Uni-World VLA: Interleaved World Modeling and Planning for Autonomous Driving

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination that may drift from the actual decision process. In this paper, we present Uni-World VLA, a unified vision-language-action (VLA) model that tightly interleaves future frame prediction and trajectory planning. Instead of generating a full world rollout before planning, our model alternates between predicting future frames and ego actions step by step, allowing planning decisions to be continuously conditioned on the imagined future observations. This interleaved generation forms a closed-loop interaction between world modeling and control, enabling more adaptive decision-making in dynamic traffic scenarios. In addition, we incorporate monocular depth information into frames to provide stronger geometric cues for world modeling, improving long-horizon scene prediction. Experiments on the NAVSIM benchmark show that our approach achieves competitive closed-loop planning performance while producing high-fidelity future frame predictions. These results demonstrate that tightly coupling world prediction and planning is a promising direction for scalable VLA driving systems.

Language Model Planners do not Scale, but do Formalizers?

Recent work shows overwhelming evidence that LLMs, even those trained to scale their reasoning trace, perform unsatisfactorily when solving planning problems too complex. Whether the same conclusion holds for LLM formalizers that generate solver-oriented programs remains unknown. We systematically show that LLM formalizers greatly out-scale LLM planners, some retaining perfect accuracy in the classic BlocksWorld domain with a huge state space of size up to $10^{165}$. While performance of smaller LLM formalizers degrades with problem complexity, we show that a divide-and-conquer formalizing technique can greatly improve its robustness. Finally, we introduce unraveling problems where one line of problem description realistically corresponds to exponentially many lines of formal language such as the Planning Domain Definition Language (PDDL), greatly challenging LLM formalizers. We tackle this challenge by introducing a new paradigm, namely LLM-as-higher-order-formalizer, where an LLM generates a program generator. This decouples token output from the combinatorial explosion of the underlying formalization and search space.

VQ-Jarvis: Retrieval-Augmented Video Restoration Agent with Sharp Vision and Fast Thought

Video restoration in real-world scenarios is challenged by heterogeneous degradations, where static architectures and fixed inference pipelines often fail to generalize. Recent agent-based approaches offer dynamic decision making, yet existing video restoration agents remain limited by insufficient quality perception and inefficient search strategies. We propose VQ-Jarvis, a retrieval-augmented, all-in-one intelligent video restoration agent with sharper vision and faster thought. VQ-Jarvis is designed to accurately perceive degradations and subtle differences among paired restoration results, while efficiently discovering optimal restoration trajectories. To enable sharp vision, we construct VSR-Compare, the first large-scale video paired enhancement dataset with 20K comparison pairs covering 7 degradation types, 11 enhancement operators, and diverse content domains. Based on this dataset, we train a multiple operator judge model and a degradation perception model to guide agent decisions. To achieve fast thought, we introduce a hierarchical operator scheduling strategy that adapts to video difficulty: for easy cases, optimal restoration trajectories are retrieved in a one-step manner from a retrieval-augmented generation (RAG) library; for harder cases, a step-by-step greedy search is performed to balance efficiency and accuracy. Extensive experiments demonstrate that VQ-Jarvis consistently outperforms existing methods on complex degraded videos.

Anatomical Prior-Driven Framework for Autonomous Robotic Cardiac Ultrasound Standard View Acquisition

Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models often yield anatomically inconsistent results in images with poor textural differentiation between distinct feature classes, while autonomous probe adjustment methods either rely on simplistic heuristic rules or black-box learning. To address these issues, our study proposed an anatomical prior (AP)-driven framework integrating cardiac structure segmentation and autonomous probe adjustment for standard view acquisition. A YOLO-based multi-class segmentation model augmented by a spatial-relation graph (SRG) module is designed to embed AP into the feature pyramid. Quantifiable anatomical features of standard views are extracted. Their priors are fitted to Gaussian distributions to construct probabilistic APs. The probe adjustment process of robotic ultrasound scanning is formalized as a reinforcement learning (RL) problem, with the RL state built from real-time anatomical features and the reward reflecting the AP matching. Experiments validate the efficacy of the framework. The SRG-YOLOv11s improves mAP50 by 11.3% and mIoU by 6.8% on the Special Case dataset, while the RL agent achieves a 92.5% success rate in simulation and 86.7% in phantom experiments.

ME-IQA: Memory-Enhanced Image Quality Assessment via Re-Ranking

Reasoning-induced vision-language models (VLMs) advance image quality assessment (IQA) with textual reasoning, yet their scalar scores often lack sensitivity and collapse to a few values, so-called discrete collapse. We introduce ME-IQA, a plug-and-play, test-time memory-enhanced re-ranking framework. It (i) builds a memory bank and retrieves semantically and perceptually aligned neighbors using reasoning summaries, (ii) reframes the VLM as a probabilistic comparator to obtain pairwise preference probabilities and fuse this ordinal evidence with the initial score under Thurstone's Case V model, and (iii) performs gated reflection and consolidates memory to improve future decisions. This yields denser, distortion-sensitive predictions and mitigates discrete collapse. Experiments across multiple IQA benchmarks show consistent gains over strong reasoning-induced VLM baselines, existing non-reasoning IQA methods, and test-time scaling alternatives.

CangjieBench: Benchmarking LLMs on a Low-Resource General-Purpose Programming Language

Large Language Models excel in high-resource programming languages but struggle with low-resource ones. Existing research related to low-resource programming languages primarily focuses on Domain-Specific Languages (DSLs), leaving general-purpose languages that suffer from data scarcity underexplored. To address this gap, we introduce CangjieBench, a contamination-free benchmark for Cangjie, a representative low-resource general-purpose language. The benchmark comprises 248 high-quality samples manually translated from HumanEval and ClassEval, covering both Text-to-Code and Code-to-Code tasks. We conduct a systematic evaluation of diverse LLMs under four settings: Direct Generation, Syntax-Constrained Generation, Retrieval-Augmented Generation (RAG), and Agent. Experiments reveal that Direct Generation performs poorly, whereas Syntax-Constrained Generation offers the best trade-off between accuracy and computational cost. Agent achieve state-of-the-art accuracy but incur high token consumption. Furthermore, we observe that Code-to-Code translation often underperforms Text-to-Code generation, suggesting a negative transfer phenomenon where models overfit to the source language patterns. We hope that our work will offer valuable insights into LLM generalization to unseen and low-resource programming languages. Our code and data are available at https://github.com/cjhCoder7/CangjieBench.

OARS: Process-Aware Online Alignment for Generative Real-World Image Super-Resolution

Aligning generative real-world image super-resolution models with human visual preference is challenging due to the perception--fidelity trade-off and diverse, unknown degradations. Prior approaches rely on offline preference optimization and static metric aggregation, which are often non-interpretable and prone to pseudo-diversity under strong conditioning. We propose OARS, a process-aware online alignment framework built on COMPASS, a MLLM-based reward that evaluates the LR to SR transition by jointly modeling fidelity preservation and perceptual gain with an input-quality-adaptive trade-off. To train COMPASS, we curate COMPASS-20K spanning synthetic and real degradations, and introduce a three-stage perceptual annotation pipeline that yields calibrated, fine-grained training labels. Guided by COMPASS, OARS performs progressive online alignment from cold-start flow matching to full-reference and finally reference-free RL via shallow LoRA optimization for on-policy exploration. Extensive experiments and user studies demonstrate consistent perceptual improvements while maintaining fidelity, achieving state-of-the-art performance on Real-ISR benchmarks.

Taming the Long Tail: Efficient Item-wise Sharpness-Aware Minimization for LLM-based Recommender Systems

Large Language Model-based Recommender Systems (LRSs) have recently emerged as a new paradigm in sequential recommendation by directly adopting LLMs as backbones. While LRSs demonstrate strong knowledge utilization and instruction-following abilities, they have not been systematically studied under the long-standing long-tail problem. In this paper, we conduct an empirical study and reveal that LRSs face two distinct types of long-tail: i) prior long-tail, inherited implicitly from pretraining corpora, and ii) data long-tail, originating from skewed recommendation datasets. Our analysis shows that both contribute to the performance disparity between head and tail items, with the intersection of the two heads exhibiting an even stronger head effect. Nevertheless, the overall performance distribution in LRSs, especially on the tail, remains dominated by the data long-tail. To address this challenge, we propose Efficient Item-wise Sharpness-Aware Minimization (EISAM), a novel optimization framework that improves tail-item performance by adaptively regularizing the loss landscape at the item level. EISAM introduces an efficient penalty design that captures fine-grained item-specific sharpness while maintaining computational scalability for LLMs. In addition, we derive a generalization bound for EISAM. Our theoretical analysis shows that the bound decreases at a faster rate under our item-wise regularization, offering theoretical support for its effectiveness. Extensive experiments on three real-world datasets demonstrate that EISAM significantly boosts tail-item recommendation performance while preserving overall quality, establishing the first systematic solution to the long-tail problem in LRSs.

MotionAnymesh: Physics-Grounded Articulation for Simulation-Ready Digital Twins

Converting static 3D meshes into interactable articulated assets is crucial for embodied AI and robotic simulation. However, existing zero-shot pipelines struggle with complex assets due to a critical lack of physical grounding. Specifically, ungrounded Vision-Language Models (VLMs) frequently suffer from kinematic hallucinations, while unconstrained joint estimation inevitably leads to catastrophic mesh inter-penetration during physical simulation. To bridge this gap, we propose MotionAnymesh, an automated zero-shot framework that seamlessly transforms unstructured static meshes into simulation-ready digital twins. Our method features a kinematic-aware part segmentation module that grounds VLM reasoning with explicit SP4D physical priors, effectively eradicating kinematic hallucinations. Furthermore, we introduce a geometry-physics joint estimation pipeline that combines robust type-aware initialization with physics-constrained trajectory optimization to rigorously guarantee collision-free articulation. Extensive experiments demonstrate that MotionAnymesh significantly outperforms state-of-the-art baselines in both geometric precision and dynamic physical executability, providing highly reliable assets for downstream applications.

RoboRouter: Training-Free Policy Routing for Robotic Manipulation

Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high success rates on specific task distributions but lim-ited generalization beyond it. Rather than proposing an other monolithic policy, we propose to leverage the complementary strengths of existing approaches through intelligent policy routing. We introduce RoboRouter, a training-free framework that maintains a pool of heterogeneous policies and learns to select the best-performing policy for each task through accumulated execution experience. Given a new task, RoboRouter constructs a semantic task representation, retrieves historical records of similar tasks, predicts the optimal policy choice without requiring trial-and-error, and incorporates structured feedback to refine subsequent routing decisions. Integrating a new policy into the system requires only lightweight evaluation and incurs no training overhead. Across simulation benchmark and real-world evaluations, RoboRouter consistently outperforms than in-dividual policies, improving average success rate by more than 3% in simulation and over 13% in real-world settings, while preserving execution efficiency. Our results demonstrate that intelligent routing across heterogeneous, off-the-shelf policies provides a practical and scalable pathway toward building more capable robotic systems.