PhySe-RPO: Physics and Semantics Guided Relative Policy Optimization for Diffusion-Based Surgical Smoke Removal

Surgical smoke severely degrades intraoperative video quality, obscuring anatomical structures and limiting surgical perception. Existing learning-based desmoking approaches rely on scarce paired supervision and deterministic restoration pipelines, making it difficult to perform exploration or reinforcement-driven refinement under real surgical conditions. We propose PhySe-RPO, a diffusion restoration framework optimized through Physics- and Semantics-Guided Relative Policy Optimization. The core idea is to transform deterministic restoration into a stochastic policy, enabling trajectory-level exploration and critic-free updates via group-relative optimization. A physics-guided reward imposes illumination and color consistency, while a visual-concept semantic reward learned from CLIP-based surgical concepts promotes smoke-free and anatomically coherent restoration. Together with a reference-free perceptual constraint, PhySe-RPO produces results that are physically consistent, semantically faithful, and clinically interpretable across synthetic and real robotic surgical datasets, providing a principled route to robust diffusion-based restoration under limited paired supervision.

CORE-Acu: Structured Reasoning Traces and Knowledge Graph Safety Verification for Acupuncture Clinical Decision Support

Large language models (LLMs) show significant potential for clinical decision support (CDS), yet their black-box nature -- characterized by untraceable reasoning and probabilistic hallucinations -- poses severe challenges in acupuncture, a field demanding rigorous interpretability and safety. To address this, we propose CORE-Acu, a neuro-symbolic framework for acupuncture clinical decision support that integrates Structured Chain-of-Thought (S-CoT) with knowledge graph (KG) safety verification. First, we construct the first acupuncture Structured Reasoning Trace dataset and a schema-constrained fine-tuning framework. By enforcing an explicit causal chain from pattern identification to treatment principles, treatment plans, and acupoint selection, we transform implicit Traditional Chinese Medicine (TCM) reasoning into interpretable generation constraints, mitigating the opacity of LLM-based CDS. Furthermore, we construct a TCM safety knowledge graph and establish a ``Generate--Verify--Revise'' closed-loop inference system based on a Symbolic Veto Mechanism, employing deterministic rules to intercept hallucinations and enforce hard safety boundaries. Finally, we introduce the Lexicon-Matched Entity-Reweighted Loss (LMERL), which corrects terminology drift caused by the frequency--importance mismatch in general optimization by adaptively amplifying gradient contributions of high-risk entities during fine-tuning. Experiments on 1,000 held-out cases demonstrate CORE-Acu's superior entity fidelity and reasoning quality. Crucially, CORE-Acu achieved 0/1,000 observed safety violations (95\% CI: 0--0.37\%), whereas GPT-4o exhibited an 8.5\% violation rate under identical rules. These results establish CORE-Acu as a robust neuro-symbolic framework for acupuncture clinical decision support, guaranteeing both reasoning auditability and strict safety compliance.

SurgAtt-Tracker: Online Surgical Attention Tracking via Temporal Proposal Reranking and Motion-Aware Refinement

Accurate and stable field-of-view (FoV) guidance is critical for safe and efficient minimally invasive surgery, yet existing approaches often conflate visual attention estimation with downstream camera control or rely on direct object-centric assumptions. In this work, we formulate surgical attention tracking as a spatio-temporal learning problem and model surgeon focus as a dense attention heatmap, enabling continuous and interpretable frame-wise FoV guidance. We propose SurgAtt-Tracker, a holistic framework that robustly tracks surgical attention by exploiting temporal coherence through proposal-level reranking and motion-aware refinement, rather than direct regression. To support systematic training and evaluation, we introduce SurgAtt-1.16M, a large-scale benchmark with a clinically grounded annotation protocol that enables comprehensive heatmap-based attention analysis across procedures and institutions. Extensive experiments on multiple surgical datasets demonstrate that SurgAtt-Tracker consistently achieves state-of-the-art performance and strong robustness under occlusion, multi-instrument interference, and cross-domain settings. Beyond attention tracking, our approach provides a frame-wise FoV guidance signal that can directly support downstream robotic FoV planning and automatic camera control.

SiameseNorm: Breaking the Barrier to Reconciling Pre/Post-Norm

Modern Transformers predominantly adopt the Pre-Norm paradigm for its optimization stability, foregoing the superior potential of the unstable Post-Norm architecture. Prior attempts to combine their strengths typically lead to a stability-performance trade-off. We attribute this phenomenon to a structural incompatibility within a single-stream design: Any application of the Post-Norm operation inevitably obstructs the clean identity gradient preserved by Pre-Norm. To fundamentally reconcile these paradigms, we propose SiameseNorm, a two-stream architecture that couples Pre-Norm-like and Post-Norm-like streams with shared parameters. This design decouples the optimization dynamics of the two streams, retaining the distinct characteristics of both Pre-Norm and Post-Norm by enabling all residual blocks to receive combined gradients inherited from both paradigms, where one stream secures stability while the other enhances expressivity. Extensive pre-training experiments on 1.3B-parameter models demonstrate that SiameseNorm exhibits exceptional optimization robustness and consistently outperforms strong baselines. Code is available at https://github.com/Qwen-Applications/SiameseNorm.

OpenAI GPT-5 System Card

This is the system card published alongside the OpenAI GPT-5 launch, August 2025. GPT-5 is a unified system with a smart and fast model that answers most questions, a deeper reasoning model for harder problems, and a real-time router that quickly decides which model to use based on conversation type, complexity, tool needs, and explicit intent (for example, if you say 'think hard about this' in the prompt). The router is continuously trained on real signals, including when users switch models, preference rates for responses, and measured correctness, improving over time. Once usage limits are reached, a mini version of each model handles remaining queries. This system card focuses primarily on gpt-5-thinking and gpt-5-main, while evaluations for other models are available in the appendix. The GPT-5 system not only outperforms previous models on benchmarks and answers questions more quickly, but -- more importantly -- is more useful for real-world queries. We've made significant advances in reducing hallucinations, improving instruction following, and minimizing sycophancy, and have leveled up GPT-5's performance in three of ChatGPT's most common uses: writing, coding, and health. All of the GPT-5 models additionally feature safe-completions, our latest approach to safety training to prevent disallowed content. Similarly to ChatGPT agent, we have decided to treat gpt-5-thinking as High capability in the Biological and Chemical domain under our Preparedness Framework, activating the associated safeguards. While we do not have definitive evidence that this model could meaningfully help a novice to create severe biological harm -- our defined threshold for High capability -- we have chosen to take a precautionary approach.

Reasoning in Diffusion Large Language Models is Concentrated in Dynamic Confusion Zones

Diffusion Large Language Models (dLLMs) are rapidly emerging alongside autoregressive models as a powerful paradigm for complex reasoning, with reinforcement learning increasingly used for downstream alignment. Existing trajectory-based RL methods uniformly allocate policy gradients across denoising steps, implicitly treating all steps as equally important. We challenge this assumption by analyzing trajectories with several step-level metrics: entropy-based uncertainty, Confidence-Margin (CM) uncertainty, and Rate of Entropy Change (RoEC). These reveal structured "zones of confusion": transient spikes in uncertainty and instability that strongly predict final success or failure, while most steps remain stable. We propose Adaptive Trajectory Policy Optimization (ATPO), a lightweight step-selection strategy that dynamically reallocates gradient updates to these high-leverage steps without changing the RL objective, rewards, or compute budget. Using a hybrid RoEC+CM rule, ATPO delivers substantial gains in reasoning accuracy and training stability across benchmarks, showing that exploiting trajectory dynamics is key to advancing dLLM RL.

Kling-Avatar: Grounding Multimodal Instructions for Cascaded Long-Duration Avatar Animation Synthesis

Recent advances in audio-driven avatar video generation have significantly enhanced audio-visual realism. However, existing methods treat instruction conditioning merely as low-level tracking driven by acoustic or visual cues, without modeling the communicative purpose conveyed by the instructions. This limitation compromises their narrative coherence and character expressiveness. To bridge this gap, we introduce Kling-Avatar, a novel cascaded framework that unifies multimodal instruction understanding with photorealistic portrait generation. Our approach adopts a two-stage pipeline. In the first stage, we design a multimodal large language model (MLLM) director that produces a blueprint video conditioned on diverse instruction signals, thereby governing high-level semantics such as character motion and emotions. In the second stage, guided by blueprint keyframes, we generate multiple sub-clips in parallel using a first-last frame strategy. This global-to-local framework preserves fine-grained details while faithfully encoding the high-level intent behind multimodal instructions. Our parallel architecture also enables fast and stable generation of long-duration videos, making it suitable for real-world applications such as digital human livestreaming and vlogging. To comprehensively evaluate our method, we construct a benchmark of 375 curated samples covering diverse instructions and challenging scenarios. Extensive experiments demonstrate that Kling-Avatar is capable of generating vivid, fluent, long-duration videos at up to 1080p and 48 fps, achieving superior performance in lip synchronization accuracy, emotion and dynamic expressiveness, instruction controllability, identity preservation, and cross-domain generalization. These results establish Kling-Avatar as a new benchmark for semantically grounded, high-fidelity audio-driven avatar synthesis.

Decoding RobKiNet: Insights into Efficient Training of Robotic Kinematics Informed Neural Network

In robots task and motion planning (TAMP), it is crucial to sample within the robot's configuration space to meet task-level global constraints and enhance the efficiency of subsequent motion planning. Due to the complexity of joint configuration sampling under multi-level constraints, traditional methods often lack efficiency. This paper introduces the principle of RobKiNet, a kinematics-informed neural network, for end-to-end sampling within the Continuous Feasible Set (CFS) under multiple constraints in configuration space, establishing its Optimization Expectation Model. Comparisons with traditional sampling and learning-based approaches reveal that RobKiNet's kinematic knowledge infusion enhances training efficiency by ensuring stable and accurate gradient optimization.Visualizations and quantitative analyses in a 2-DOF space validate its theoretical efficiency, while its application on a 9-DOF autonomous mobile manipulator robot(AMMR) demonstrates superior whole-body and decoupled control, excelling in battery disassembly tasks. RobKiNet outperforms deep reinforcement learning with a training speed 74.29 times faster and a sampling accuracy of up to 99.25%, achieving a 97.33% task completion rate in real-world scenarios.

MIDAS: Multimodal Interactive Digital-humAn Synthesis via Real-time Autoregressive Video Generation

Recently, interactive digital human video generation has attracted widespread attention and achieved remarkable progress. However, building such a practical system that can interact with diverse input signals in real time remains challenging to existing methods, which often struggle with heavy computational cost and limited controllability. In this work, we introduce an autoregressive video generation framework that enables interactive multimodal control and low-latency extrapolation in a streaming manner. With minimal modifications to a standard large language model (LLM), our framework accepts multimodal condition encodings including audio, pose, and text, and outputs spatially and semantically coherent representations to guide the denoising process of a diffusion head. To support this, we construct a large-scale dialogue dataset of approximately 20,000 hours from multiple sources, providing rich conversational scenarios for training. We further introduce a deep compression autoencoder with up to 64$\times$ reduction ratio, which effectively alleviates the long-horizon inference burden of the autoregressive model. Extensive experiments on duplex conversation, multilingual human synthesis, and interactive world model highlight the advantages of our approach in low latency, high efficiency, and fine-grained multimodal controllability.

Performance Analysis of OAMP Detection for ODDM Modulation in Satellite Communications

Towards future 6G wireless networks, low earth orbit (LEO) satellites have been widely considered as a promising component to enhance the terrestrial communications. To ensure the link reliability of high-mobility satellite communication scenarios, the emerging orthogonal delay-Doppler division multiplexing (ODDM) modulation has attracted significant research attention. In this paper, we study the diversity gain achieved by ODDM modulation along with the mathematical analysis and numerical simulations. Additionally, we propose an orthogonal approximate message passing (OAMP) algorithm based detector to harvest the diversity gain promised by ODDM modulation. By operating the linear and non-linear estimator iteratively, the orthogonal approximate message passing (OAMP) detector can utilize the sparsity of the effective delay-Doppler (DD) domain channel and extract the full diversity. Simulation results reveal the relationship between diversity gain and system parameters, and demonstrate that our proposed detector can achieve better performance than the conventional message passing methods with significantly reduced complexity.