines. Finally, we demonstrate a direct application of our method for dexterous grasp synthesis to refine the grasp quality. The code is available at https://github.com/JYChen18/DiffCollision.