StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In this paper, we propose StairMaster, a novel three-stage reinforcement learning framework for stable locomotion on such extreme discontinuous terrains. Our architecture integrates a Cross-Attention mechanism to extract structural features from noisy depth data, alongside a Spatial-aware Recurrent Unit (SRU) that maintains robust spatio-temporal memory to mitigate perception blind spots. To bridge the sim-to-real gap in depth perception, we propose a high-fidelity sim-to-real depth sensor modeling pipeline that faithfully replicates real-world sensor artifacts. Additionally, we employ a 3D waypoint-guided active perception reward for proactive sensing, alongside hollow gap kinematic and stair edge penalties to ensure precise foothold placement. We successfully deployed StairMaster on a Unitree Go2 robot, demonstrating its ability to conquer hollow stairs with an unprecedented incline of up to 55$^\circ$ through zero-shot transfer. To the best of our knowledge, this is the first RL-based policy to achieve such steep hollow stair climbing in real-world environments. Project Website: https://sivan666666.github.io/StairMaster/.

ACCORD: Action-Conditioned Contextual Grounding for Language Agents

User instructions are often underspecified because humans rely on implicit assumptions about the surrounding environment. For large language model (LLM) agents operating in information-rich digital and physical environments, these assumptions cannot be inferred from the instruction alone; they must be recovered from the current state of tools, data, interfaces, and observations. Effective execution therefore requires agents to identify missing context, ground it in observed evidence, and carry it forward into subsequent actions. We show that current agents often fail to do so. They act from assumed rather than observed specifics, overlook information they could have gathered, and fail to incorporate evidence that has already been returned. Building on this insight, we propose ACCORD (Action-Conditioned Contextual Grounding), a simple and effective agent framework for adaptive grounding. Before each action, ACCORD actively probes the environment for missing information and integrates relevant context from the agent's trajectory that would otherwise be overlooked. Requiring no additional training or task-success signals, ACCORD improves task-goal completion on AppWorld by up to +20.6 points with GPT-5-mini, from 42.0% to 62.6%, compared to strong baselines. These gains persist with a substantially stronger base model (+10.8 with Claude-4.5-sonnet), an open-weight model (+10.1 with Qwen3.5-27B-FP8), and on the embodied AlfWorld benchmark (+7.4 success rate with GPT-5-mini).

SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation

RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simulated demonstrations per task, reaching above 80% per-task and 91% average real-world success across 5 diverse deformable tasks including plastic-bag manipulation, without teleoperation or per-task calibration. SimWeaver combines a reliable measurement-backed simulator (SimWeaver-Sim) with an extensible asset framework supporting single-image generation(SimWeaver-Asset), a deterministic topology-aware trajectory synthesizer (SimWeaver-Syn), and a sim-to-real protocol with ISP-aware photometric augmentation (SimWeaver-Real). On silk grasping, the sim-trained policy reaches 100% under visual distribution shifts where real-data baselines drop to 9-70%, at two orders of magnitude lower per-trajectory cost. We will release SimWeaver and a representative asset subset. Project page: https://simweaver.github.io/

ISAC for AI: A Trade-off Framework Across Data Acquisition and Transfer in Federated Learning

In this paper, we propose a resource allocation framework for federated learning (FL) in integrated sensing and communication (ISAC) systems, where we consider not only the reliability of model transfer through communication, but also the quality of data acquisition through sensing in the first place. Unlike existing works that assume training data is pre-collected or only impose a fixed sensing signal-to-noise ratio (SNR) threshold to reflect data quality, we explicitly characterize the relationship between sensing data quality (measured by sensing SNR), dataset size, and the upload reliability in FL training, and exploit this relationship to allocate resources between sensing and communication under a shared energy budget. This is non-trivial due to the intricate coupling among sensing data quality, transmission reliability, and communication resource allocation; nevertheless, it enables a principled joint optimization framework that directly enhances learning performance. Specifically, we derive a closed-form convergence upper bound that quantifies the joint impact of these factors on the FL optimality gap. Utilizing this upper bound, the original intractable optimization problem can be reformulated into a tractable resource allocation problem that jointly optimizes the sensing transmit power, number of sensing snapshots, and communication transmit power at each device subject to individual energy budget constraints. To solve the reformulated problem, we propose a two-layer optimization algorithm with linear complexity, where the outer layer employs golden section search and the inner layer solves per-device subproblems with closed-form solutions.

Low Light Image Enhancement Challenge at NTIRE 2026

This paper presents a comprehensive review of the NTIRE 2026 Low Light Image Enhancement Challenge, highlighting the proposed solutions and final results. The objective of this challenge is to identify effective networks capable of producing clearer and visually compelling images in diverse and challenging conditions by learning representative visual cues with the purpose of restoring information loss due to low-contrast and noisy images. A total of 195 participants registered for the first track and 153 for the second track of the competition, and 22 teams ultimately submitted valid entries. This paper thoroughly evaluates the state-of-the-art advances in (joint denoising and) low-light image enhancement, showcasing the significant progress in the field, while leveraging samples of our novel dataset.

Awakening the Sleeping Agent: Lean-Specific Agentic Data Reactivates General Tool Use in Goedel Prover

Heavy supervised fine-tuning on a target domain can strongly suppress capabilities that were present in the base model. We study this phenomenon in formal mathematics using Goedel-Prover-V2, an open-source model heavily trained on 1.8 million formal-math examples. After domain specialization, the model almost completely loses its ability to produce valid tool calls, even when explicitly instructed to use tools, dropping from 89.4% function-calling accuracy in the base model to nearly 0%. We ask whether this agentic collapse is permanent or instead reversible. To answer this question, we fine-tune the specialized model on a small amount of Lean-specific tool-use data. Remarkably, as few as 100 agentic traces are sufficient to restore strong tool-calling behavior. Importantly, this recovery is not the result of reward hacking or benchmark-specific optimization: the recovery data is entirely drawn from the Lean setting, where the model uses natural-language queries to search the Mathlib library for relevant theorems and lemmas, yet the regained capability transfers well beyond that domain. In particular, these same 100 Lean-specific traces improve performance on the Berkeley Function Calling Leaderboard from near zero to 83.8%, approaching the base model's 89.4% despite the mismatch in task distribution and protocol. The recovered capability is also practically useful in-domain. On ProofNet, pass@32 improves from 21.51% to 25.81%. Together, these results show that heavy domain supervised fine-tuning can suppress general tool-use ability without permanently erasing it, and that a small amount of domain-specific agentic data can awaken dormant tool-use capabilities.

VTEdit-Bench: A Comprehensive Benchmark for Multi-Reference Image Editing Models in Virtual Try-On

As virtual try-on (VTON) continues to advance, a growing number of real-world scenarios have emerged, pushing beyond the ability of the existing specialized VTON models. Meanwhile, universal multi-reference image editing models have progressed rapidly and exhibit strong generalization in visual editing, suggesting a promising route toward more flexible VTON systems. However, despite their strong capabilities, the strengths and limitations of universal editors for VTON remain insufficiently explored due to the lack of systematic evaluation benchmarks. To address this gap, we introduce VTEdit-Bench, a comprehensive benchmark designed to evaluate universal multi-reference image editing models across various realistic VTON scenarios. VTEdit-Bench contains 24,220 test image pairs spanning five representative VTON tasks with progressively increasing complexity, enabling systematic analysis of robustness and generalization. We further propose VTEdit-QA, a reference-aware VLM-based evaluator that assesses VTON performance from three key aspects: model consistency, cloth consistency, and overall image quality. Through this framework, we systematically evaluate eight universal editing models and compare them with seven specialized VTON models. Results show that top universal editors are competitive on conventional tasks and generalize more stably to harder scenarios, but remain challenged by complex reference configurations, particularly multi-cloth conditioning.

The Illusion of Forgetting: Attack Unlearned Diffusion via Initial Latent Variable Optimization

Although unlearning-based defenses claim to purge Not-Safe-For-Work (NSFW) concepts from diffusion models (DMs), we reveals that this "forgetting" is largely an illusion. Unlearning partially disrupts the mapping between linguistic symbols and the underlying knowledge, which remains intact as dormant memories. We find that the distributional discrepancy in the denoising process serves as a measurable indicator of how much of the mapping is retained, also reflecting the strength of unlearning. Inspired by this, we propose IVO (Initial Latent Variable Optimization), a concise and powerful attack framework that reactivates these dormant memories by reconstructing the broken mappings. Through Image Inversion}, Adversarial Optimization and Reused Attack, IVO optimizes initial latent variables to realign the noise distribution of unlearned models with their original unsafe states. Extensive experiments across 8 widely used unlearning techniques demonstrate that IVO achieves superior attack success rates and strong semantic consistency, exposing fundamental flaws in current defenses. The code is available at anonymous.4open.science/r/IVO/. Warning: This paper has unsafe images that may offend some readers.

Burst Image Quality Assessment: A New Benchmark and Unified Framework for Multiple Downstream Tasks

In recent years, the development of burst imaging technology has improved the capture and processing capabilities of visual data, enabling a wide range of applications. However, the redundancy in burst images leads to the increased storage and transmission demands, as well as reduced efficiency of downstream tasks. To address this, we propose a new task of Burst Image Quality Assessment (BuIQA), to evaluate the task-driven quality of each frame within a burst sequence, providing reasonable cues for burst image selection. Specifically, we establish the first benchmark dataset for BuIQA, consisting of $7,346$ burst sequences with $45,827$ images and $191,572$ annotated quality scores for multiple downstream scenarios. Inspired by the data analysis, a unified BuIQA framework is proposed to achieve an efficient adaption for BuIQA under diverse downstream scenarios. Specifically, a task-driven prompt generation network is developed with heterogeneous knowledge distillation, to learn the priors of the downstream task. Then, the task-aware quality assessment network is introduced to assess the burst image quality based on the task prompt. Extensive experiments across 10 downstream scenarios demonstrate the impressive BuIQA performance of the proposed approach, outperforming the state-of-the-art. Furthermore, it can achieve $0.33$ dB PSNR improvement in the downstream tasks of denoising and super-resolution, by applying our approach to select the high-quality burst frames.

Beyond Uniform Criteria: Scenario-Adaptive Multi-Dimensional Jailbreak Evaluation

Precise jailbreak evaluation is vital for LLM red teaming and jailbreak research. Current approaches employ binary classification ( e.g., string matching, toxic text classifiers, LLM-driven methods), yielding only "yes/no" labels without quantifying harm intensity. Existing multi-dimensional frameworks ( e.g., Security Violation, Relative Truthfulness, Informativeness) apply uniform evaluation criteria across scenarios, resulting in scenario-specific mismatches--for instance, "Relative Truthfulness" is irrelevant to "hate speech"--which compromise evaluation precision. To tackle these limitations, we introduce SceneJailEval, with key contributions: (1) A groundbreaking scenario-adaptive multi-dimensional framework for jailbreak evaluation, overcoming the critical "one-size-fits-all" constraint of existing multi-dimensional methods, and featuring strong extensibility to flexibly adapt to customized or emerging scenarios. (2) A comprehensive 14-scenario dataset with diverse jailbreak variants and regional cases, filling the long-standing gap in high-quality, holistic benchmarks for scenario-adaptive evaluation. (3) SceneJailEval achieves state-of-the-art results, with an F1 score of 0.917 on our full-scenario dataset (+6% over prior SOTA) and 0.995 on JBB (+3% over prior SOTA), surpassing accuracy limits of existing evaluation methods in heterogeneous scenarios and confirming its advantage.