From Standalone LLMs to Integrated Intelligence: A Survey of Compound Al Systems

Compound Al Systems (CAIS) is an emerging paradigm that integrates large language models (LLMs) with external components, such as retrievers, agents, tools, and orchestrators, to overcome the limitations of standalone models in tasks requiring memory, reasoning, real-time grounding, and multimodal understanding. These systems enable more capable and context-aware behaviors by composing multiple specialized modules into cohesive workflows. Despite growing adoption in both academia and industry, the CAIS landscape remains fragmented, lacking a unified framework for analysis, taxonomy, and evaluation. In this survey, we define the concept of CAIS, propose a multi-dimensional taxonomy based on component roles and orchestration strategies, and analyze four foundational paradigms: Retrieval-Augmented Generation (RAG), LLM Agents, Multimodal LLMs (MLLMs), and orchestration-centric architectures. We review representative systems, compare design trade-offs, and summarize evaluation methodologies across these paradigms. Finally, we identify key challenges-including scalability, interoperability, benchmarking, and coordination-and outline promising directions for future research. This survey aims to provide researchers and practitioners with a comprehensive foundation for understanding, developing, and advancing the next generation of system-level artificial intelligence.

GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Embodied foundation models are gaining increasing attention for their zero-shot generalization, scalability, and adaptability to new tasks through few-shot post-training. However, existing models rely heavily on real-world data, which is costly and labor-intensive to collect. Synthetic data offers a cost-effective alternative, yet its potential remains largely underexplored. To bridge this gap, we explore the feasibility of training Vision-Language-Action models entirely with large-scale synthetic action data. We curate SynGrasp-1B, a billion-frame robotic grasping dataset generated in simulation with photorealistic rendering and extensive domain randomization. Building on this, we present GraspVLA, a VLA model pretrained on large-scale synthetic action data as a foundational model for grasping tasks. GraspVLA integrates autoregressive perception tasks and flow-matching-based action generation into a unified Chain-of-Thought process, enabling joint training on synthetic action data and Internet semantics data. This design helps mitigate sim-to-real gaps and facilitates the transfer of learned actions to a broader range of Internet-covered objects, achieving open-vocabulary generalization in grasping. Extensive evaluations across real-world and simulation benchmarks demonstrate GraspVLA's advanced zero-shot generalizability and few-shot adaptability to specific human preferences. We will release SynGrasp-1B dataset and pre-trained weights to benefit the community.

GDI-Bench: A Benchmark for General Document Intelligence with Vision and Reasoning Decoupling

The rapid advancement of multimodal large language models (MLLMs) has profoundly impacted the document domain, creating a wide array of application scenarios. This progress highlights the need for a comprehensive benchmark to evaluate these models' capabilities across various document-specific tasks. However, existing benchmarks often fail to locate specific model weaknesses or guide systematic improvements. To bridge this gap, we introduce a General Document Intelligence Benchmark (GDI-Bench), featuring 1.9k images across 9 key scenarios and 19 document-specific tasks. By decoupling visual complexity and reasoning complexity, the GDI-Bench structures graded tasks that allow performance assessment by difficulty, aiding in model weakness identification and optimization guidance. We evaluate the GDI-Bench on various open-source and closed-source models, conducting decoupled analyses in the visual and reasoning domains. For instance, the GPT-4o model excels in reasoning tasks but exhibits limitations in visual capabilities. To address the diverse tasks and domains in the GDI-Bench, we propose a GDI Model that mitigates the issue of catastrophic forgetting during the supervised fine-tuning (SFT) process through a intelligence-preserving training strategy. Our model achieves state-of-the-art performance on previous benchmarks and the GDI-Bench. Both our benchmark and model will be open source.

Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy

Generalizable dexterous grasping with suitable grasp types is a fundamental skill for intelligent robots. Developing such skills requires a large-scale and high-quality dataset that covers numerous grasp types (i.e., at least those categorized by the GRASP taxonomy), but collecting such data is extremely challenging. Existing automatic grasp synthesis methods are often limited to specific grasp types or object categories, hindering scalability. This work proposes an efficient pipeline capable of synthesizing contact-rich, penetration-free, and physically plausible grasps for any grasp type, object, and articulated hand. Starting from a single human-annotated template for each hand and grasp type, our pipeline tackles the complicated synthesis problem with two stages: optimize the object to fit the hand template first, and then locally refine the hand to fit the object in simulation. To validate the synthesized grasps, we introduce a contact-aware control strategy that allows the hand to apply the appropriate force at each contact point to the object. Those validated grasps can also be used as new grasp templates to facilitate future synthesis. Experiments show that our method significantly outperforms previous type-unaware grasp synthesis baselines in simulation. Using our algorithm, we construct a dataset containing 10.7k objects and 9.5M grasps, covering 31 grasp types in the GRASP taxonomy. Finally, we train a type-conditional generative model that successfully performs the desired grasp type from single-view object point clouds, achieving an 82.3% success rate in real-world experiments. Project page: https://pku-epic.github.io/Dexonomy.

Opportunistic Collaborative Planning with Large Vision Model Guided Control and Joint Query-Service Optimization

Navigating autonomous vehicles in open scenarios is a challenge due to the difficulties in handling unseen objects. Existing solutions either rely on small models that struggle with generalization or large models that are resource-intensive. While collaboration between the two offers a promising solution, the key challenge is deciding when and how to engage the large model. To address this issue, this paper proposes opportunistic collaborative planning (OCP), which seamlessly integrates efficient local models with powerful cloud models through two key innovations. First, we propose large vision model guided model predictive control (LVM-MPC), which leverages the cloud for LVM perception and decision making. The cloud output serves as a global guidance for a local MPC, thereby forming a closed-loop perception-to-control system. Second, to determine the best timing for large model query and service, we propose collaboration timing optimization (CTO), including object detection confidence thresholding (ODCT) and cloud forward simulation (CFS), to decide when to seek cloud assistance and when to offer cloud service. Extensive experiments show that the proposed OCP outperforms existing methods in terms of both navigation time and success rate.

PIS: Linking Importance Sampling and Attention Mechanisms for Efficient Prompt Compression

Large language models (LLMs) have achieved remarkable progress, demonstrating unprecedented capabilities across various natural language processing tasks. However, the high costs associated with such exceptional performance limit the widespread adoption of LLMs, highlighting the need for prompt compression. Existing prompt compression methods primarily rely on heuristic truncation or abstractive summarization techniques, which fundamentally overlook the intrinsic mechanisms of LLMs and lack a systematic evaluation of token importance for generation. In this work, we introduce Prompt Importance Sampling (PIS), a novel compression framework that dynamically compresses prompts by sampling important tokens based on the analysis of attention scores of hidden states. PIS employs a dual-level compression mechanism: 1) at the token level, we quantify saliency using LLM-native attention scores and implement adaptive compression through a lightweight 9-layer reinforcement learning (RL) network; 2) at the semantic level, we propose a Russian roulette sampling strategy for sentence-level importance sampling. Comprehensive evaluations across multiple domain benchmarks demonstrate that our method achieves state-of-the-art compression performance. Notably, our framework serendipitously enhances reasoning efficiency through optimized context structuring. This work advances prompt engineering by offering both theoretical grounding and practical efficiency in context management for LLMs.

PromptHash: Affinity-Prompted Collaborative Cross-Modal Learning for Adaptive Hashing Retrieval

Cross-modal hashing is a promising approach for efficient data retrieval and storage optimization. However, contemporary methods exhibit significant limitations in semantic preservation, contextual integrity, and information redundancy, which constrains retrieval efficacy. We present PromptHash, an innovative framework leveraging affinity prompt-aware collaborative learning for adaptive cross-modal hashing. We propose an end-to-end framework for affinity-prompted collaborative hashing, with the following fundamental technical contributions: (i) a text affinity prompt learning mechanism that preserves contextual information while maintaining parameter efficiency, (ii) an adaptive gated selection fusion architecture that synthesizes State Space Model with Transformer network for precise cross-modal feature integration, and (iii) a prompt affinity alignment strategy that bridges modal heterogeneity through hierarchical contrastive learning. To the best of our knowledge, this study presents the first investigation into affinity prompt awareness within collaborative cross-modal adaptive hash learning, establishing a paradigm for enhanced semantic consistency across modalities. Through comprehensive evaluation on three benchmark multi-label datasets, PromptHash demonstrates substantial performance improvements over existing approaches. Notably, on the NUS-WIDE dataset, our method achieves significant gains of 18.22% and 18.65% in image-to-text and text-to-image retrieval tasks, respectively. The code is publicly available at https://github.com/ShiShuMo/PromptHash.

Geometric Knowledge-Guided Localized Global Distribution Alignment for Federated Learning

Data heterogeneity in federated learning, characterized by a significant misalignment between local and global distributions, leads to divergent local optimization directions and hinders global model training. Existing studies mainly focus on optimizing local updates or global aggregation, but these indirect approaches demonstrate instability when handling highly heterogeneous data distributions, especially in scenarios where label skew and domain skew coexist. To address this, we propose a geometry-guided data generation method that centers on simulating the global embedding distribution locally. We first introduce the concept of the geometric shape of an embedding distribution and then address the challenge of obtaining global geometric shapes under privacy constraints. Subsequently, we propose GGEUR, which leverages global geometric shapes to guide the generation of new samples, enabling a closer approximation to the ideal global distribution. In single-domain scenarios, we augment samples based on global geometric shapes to enhance model generalization; in multi-domain scenarios, we further employ class prototypes to simulate the global distribution across domains. Extensive experimental results demonstrate that our method significantly enhances the performance of existing approaches in handling highly heterogeneous data, including scenarios with label skew, domain skew, and their coexistence. Code published at: https://github.com/WeiDai-David/2025CVPR_GGEUR

Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control. However, action chunking linearly scales up action dimensions in VLA models with increased chunking sizes. This reduces the inference efficiency. To tackle this problem, we propose PD-VLA, the first parallel decoding framework for VLA models integrated with action chunking. Our framework reformulates autoregressive decoding as a nonlinear system solved by parallel fixed-point iterations. This approach preserves model performance with mathematical guarantees while significantly improving decoding speed. In addition, it enables training-free acceleration without architectural changes, as well as seamless synergy with existing acceleration techniques. Extensive simulations validate that our PD-VLA maintains competitive success rates while achieving 2.52 times execution frequency on manipulators (with 7 degrees of freedom) compared with the fundamental VLA model. Furthermore, we experimentally identify the most effective settings for acceleration. Finally, real-world experiments validate its high applicability across different tasks.

Bridging the Creativity Understanding Gap: Small-Scale Human Alignment Enables Expert-Level Humor Ranking in LLMs

Large Language Models (LLMs) have shown significant limitations in understanding creative content, as demonstrated by Hessel et al. (2023)'s influential work on the New Yorker Cartoon Caption Contest (NYCCC). Their study exposed a substantial gap between LLMs and humans in humor comprehension, establishing that understanding and evaluating creative content is key challenge in AI development. We revisit this challenge by decomposing humor understanding into three components and systematically improve each: enhancing visual understanding through improved annotation, utilizing LLM-generated humor reasoning and explanations, and implementing targeted alignment with human preference data. Our refined approach achieves 82.4% accuracy in caption ranking, singificantly improving upon the previous 67% benchmark and matching the performance of world-renowned human experts in this domain. Notably, while attempts to mimic subgroup preferences through various persona prompts showed minimal impact, model finetuning with crowd preferences proved remarkably effective. These findings reveal that LLM limitations in creative judgment can be effectively addressed through focused alignment to specific subgroups and individuals. Lastly, we propose the position that achieving artificial general intelligence necessitates systematic collection of human preference data across creative domains. We advocate that just as human creativity is deeply influenced by individual and cultural preferences, training LLMs with diverse human preference data may be essential for developing true creative understanding.