UniGRPO: Unified Policy Optimization for Reasoning-Driven Visual Generation

Unified models capable of interleaved generation have emerged as a promising paradigm, with the community increasingly converging on autoregressive modeling for text and flow matching for image generation. To advance this direction, we propose a unified reinforcement learning framework tailored for interleaved generation. We validate our approach on its fundamental unit: a single round of reasoning-driven image generation, where the model first expands the user prompt through reasoning, followed by image synthesis. Formulating this multimodal generation process as a Markov Decision Process with sparse terminal rewards, we introduce UniGRPO to jointly optimize text and image generation policies using GRPO. Adopting a minimalist methodology to avoid over-design, we leverage established training recipes for both modalities by seamlessly integrating standard GRPO for reasoning and FlowGRPO for visual synthesis. To ensure scalability to multi-round interleaved generation, we introduce two critical modifications to the original FlowGRPO: (1) eliminating classifier-free guidance to maintain linear, unbranched rollouts, which is essential for scaling to complex scenarios involving multi-turn interactions and multi-condition generation (e.g., editing); and (2) replacing the standard latent KL penalty with an MSE penalty directly on the velocity fields, providing a more robust and direct regularization signal to mitigate reward hacking effectively. Our experiments demonstrate that this unified training recipe significantly enhances image generation quality through reasoning, providing a robust and scalable baseline for the future post-training of fully interleaved models.

SparseDVFS: Sparse-Aware DVFS for Energy-Efficient Edge Inference

Deploying deep neural networks (DNNs) on power-sensitive edge devices presents a formidable challenge. While Dynamic Voltage and Frequency Scaling (DVFS) is widely employed for energy optimization, traditional model-level scaling is often too coarse to capture intra-inference variations, whereas fine-grained operator-level scaling suffers from prohibitive performance degradation due to significant hardware switching latency. This paper presents SparseDVFS, a fine-grained, sparse-aware DVFS framework designed for energy-efficient edge inference. Our key insight is that operator sparsity is a primary metric for hardware frequency modulation. By distinguishing between compute-bound dense operators and memory-bound sparse operators, the system can apply specialized frequency triplets to maximize energy efficiency. To overcome switching overheads and component interference, SparseDVFS incorporates three key innovations: (1) an offline modeler that established a deterministic mapping between operator sparsity and optimal frequency triplets (CPU/GPU/EMC) via white-box timeline analysis; (2) a runtime graph partitioner that utilizes a greedy merging heuristic to aggregate operators into super-blocks, balancing scaling granularity and DVFS switching latency through a latency amortization constraint; and (3) a unified co-governor that employs a frequency unified scaling engine (FUSE) and a look-ahead instruction queue to eliminate antagonistic effects between independent controllers and hide hardware transition latencies. Extensive evaluations show that SparseDVFS achieves an average 78.17% energy efficiency gain over state-of-the-art solutions while maintaining a superior 14% cost-gain ratio.

ConsRoute:Consistency-Aware Adaptive Query Routing for Cloud-Edge-Device Large Language Models

Large language models (LLMs) deliver impressive capabilities but incur substantial inference latency and cost, which hinders their deployment in latency-sensitive and resource-constrained scenarios. Cloud-edge-device collaborative inference has emerged as a promising paradigm by dynamically routing queries to models of different capacities across tiers. In this paper, we propose ConsRoute, a lightweight, semantic-aware, and adaptive routing framework that significantly improves inference efficiency while minimizing impact on response quality. Unlike prior routing methods that rely on predicting coarse-grained output quality gaps, ConsRoute leverages a reranker to directly assess the semantic consistency between responses generated by models at different tiers, yielding fine-grained soft supervision signals for routing. To minimize device-side overhead, ConsRoute reuses hidden states from the LLM prefilling stage as compact query representations, avoiding additional encoders or inference passes. Furthermore, these representations are clustered, and Bayesian optimization is employed to learn cluster-specific routing thresholds that dynamically balance quality, latency, and cost under heterogeneous query distributions. Extensive experiments demonstrate that ConsRoute achieves near-cloud performance (>=95%) while reducing end-to-end latency and inference cost by nearly 40%, consistently outperforming existing routing baselines in both response quality and system efficiency.

Are a Thousand Words Better Than a Single Picture? Beyond Images -- A Framework for Multi-Modal Knowledge Graph Dataset Enrichment

Multi-Modal Knowledge Graphs (MMKGs) benefit from visual information, yet large-scale image collection is hard to curate and often excludes ambiguous but relevant visuals (e.g., logos, symbols, abstract scenes). We present Beyond Images, an automatic data-centric enrichment pipeline with optional human auditing. This pipeline operates in three stages: (1) large-scale retrieval of additional entity-related images, (2) conversion of all visual inputs into textual descriptions to ensure that ambiguous images contribute usable semantics rather than noise, and (3) fusion of multi-source descriptions using a large language model (LLM) to generate concise, entity-aligned summaries. These summaries replace or augment the text modality in standard MMKG models without changing their architectures or loss functions. Across three public MMKG datasets and multiple baseline models, we observe consistent gains (up to 7% Hits@1 overall). Furthermore, on a challenging subset of entities with visually ambiguous logos and symbols, converting images into text yields large improvements (201.35% MRR and 333.33% Hits@1). Additionally, we release a lightweight Text-Image Consistency Check Interface for optional targeted audits, improving description quality and dataset reliability. Our results show that scaling image coverage and converting ambiguous visuals into text is a practical path to stronger MMKG completion. Code, datasets, and supplementary materials are available at https://github.com/pengyu-zhang/Beyond-Images.

$Ψ_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation

We introduce $Ψ_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and humanoid data, we argue that this strategy is suboptimal due to the fundamental kinematic and motion disparities between humans and humanoid robots. Therefore, data efficiency and model performance remain unsatisfactory despite the considerable data volume. To address this challenge, \ours\;decouples the learning process to maximize the utility of heterogeneous data sources. Specifically, we propose a staged training paradigm with different learning objectives: First, we autoregressively pre-train a VLM backbone on large-scale egocentric human videos to acquire generalizable visual-action representations. Then, we post-train a flow-based action expert on high-quality humanoid robot data to learn precise robot joint control. Our research further identifies a critical yet often overlooked data recipe: in contrast to approaches that scale with noisy Internet clips or heterogeneous cross-embodiment robot datasets, we demonstrate that pre-training on high-quality egocentric human manipulation data followed by post-training on domain-specific real-world humanoid trajectories yields superior performance. Extensive real-world experiments demonstrate that \ours\ achieves the best performance using only about 800 hours of human video data and 30 hours of real-world robot data, outperforming baselines pre-trained on more than 10$\times$ as much data by over 40\% in overall success rate across multiple tasks. We will open-source the entire ecosystem to the community, including a data processing and training pipeline, a humanoid foundation model, and a real-time action inference engine.

Linking Perception, Confidence and Accuracy in MLLMs

Recent advances in Multi-modal Large Language Models (MLLMs) have predominantly focused on enhancing visual perception to improve accuracy. However, a critical question remains unexplored: Do models know when they do not know? Through a probing experiment, we reveal a severe confidence miscalibration problem in MLLMs. To address this, we propose Confidence-Driven Reinforcement Learning (CDRL), which uses original-noise image pairs and a novel confidence-based reward to enhance perceptual sensitivity and robustly calibrate the model's confidence. Beyond training benefits, calibrated confidence enables more effective test-time scaling as a free lunch. We further propose Confidence-Aware Test-Time Scaling (CA-TTS), which dynamically coordinates Self-Consistency, Self-Reflection, and Visual Self-Check modules guided by confidence signals. An Expert Model acts in multiple roles (e.g., Planner, Critic, Voter) to schedule these modules and provide external verification. Our integrated framework establishes new state-of-the-art results with consistent 8.8% gains across four benchmarks. More ablation studies demonstrate the effectiveness of each module and scaling superiority.

Feature Recalibration Based Olfactory-Visual Multimodal Model for Fine-Grained Rice Deterioration Detection

Multimodal methods are widely used in rice deterioration detection, which exhibit limited capability in representing and extracting fine-grained abnormal features. Moreover, these methods rely on devices, such as hyperspectral cameras and mass spectrometers, increasing detection costs and prolonging data acquisition time. To address these issues, we propose a feature recalibration based olfactory-visual multimodal model for fine-grained rice deterioration detection. The fine-grained deterioration embedding constructor (FDEC) is proposed to reconstruct the labeled multimodal embedded-feature dataset, enhancing sample representation. The fine-grained deterioration recalibration attention network (FDRA-Net) is proposed to emphasize signal variations and increase sensitivity to fine-grained deterioration on the rice surface. Experiments show that the proposed method achieves a classification accuracy of 99.89%. Compared with state-of-the-art methods, the detection accuracy is improved and the procedure is simplified. Furthermore, field detection demonstrates the advantages of accuracy and operational simplicity. The proposed method can also be extended to other agrifood in agriculture and food industry.

Prior-Guided Symbolic Regression: Towards Scientific Consistency in Equation Discovery

Symbolic Regression (SR) aims to discover interpretable equations from observational data, with the potential to reveal underlying principles behind natural phenomena. However, existing approaches often fall into the Pseudo-Equation Trap: producing equations that fit observations well but remain inconsistent with fundamental scientific principles. A key reason is that these approaches are dominated by empirical risk minimization, lacking explicit constraints to ensure scientific consistency. To bridge this gap, we propose PG-SR, a prior-guided SR framework built upon a three-stage pipeline consisting of warm-up, evolution, and refinement. Throughout the pipeline, PG-SR introduces a prior constraint checker that explicitly encodes domain priors as executable constraint programs, and employs a Prior Annealing Constrained Evaluation (PACE) mechanism during the evolution stage to progressively steer discovery toward scientifically consistent regions. Theoretically, we prove that PG-SR reduces the Rademacher complexity of the hypothesis space, yielding tighter generalization bounds and establishing a guarantee against pseudo-equations. Experimentally, PG-SR outperforms state-of-the-art baselines across diverse domains, maintaining robustness to varying prior quality, noisy data, and data scarcity.

Deep Dense Exploration for LLM Reinforcement Learning via Pivot-Driven Resampling

Effective exploration is a key challenge in reinforcement learning for large language models: discovering high-quality trajectories within a limited sampling budget from the vast natural language sequence space. Existing methods face notable limitations: GRPO samples exclusively from the root, saturating high-probability trajectories while leaving deep, error-prone states under-explored. Tree-based methods blindly disperse budgets across trivial or unrecoverable states, causing sampling dilution that fails to uncover rare correct suffixes and destabilizes local baselines. To address this, we propose Deep Dense Exploration (DDE), a strategy that focuses exploration on $\textit{pivots}$-deep, recoverable states within unsuccessful trajectories. We instantiate DDE with DEEP-GRPO, which introduces three key innovations: (1) a lightweight data-driven utility function that automatically balances recoverability and depth bias to identify pivot states; (2) local dense resampling at each pivot to increase the probability of discovering correct subsequent trajectories; and (3) a dual-stream optimization objective that decouples global policy learning from local corrective updates. Experiments on mathematical reasoning benchmarks demonstrate that our method consistently outperforms GRPO, tree-based methods, and other strong baselines.

Towards Uniformity and Alignment for Multimodal Representation Learning

Multimodal representation learning aims to construct a shared embedding space in which heterogeneous modalities are semantically aligned. Despite strong empirical results, InfoNCE-based objectives introduce inherent conflicts that yield distribution gaps across modalities. In this work, we identify two conflicts in the multimodal regime, both exacerbated as the number of modalities increases: (i) an alignment-uniformity conflict, whereby the repulsion of uniformity undermines pairwise alignment, and (ii) an intra-alignment conflict, where aligning multiple modalities induces competing alignment directions. To address these issues, we propose a principled decoupling of alignment and uniformity for multimodal representations, providing a conflict-free recipe for multimodal learning that simultaneously supports discriminative and generative use cases without task-specific modules. We then provide a theoretical guarantee that our method acts as an efficient proxy for a global Hölder divergence over multiple modality distributions, and thus reduces the distribution gap among modalities. Extensive experiments on retrieval and UnCLIP-style generation demonstrate consistent gains.