Cortical Policy: A Dual-Stream View Transformer for Robotic Manipulation

View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in a view-specific manner, leading to inadequate 3D spatial reasoning ability and a lack of dynamic adaptation. Taking inspiration from how the human brain integrates static and dynamic views to address these challenges, we propose Cortical Policy, a novel dual-stream view transformer for robotic manipulation that jointly reasons from static-view and dynamic-view streams. The static-view stream enhances spatial understanding by aligning features of geometrically consistent keypoints extracted from a pretrained 3D foundation model. The dynamic-view stream achieves adaptive adjustment through position-aware pretraining of an egocentric gaze estimation model, computationally replicating the human cortical dorsal pathway. Subsequently, the complementary view representations of both streams are integrated to determine the final actions, enabling the model to handle spatially-complex and dynamically-changing tasks under language conditions. Empirical evaluations on RLBench, the challenging COLOSSEUM benchmark, and real-world tasks demonstrate that Cortical Policy outperforms state-of-the-art baselines substantially, validating the superiority of dual-stream design for visuomotor control. Our cortex-inspired framework offers a fresh perspective for robotic manipulation and holds potential for broader application in vision-based robot control.

TINA: Text-Free Inversion Attack for Unlearned Text-to-Image Diffusion Models

Although text-to-image diffusion models exhibit remarkable generative power, concept erasure techniques are essential for their safe deployment to prevent the creation of harmful content. This has fostered a dynamic interplay between the development of erasure defenses and the adversarial probes designed to bypass them, and this co-evolution has progressively enhanced the efficacy of erasure methods. However, this adversarial co-evolution has converged on a narrow, text-centric paradigm that equates erasure with severing the text-to-image mapping, ignoring that the underlying visual knowledge related to undesired concepts still persist. To substantiate this claim, we investigate from a visual perspective, leveraging DDIM inversion to probe whether a generative pathway for the erased concept can still be found. However, identifying such a visual generative pathway is challenging because standard text-guided DDIM inversion is actively resisted by text-centric defenses within the erased model. To address this, we introduce TINA, a novel Text-free INversion Attack, which enforces this visual-only probe by operating under a null-text condition, thereby avoiding existing text-centric defenses. Moreover, TINA integrates an optimization procedure to overcome the accumulating approximation errors that arise when standard inversion operates without its usual textual guidance. Our experiments demonstrate that TINA regenerates erased concepts from models treated with state-of-the-art unlearning. The success of TINA proves that current methods merely obscure concepts, highlighting an urgent need for paradigms that operate directly on internal visual knowledge.

Global Prior Meets Local Consistency: Dual-Memory Augmented Vision-Language-Action Model for Efficient Robotic Manipulation

Hierarchical Vision-Language-Action (VLA) models have rapidly become a dominant paradigm for robotic manipulation. It typically comprising a Vision-Language backbone for perception and understanding, together with a generative policy for action generation. However, its performance is increasingly bottlenecked by the action generation proceess. (i) Low inference efficiency. A pronounced distributional gap between isotropic noise priors and target action distributions, which increases denoising steps and the incidence of infeasible samples. (ii) Poor robustness. Existing policies condition solely on the current observation, neglecting the constraint of history sequence and thus lacking awareness of task progress and temporal consistency. To address these issues, we introduce OptimusVLA, a dual-memory VLA framework with Global Prior Memory (GPM) and Local Consistency Memory (LCM). GPM replaces Gaussian noise with task-level priors retrieved from semantically similar trajectories, thereby shortening the generative path and reducing the umber of function evaluations (NFE). LCM dynamically models executed action sequence to infer task progress and injects a learned consistency constraint that enforces temporal coherence and smoothness of trajectory. Across three simulation benchmarks, OptimusVLA consistently outperforms strong baselines: it achieves 98.6% average success rate on LIBERO, improves over pi_0 by 13.5% on CALVIN, and attains 38% average success rate on RoboTwin 2.0 Hard. In Real-World evaluation, OptimusVLA ranks best on Generalization and Long-horizon suites, surpassing pi_0 by 42.9% and 52.4%, respectively, while delivering 2.9x inference speedup.

StructAlign: Structured Cross-Modal Alignment for Continual Text-to-Video Retrieval

Continual Text-to-Video Retrieval (CTVR) is a challenging multimodal continual learning setting, where models must incrementally learn new semantic categories while maintaining accurate text-video alignment for previously learned ones, thus making it particularly prone to catastrophic forgetting. A key challenge in CTVR is feature drift, which manifests in two forms: intra-modal feature drift caused by continual learning within each modality, and non-cooperative feature drift across modalities that leads to modality misalignment. To mitigate these issues, we propose StructAlign, a structured cross-modal alignment method for CTVR. First, StructAlign introduces a simplex Equiangular Tight Frame (ETF) geometry as a unified geometric prior to mitigate modality misalignment. Building upon this geometric prior, we design a cross-modal ETF alignment loss that aligns text and video features with category-level ETF prototypes, encouraging the learned representations to form an approximate simplex ETF geometry. In addition, to suppress intra-modal feature drift, we design a Cross-modal Relation Preserving loss, which leverages complementary modalities to preserve cross-modal similarity relations, providing stable relational supervision for feature updates. By jointly addressing non-cooperative feature drift across modalities and intra-modal feature drift, StructAlign effectively alleviates catastrophic forgetting in CTVR. Extensive experiments on benchmark datasets demonstrate that our method consistently outperforms state-of-the-art continual retrieval approaches.

AR-Omni: A Unified Autoregressive Model for Any-to-Any Generation

Real-world perception and interaction are inherently multimodal, encompassing not only language but also vision and speech, which motivates the development of "Omni" MLLMs that support both multimodal inputs and multimodal outputs. While a sequence of omni MLLMs has emerged, most existing systems still rely on additional expert components to achieve multimodal generation, limiting the simplicity of unified training and inference. Autoregressive (AR) modeling, with a single token stream, a single next-token objective, and a single decoder, is an elegant and scalable foundation in the text domain. Motivated by this, we present AR-Omni, a unified any-to-any model in the autoregressive paradigm without any expert decoders. AR-Omni supports autoregressive text and image generation, as well as streaming speech generation, all under a single Transformer decoder. We further address three practical issues in unified AR modeling: modality imbalance via task-aware loss reweighting, visual fidelity via a lightweight token-level perceptual alignment loss for image tokens, and stability-creativity trade-offs via a finite-state decoding mechanism. Empirically, AR-Omni achieves strong quality across three modalities while remaining real-time, achieving a 0.88 real-time factor for speech generation.

PersonalAlign: Hierarchical Implicit Intent Alignment for Personalized GUI Agent with Long-Term User-Centric Records

While GUI agents have shown strong performance under explicit and completion instructions, real-world deployment requires aligning with users' more complex implicit intents. In this work, we highlight Hierarchical Implicit Intent Alignment for Personalized GUI Agent (PersonalAlign), a new agent task that requires agents to leverage long-term user records as persistent context to resolve omitted preferences in vague instructions and anticipate latent routines by user state for proactive assistance. To facilitate this study, we introduce AndroidIntent, a benchmark designed to evaluate agents' ability in resolving vague instructions and providing proactive suggestions through reasoning over long-term user records. We annotated 775 user-specific preferences and 215 routines from 20k long-term records across different users for evaluation. Furthermore, we introduce Hierarchical Intent Memory Agent (HIM-Agent), which maintains a continuously updating personal memory and hierarchically organizes user preferences and routines for personalization. Finally, we evaluate a range of GUI agents on AndroidIntent, including GPT-5, Qwen3-VL, and UI-TARS, further results show that HIM-Agent significantly improves both execution and proactive performance by 15.7% and 7.3%.

Omni-R1: Towards the Unified Generative Paradigm for Multimodal Reasoning

Multimodal Large Language Models (MLLMs) are making significant progress in multimodal reasoning. Early approaches focus on pure text-based reasoning. More recent studies have incorporated multimodal information into the reasoning steps; however, they often follow a single task-specific reasoning pattern, which limits their generalizability across various multimodal tasks. In fact, there are numerous multimodal tasks requiring diverse reasoning skills, such as zooming in on a specific region or marking an object within an image. To address this, we propose unified generative multimodal reasoning, which unifies diverse multimodal reasoning skills by generating intermediate images during the reasoning process. We instantiate this paradigm with Omni-R1, a two-stage SFT+RL framework featuring perception alignment loss and perception reward, thereby enabling functional image generation. Additionally, we introduce Omni-R1-Zero, which eliminates the need for multimodal annotations by bootstrapping step-wise visualizations from text-only reasoning data. Empirical results show that Omni-R1 achieves unified generative reasoning across a wide range of multimodal tasks, and Omni-R1-Zero can match or even surpass Omni-R1 on average, suggesting a promising direction for generative multimodal reasoning.

SemanticVLA: Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation

Vision-Language-Action (VLA) models have advanced in robotic manipulation, yet practical deployment remains hindered by two key limitations: 1) perceptual redundancy, where irrelevant visual inputs are processed inefficiently, and 2) superficial instruction-vision alignment, which hampers semantic grounding of actions. In this paper, we propose SemanticVLA, a novel VLA framework that performs Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation. Specifically: 1) To sparsify redundant perception while preserving semantic alignment, Semantic-guided Dual Visual Pruner (SD-Pruner) performs: Instruction-driven Pruner (ID-Pruner) extracts global action cues and local semantic anchors in SigLIP; Spatial-aggregation Pruner (SA-Pruner) compacts geometry-rich features into task-adaptive tokens in DINOv2. 2) To exploit sparsified features and integrate semantics with spatial geometry, Semantic-complementary Hierarchical Fuser (SH-Fuser) fuses dense patches and sparse tokens across SigLIP and DINOv2 for coherent representation. 3) To enhance the transformation from perception to action, Semantic-conditioned Action Coupler (SA-Coupler) replaces the conventional observation-to-DoF approach, yielding more efficient and interpretable behavior modeling for manipulation tasks. Extensive experiments on simulation and real-world tasks show that SemanticVLA sets a new SOTA in both performance and efficiency. SemanticVLA surpasses OpenVLA on LIBERO benchmark by 21.1% in success rate, while reducing training cost and inference latency by 3.0-fold and 2.7-fold.SemanticVLA is open-sourced and publicly available at https://github.com/JiuTian-VL/SemanticVLA

A Polynomial-time Algorithm for Online Sparse Linear Regression with Improved Regret Bound under Weaker Conditions

In this paper, we study the problem of online sparse linear regression (OSLR) where the algorithms are restricted to accessing only $k$ out of $d$ attributes per instance for prediction, which was proved to be NP-hard. Previous work gave polynomial-time algorithms assuming the data matrix satisfies the linear independence of features, the compatibility condition, or the restricted isometry property. We introduce a new polynomial-time algorithm, which significantly improves previous regret bounds (Ito et al., 2017) under the compatibility condition that is weaker than the other two assumptions. The improvements benefit from a tighter convergence rate of the $\ell_1$-norm error of our estimators. Our algorithm leverages the well-studied Dantzig Selector, but importantly with several novel techniques, including an algorithm-dependent sampling scheme for estimating the covariance matrix, an adaptive parameter tuning scheme, and a batching online Newton step with careful initializations. We also give novel and non-trivial analyses, including an induction method for analyzing the $\ell_1$-norm error, careful analyses on the covariance of non-independent random variables, and a decomposition on the regret. We further extend our algorithm to OSLR with additional observations where the algorithms can observe additional $k_0$ attributes after each prediction, and improve previous regret bounds (Kale et al., 2017; Ito et al., 2017).

Open Multimodal Retrieval-Augmented Factual Image Generation

Large Multimodal Models (LMMs) have achieved remarkable progress in generating photorealistic and prompt-aligned images, but they often produce outputs that contradict verifiable knowledge, especially when prompts involve fine-grained attributes or time-sensitive events. Conventional retrieval-augmented approaches attempt to address this issue by introducing external information, yet they are fundamentally incapable of grounding generation in accurate and evolving knowledge due to their reliance on static sources and shallow evidence integration. To bridge this gap, we introduce ORIG, an agentic open multimodal retrieval-augmented framework for Factual Image Generation (FIG), a new task that requires both visual realism and factual grounding. ORIG iteratively retrieves and filters multimodal evidence from the web and incrementally integrates the refined knowledge into enriched prompts to guide generation. To support systematic evaluation, we build FIG-Eval, a benchmark spanning ten categories across perceptual, compositional, and temporal dimensions. Experiments demonstrate that ORIG substantially improves factual consistency and overall image quality over strong baselines, highlighting the potential of open multimodal retrieval for factual image generation.