WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation

Visual navigation requires generating smooth and collision-free trajectories under complex geometric and physical constraints. Existing reactive policies that directly map observations to actions lack anticipatory reasoning, limiting their ability to proactively avoid obstacles. While visual imagination offers predictive foresight, conventional modular approaches separate scene prediction from policy learning, often leading to error accumulation and inefficient inference. To address these limitations, we propose WAM-Nav, a Latent World-Action Model for embodied visual navigation that jointly learns action generation and latent visual foresight, enabling more robust and foresighted navigation decisions without compromising inference efficiency. Specifically, WAM-Nav utilizes a shared Diffusion Transformer for asymmetric joint diffusion to concurrently generate long-horizon actions and short-horizon visual foresight, reducing the inference latency and visual error accumulation inherent in multi-step autoregressive rollouts. To further encourage smooth and consistent trajectory generation, we introduce a dual-stream contextual conditioning mechanism that integrates episode-level ego-motion history with sequential visual observations. Combined with a unified goal alignment module that preserves balanced representations across goal types, WAM-Nav naturally supports Image-Goal, Point-Goal, and No-Goal exploration within a single policy. Extensive experiments on the challenging ClutterScenes and InternScenes benchmarks demonstrate strong generalization of WAM-Nav, particularly on Image-Goal and Point-Goal navigation, where it improves success rates by 15.7% and 3.3%, respectively. Real-world deployment further validates effective zero-shot sim-to-real transfer, achieving an average 85% task success rate across diverse indoor and outdoor environments.

SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models

Embodied world models have emerged as a promising paradigm in robotics by predicting how robot actions affect the surrounding scene. However, the rollout inference remains computationally expensive in pixel space, as long-horizon manipulation videos typically have to be generated frame by frame. This cost cannot be easily reduced by indiscriminately dropping frames, since downstream policies rely on complete preservation of sparse task-relevant events such as approach, contact, grasp, and release. To address this challenge, we propose Sparse Keyframe Interpolation Paradigm (SKIP), an event-preserving sparse-to-dense framework that avoids dense frame-by-frame generation. SKIP first identifies task-relevant keyframes by leveraging robot-aware multimodal features. It then synthesizes only these keyframes with a sparse video diffusion model. A learned gap predictor and an action-conditioned interpolator subsequently reconstruct the missing intervals according to the robot actions. On LIBERO, SKIP generates dense rollouts $4.16\times$ faster than a dense baseline while improving visual fidelity and reducing aggregate FVD by $89.0\%$. Importantly, SKIP-generated videos are effective policy-training data. Even when they fully replace real demonstrations, $π_{0.5}$ success drops only $1.3$ pp in LIBERO simulation and $6.7$ pp on the real robot, whereas fully dense frame-by-frame generation collapses by $48$ to $58$ pp.

Cascade-KDE: Robust Time-Series Restoration under Out-of-Distribution Impulse Corruptions

Real-world time-series data in industrial sensing, healthcare, and energy systems is often corrupted by a mixture of Gaussian noise and occasional large-magnitude impulse outliers. For tasks that depend on local shape, such as ECG morphology analysis and battery degradation monitoring, the main requirement is not only low reconstruction error but also preservation of derivative peaks and task-critical features. We propose Cascade-KDE, a training-free restoration framework for corrupted time series. The method first estimates a two-dimensional temporal-amplitude density, then applies a Density-Truncated Robust Expectation to limit the influence of distant abnormal points, and finally refines the sequence through an exponential cascade with adaptive stopping. This design aims to improve robustness under out-of-distribution impulse corruptions while keeping the restored trajectory close to the original local structure. Across several benchmark datasets, the proposed method shows consistent gains over classical filters and representative learning-based baselines on curve fidelity, derivative preservation, downstream classification, and runtime efficiency. These results suggest that bounded density-based restoration is a practical option for feature-preserving preprocessing in noisy time-series pipelines.

Band Together: Untargeted Adversarial Training with Multimodal Coordination against Evasion-based Promotion Attacks

Multimodal recommender systems exploit visual and textual signals to alleviate data sparsity, but this also makes them more vulnerable to evasion-based promotion attacks. Existing defenses are largely limited to single-modal settings and mainly focus on poisoning-based threats, leaving evasion-based threats underexplored. In this work, we first identify a cross-modal gradient mismatch under the multi-user promotion setting, where visual and textual perturbations are optimized in inconsistent directions due to the dominance of distinct user groups. This phenomenon dilutes the attack effectiveness and leads robust training to underestimate worst-case risks. To address this issue, we propose Untargeted Adversarial Training with Multimodal Coordination (UAT-MC). UAT-MC tackles the challenge of unknown targeted items in evasion-based attacks (as opposed to poisoning-based attacks) by treating all items as potential targets, and introduces a gradient alignment mechanism to explicitly correct this mismatch. This design ensures synchronized perturbations across modalities, thereby maximizing adversarial strength for robust training. Extensive experiments demonstrate that UAT-MC significantly improves robustness against promotion attacks while maintaining acceptable recommendation performance under the defense-accuracy trade-off. Code is available at https://github.com/gmXian/UAT-MC.

Manifold-Constrained Adversarial Training for Long-Tailed Robustness via Geometric Alignment

Adversarial training is effective on balanced datasets, but its robustness degrades under longtailed class distributions, where tail classes suffer high robust error and unstable decision boundaries. We propose Manifold-Constrained Adversarial Training (MCAT), a unified framework that enforces the semantic validity of adversarial examples by penalizing deviations from class-conditional manifolds in feature space, while promoting balanced geometric separation across classes via an ETF-inspired regularization. We provide theoretical results that link geometric separation to lower bounds on adversarially robust margins, and show that manifold-constrained adversarial risk upperbounds robust risk on high-density semantic regions. Extensive experiments on standard longtailed benchmarks demonstrate consistent improvements in overall, balanced, and tail-class adversarial robustness.

Multi-Turn Reasoning LLMs for Task Offloading in Mobile Edge Computing

Emerging computation-intensive applications impose stringent latency requirements on resource-constrained mobile devices. Mobile Edge Computing (MEC) addresses this challenge through task offloading. However, designing effective policies remains difficult due to dynamic task arrivals, time-varying channels, and the spatio-temporal coupling of server queues. Conventional heuristics lack adaptability, while Deep Reinforcement Learning (DRL) suffers from limited generalization and architectural rigidity, requiring retraining when network topology changes. Although Large Language Models (LLMs) offer semantic reasoning capabilities, standard Supervised Fine-Tuning (SFT) yields myopic policies that greedily minimize immediate latency without accounting for long-term system evolution. To address these limitations, we propose COMLLM, a generative framework that enables foresighted decision-making in MEC systems. COMLLM integrates Group Relative Policy Optimization (GRPO) with a Look-Ahead Collaborative Simulation (LACS) mechanism, which performs multi-step Monte Carlo rollouts while jointly modeling server queue dynamics. By incorporating these rollouts into the reward design, the framework captures the long-term impact of current decisions on future system states. Experimental results demonstrate that COMLLM achieves near-optimal latency and improved load-balancing fairness. Notably, it exhibits zero-shot topological scalability, allowing a model trained on small-scale networks to generalize to larger, unseen topologies without retraining, outperforming SFT, DRL, and heuristic baselines.

HiMemVLN: Enhancing Reliability of Open-Source Zero-Shot Vision-and-Language Navigation with Hierarchical Memory System

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) tasks. However, most zero-shot methods primarily rely on closed-source LLMs as navigators, which face challenges related to high token costs and potential data leakage risks. Recent efforts have attempted to address this by using open-source LLMs combined with a spatiotemporal CoT framework, but they still fall far short compared to closed-source models. In this work, we identify a critical issue, Navigation Amnesia, through a detailed analysis of the navigation process. This issue leads to navigation failures and amplifies the gap between open-source and closed-source methods. To address this, we propose HiMemVLN, which incorporates a Hierarchical Memory System into a multimodal large model to enhance visual perception recall and long-term localization, mitigating the amnesia issue and improving the agent's navigation performance. Extensive experiments in both simulated and real-world environments demonstrate that HiMemVLN achieves nearly twice the performance of the open-source state-of-the-art method. The code is available at https://github.com/lvkailin0118/HiMemVLN.

Not All Queries Need Deep Thought: CoFiCot for Adaptive Coarse-to-fine Stateful Refinement

Scaling test-time computation enhances LLM reasoning ability but faces a uniform computation paradox. Allocating identical resources leads to over-correction on simple tasks and insufficient refinement on complex ones. To address this, we propose CoFiCot, a coarse-to-fine adaptive framework that dynamically tailors inference strategies to problem difficulty. Specifically, we implement a multi-metric classifier that triages queries by synthesizing semantic entropy, consensus reliability, and predicted reasoning depth . This enables a differentiated refinement stage that applies efficient aggregation for simple queries while routing complex ones to a context-aware correction loop . We formalize correction as a stateful sequential propagation process , where each repair is strictly conditioned on the verified history of prior rectifications. By integrating Process Reward Models (PRMs) within this state-dependent trajectory, CoFiCot effectively bridges the gap between granular error localization and global logical coherence, preventing the context fragmentation typical of stateless refinement methods.

PointCoT: A Multi-modal Benchmark for Explicit 3D Geometric Reasoning

While Multimodal Large Language Models (MLLMs) demonstrate proficiency in 2D scenes, extending their perceptual intelligence to 3D point cloud understanding remains a significant challenge. Current approaches focus primarily on aligning 3D features with pre-trained models. However, they typically treat geometric reasoning as an implicit mapping process. These methods bypass intermediate logical steps and consequently suffer from geometric hallucinations. They confidently generate plausible responses that fail to ground in precise structural details. To bridge this gap, we present PointCoT, a novel framework that empowers MLLMs with explicit Chain-of-Thought (CoT) reasoning for 3D data. We advocate for a \textit{Look, Think, then Answer} paradigm. In this approach, the model is supervised to generate geometry-grounded rationales before predicting final answers. To facilitate this, we construct Point-Reason-Instruct, a large-scale benchmark comprising $\sim$86k instruction-tuning samples with hierarchical CoT annotations. By leveraging a dual-stream multi-modal architecture, our method synergizes semantic appearance with geometric truth. Extensive experiments demonstrate that PointCoT achieves state-of-the-art performance on complex reasoning tasks.

CompilerKV: Risk-Adaptive KV Compression via Offline Experience Compilation

Large Language Models (LLMs) in long-context scenarios are severely constrained by the linear growth of Key-Value (KV) cache memory. Existing KV compression methods rely either on static thresholds and attention-only heuristics or on coarse memory budget allocation. Under tight memory budgets, these methods overlook two key factors: prompt-dependent variation in compression risk and functional heterogeneity across attention heads, which destabilize token selection and lead to tail failures. To address these challenges, we propose CompilerKV, a risk-adaptive and head-aware compression framework that compiles offline experience into reusable decision tables for prefill-only deployment. CompilerKV integrates two key synergistic components: (i) a Head Heterogeneity Table, learned via offline contextual bandits, which assigns head-specific reliability weights to govern functional differences across attention heads explicitly; and (ii) a Risk-Adaptive Threshold Gating mechanism that jointly models attention entropy and local perplexity, transforming prompt-level risk into deployable retention thresholds. Experiments on LongBench show CompilerKV dominates SOTA methods under a 512-token budget, recovering 97.7\% of FullKV performance while achieving up to +5.2 points gain over the strongest competitor.