3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching robots manipulation skills. Current robot datasets often record robot action in different action spaces within a simple scene. This hinders the robot to learn a unified and robust action representation for different robots within diverse scenes. Observing how humans understand a manipulation task, we find that understanding how the objects should move in the 3D space is a critical clue for guiding actions. This clue is embodiment-agnostic and suitable for both humans and different robots. Motivated by this, we aim to learn a 3D flow world model from both human and robot manipulation data. This model predicts the future movement of the interacting objects in 3D space, guiding action planning for manipulation. Specifically, we synthesize a large-scale 3D optical flow dataset, named ManiFlow-110k, through a moving object auto-detect pipeline. A video diffusion-based world model then learns manipulation physics from these data, generating 3D optical flow trajectories conditioned on language instructions. With the generated 3D object optical flow, we propose a flow-guided rendering mechanism, which renders the predicted final state and leverages GPT-4o to assess whether the predicted flow aligns with the task description. This equips the robot with a closed-loop planning ability. Finally, we consider the predicted 3D optical flow as constraints for an optimization policy to determine a chunk of robot actions for manipulation. Extensive experiments demonstrate strong generalization across diverse robotic manipulation tasks and reliable cross-embodiment adaptation without hardware-specific training.

Curse of High Dimensionality Issue in Transformer for Long-context Modeling

Transformer-based large language models (LLMs) excel in natural language processing tasks by capturing long-range dependencies through self-attention mechanisms. However, long-context modeling faces significant computational inefficiencies due to \textit{redundant} attention computations: while attention weights are often \textit{sparse}, all tokens consume \textit{equal} computational resources. In this paper, we reformulate traditional probabilistic sequence modeling as a \textit{supervised learning task}, enabling the separation of relevant and irrelevant tokens and providing a clearer understanding of redundancy. Based on this reformulation, we theoretically analyze attention sparsity, revealing that only a few tokens significantly contribute to predictions. Building on this, we formulate attention optimization as a linear coding problem and propose a \textit{group coding strategy}, theoretically showing its ability to improve robustness against random noise and enhance learning efficiency. Motivated by this, we propose \textit{Dynamic Group Attention} (DGA), which leverages the group coding to explicitly reduce redundancy by aggregating less important tokens during attention computation. Empirical results show that our DGA significantly reduces computational costs while maintaining competitive performance.Code is available at https://github.com/bolixinyu/DynamicGroupAttention.

Test-Time Learning for Large Language Models

While Large Language Models (LLMs) have exhibited remarkable emergent capabilities through extensive pre-training, they still face critical limitations in generalizing to specialized domains and handling diverse linguistic variations, known as distribution shifts. In this paper, we propose a Test-Time Learning (TTL) paradigm for LLMs, namely TLM, which dynamically adapts LLMs to target domains using only unlabeled test data during testing. Specifically, we first provide empirical evidence and theoretical insights to reveal that more accurate predictions from LLMs can be achieved by minimizing the input perplexity of the unlabeled test data. Based on this insight, we formulate the Test-Time Learning process of LLMs as input perplexity minimization, enabling self-supervised enhancement of LLM performance. Furthermore, we observe that high-perplexity samples tend to be more informative for model optimization. Accordingly, we introduce a Sample Efficient Learning Strategy that actively selects and emphasizes these high-perplexity samples for test-time updates. Lastly, to mitigate catastrophic forgetting and ensure adaptation stability, we adopt Low-Rank Adaptation (LoRA) instead of full-parameter optimization, which allows lightweight model updates while preserving more original knowledge from the model. We introduce the AdaptEval benchmark for TTL and demonstrate through experiments that TLM improves performance by at least 20% compared to original LLMs on domain knowledge adaptation.

Enhancing User-Oriented Proactivity in Open-Domain Dialogues with Critic Guidance

Open-domain dialogue systems aim to generate natural and engaging conversations, providing significant practical value in real applications such as social robotics and personal assistants. The advent of large language models (LLMs) has greatly advanced this field by improving context understanding and conversational fluency. However, existing LLM-based dialogue systems often fall short in proactively understanding the user's chatting preferences and guiding conversations toward user-centered topics. This lack of user-oriented proactivity can lead users to feel unappreciated, reducing their satisfaction and willingness to continue the conversation in human-computer interactions. To address this issue, we propose a User-oriented Proactive Chatbot (UPC) to enhance the user-oriented proactivity. Specifically, we first construct a critic to evaluate this proactivity inspired by the LLM-as-a-judge strategy. Given the scarcity of high-quality training data, we then employ the critic to guide dialogues between the chatbot and user agents, generating a corpus with enhanced user-oriented proactivity. To ensure the diversity of the user backgrounds, we introduce the ISCO-800, a diverse user background dataset for constructing user agents. Moreover, considering the communication difficulty varies among users, we propose an iterative curriculum learning method that trains the chatbot from easy-to-communicate users to more challenging ones, thereby gradually enhancing its performance. Experiments demonstrate that our proposed training method is applicable to different LLMs, improving user-oriented proactivity and attractiveness in open-domain dialogues.

CHRIS: Clothed Human Reconstruction with Side View Consistency

Creating a realistic clothed human from a single-view RGB image is crucial for applications like mixed reality and filmmaking. Despite some progress in recent years, mainstream methods often fail to fully utilize side-view information, as the input single-view image contains front-view information only. This leads to globally unrealistic topology and local surface inconsistency in side views. To address these, we introduce Clothed Human Reconstruction with Side View Consistency, namely CHRIS, which consists of 1) A Side-View Normal Discriminator that enhances global visual reasonability by distinguishing the generated side-view normals from the ground truth ones; 2) A Multi-to-One Gradient Computation (M2O) that ensures local surface consistency. M2O calculates the gradient of a sampling point by integrating the gradients of the nearby points, effectively acting as a smooth operation. Experimental results demonstrate that CHRIS achieves state-of-the-art performance on public benchmarks and outperforms the prior work.

Dynamic Compressing Prompts for Efficient Inference of Large Language Models

Large Language Models (LLMs) have shown outstanding performance across a variety of tasks, partly due to advanced prompting techniques. However, these techniques often require lengthy prompts, which increase computational costs and can hinder performance because of the limited context windows of LLMs. While prompt compression is a straightforward solution, existing methods confront the challenges of retaining essential information, adapting to context changes, and remaining effective across different tasks. To tackle these issues, we propose a task-agnostic method called Dynamic Compressing Prompts (LLM-DCP). Our method reduces the number of prompt tokens while aiming to preserve the performance as much as possible. We model prompt compression as a Markov Decision Process (MDP), enabling the DCP-Agent to sequentially remove redundant tokens by adapting to dynamic contexts and retaining crucial content. We develop a reward function for training the DCP-Agent that balances the compression rate, the quality of the LLM output, and the retention of key information. This allows for prompt token reduction without needing an external black-box LLM. Inspired by the progressive difficulty adjustment in curriculum learning, we introduce a Hierarchical Prompt Compression (HPC) training strategy that gradually increases the compression difficulty, enabling the DCP-Agent to learn an effective compression method that maintains information integrity. Experiments demonstrate that our method outperforms state-of-the-art techniques, especially at higher compression rates. The code for our approach will be available at https://github.com/Fhujinwu/DCP.

Generating Long-form Story Using Dynamic Hierarchical Outlining with Memory-Enhancement

Long-form story generation task aims to produce coherent and sufficiently lengthy text, essential for applications such as novel writingand interactive storytelling. However, existing methods, including LLMs, rely on rigid outlines or lack macro-level planning, making it difficult to achieve both contextual consistency and coherent plot development in long-form story generation. To address this issues, we propose Dynamic Hierarchical Outlining with Memory-Enhancement long-form story generation method, named DOME, to generate the long-form story with coherent content and plot. Specifically, the Dynamic Hierarchical Outline(DHO) mechanism incorporates the novel writing theory into outline planning and fuses the plan and writing stages together, improving the coherence of the plot by ensuring the plot completeness and adapting to the uncertainty during story generation. A Memory-Enhancement Module (MEM) based on temporal knowledge graphs is introduced to store and access the generated content, reducing contextual conflicts and improving story coherence. Finally, we propose a Temporal Conflict Analyzer leveraging temporal knowledge graphs to automatically evaluate the contextual consistency of long-form story. Experiments demonstrate that DOME significantly improves the fluency, coherence, and overall quality of generated long stories compared to state-of-the-art methods.

Core Context Aware Attention for Long Context Language Modeling

Transformer-based Large Language Models (LLMs) have exhibited remarkable success in various natural language processing tasks primarily attributed to self-attention mechanism, which requires a token to consider all preceding tokens as its context to compute the attention score. However, when the context length L becomes very large (e.g., 32K), more redundant context information will be included w.r.t. any tokens, making the self-attention suffer from two main limitations: 1) The computational and memory complexity scales quadratically w.r.t. L; 2) The presence of redundant context information may hamper the model to capture dependencies among crucial tokens, which may degrade the representation performance. In this paper, we propose a plug-and-play Core Context Aware (CCA) Attention for efficient long-range context modeling, which consists of two components: 1) Globality-pooling attention that divides input tokens into groups and then dynamically merges tokens within each group into one core token based on their significance; 2) Locality-preserved attention that incorporates neighboring tokens into the attention calculation. The two complementary attentions will then be fused to the final attention, maintaining comprehensive modeling ability as the full self-attention. In this way, the core context information w.r.t. a given token will be automatically focused and strengthened, while the context information in redundant groups will be diminished during the learning process. As a result, the computational and memory complexity will be significantly reduced. More importantly, the CCA-Attention can improve the long-context modeling ability by diminishing the redundant context information. Extensive experimental results demonstrate that our CCA-Attention significantly outperforms state-of-the-art models in terms of computational efficiency and long-context modeling ability.

Adversarial Purification by Consistency-aware Latent Space Optimization on Data Manifolds

Deep neural networks (DNNs) are vulnerable to adversarial samples crafted by adding imperceptible perturbations to clean data, potentially leading to incorrect and dangerous predictions. Adversarial purification has been an effective means to improve DNNs robustness by removing these perturbations before feeding the data into the model. However, it faces significant challenges in preserving key structural and semantic information of data, as the imperceptible nature of adversarial perturbations makes it hard to avoid over-correcting, which can destroy important information and degrade model performance. In this paper, we break away from traditional adversarial purification methods by focusing on the clean data manifold. To this end, we reveal that samples generated by a well-trained generative model are close to clean ones but far from adversarial ones. Leveraging this insight, we propose Consistency Model-based Adversarial Purification (CMAP), which optimizes vectors within the latent space of a pre-trained consistency model to generate samples for restoring clean data. Specifically, 1) we propose a \textit{Perceptual consistency restoration} mechanism by minimizing the discrepancy between generated samples and input samples in both pixel and perceptual spaces. 2) To maintain the optimized latent vectors within the valid data manifold, we introduce a \textit{Latent distribution consistency constraint} strategy to align generated samples with the clean data distribution. 3) We also apply a \textit{Latent vector consistency prediction} scheme via an ensemble approach to enhance prediction reliability. CMAP fundamentally addresses adversarial perturbations at their source, providing a robust purification. Extensive experiments on CIFAR-10 and ImageNet-100 show that our CMAP significantly enhances robustness against strong adversarial attacks while preserving high natural accuracy.

Dynamic Ensemble Reasoning for LLM Experts

Ensemble reasoning for the strengths of different LLM experts is critical to achieving consistent and satisfactory performance on diverse inputs across a wide range of tasks. However, existing LLM ensemble methods are either computationally intensive or incapable of leveraging complementary knowledge among LLM experts for various inputs. In this paper, we propose a Dynamic Ensemble Reasoning paradigm, called DER to integrate the strengths of multiple LLM experts conditioned on dynamic inputs. Specifically, we model the LLM ensemble reasoning problem as a Markov Decision Process (MDP), wherein an agent sequentially takes inputs to request knowledge from an LLM candidate and passes the output to a subsequent LLM candidate. Moreover, we devise a reward function to train a DER-Agent to dynamically select an optimal answering route given the input questions, aiming to achieve the highest performance with as few computational resources as possible. Last, to fully transfer the expert knowledge from the prior LLMs, we develop a Knowledge Transfer Prompt (KTP) that enables the subsequent LLM candidates to transfer complementary knowledge effectively. Experiments demonstrate that our method uses fewer computational resources to achieve better performance compared to state-of-the-art baselines.