An Asynchronous Two-Speed Kalman Filter for Real-Time UUV Cooperative Navigation Under Acoustic Delays

In GNSS-denied underwater environments, individual unmanned underwater vehicles (UUVs) suffer from unbounded dead-reckoning drift, making collaborative navigation crucial for accurate state estimation. However, the severe communication delay inherent in underwater acoustic channels poses serious challenges to real-time state estimation. Traditional filters, such as Extended Kalman Filters (EKF) or Unscented Kalman Filters (UKF), usually block the main control loop while waiting for delayed data, or completely discard Out-of-Sequence Measurements (OOSM), resulting in serious drift. To address this, we propose an Asynchronous Two-Speed Kalman Filter (TSKF) enhanced by a novel projection mechanism, which we term Variational History Distillation (VHD). The proposed architecture decouples the estimation process into two parallel threads: a fast-rate thread that utilizes Gaussian Process (GP) compensated dead reckoning to guarantee high-frequency real-time control, and a slow-rate thread dedicated to processing asynchronously delayed collaborative information. By introducing a finite-length State Buffer, the algorithm applies delayed measurements (t-T) to their corresponding historical states, and utilizes a VHD-based projection to fast-forward the correction to the current time without computationally heavy recalculations. Simulation results demonstrate that the proposed TSKF maintains trajectory Root Mean Square Error (RMSE) comparable to computationally intensive batch-optimization methods under severe delays (up to 30 s). Executing in sub-millisecond time, it significantly outperforms standard EKF/UKF. The results demonstrate an effective control, communication, and computing (3C) co-design that significantly enhances the resilience of autonomous marine automation systems.

Communication Outage-Resistant UUV State Estimation: A Variational History Distillation Approach

The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication outages occur, standard state estimators such as the Unscented Kalman Filter (UKF) will be forced to make open-loop predictions. If the environment contains unmodeled dynamic factors, such as unknown ocean currents, this estimation error will grow rapidly, which may eventually lead to mission failure. To address this critical issue, this paper proposes a Variational History Distillation (VHD) approach. VHD regards trajectory prediction as an approximate Bayesian reasoning process, which links a standard motion model based on physics with a pattern extracted directly from the past trajectory of the UUV. This is achieved by synthesizing ``virtual measurements'' distilled from historical trajectories. Recognizing that the reliability of extrapolated historical trends degrades over extended prediction horizons, an adaptive confidence mechanism is introduced. This mechanism allows the filter to gradually reduce the trust of virtual measurements as the communication outage time is extended. Extensive Monte Carlo simulations in a high-fidelity environment demonstrate that the proposed method achieves a 91\% reduction in prediction Root Mean Square Error (RMSE), reducing the error from approximately 170 m to 15 m during a 40-second communication outage. These results demonstrate that VHD can maintain robust state estimation performance even under complete communication loss.

IndexCache: Accelerating Sparse Attention via Cross-Layer Index Reuse

Long-context agentic workflows have emerged as a defining use case for large language models, making attention efficiency critical for both inference speed and serving cost. Sparse attention addresses this challenge effectively, and DeepSeek Sparse Attention (DSA) is a representative production-grade solution: a lightweight lightning indexer selects the top-k most relevant tokens per query, reducing core attention from $O(L^2)$ to $O(Lk)$. However, the indexer itself retains $O(L^2)$ complexity and must run independently at every layer, despite the fact that the resulting top-k selections are highly similar across consecutive layers. We present IndexCache, which exploits this cross-layer redundancy by partitioning layers into a small set of Full layers that run their own indexers and a majority of Shared layers that simply reuse the nearest Full layer's top-k indices. We propose two complementary approaches to determine and optimize this configuration. Training-free IndexCache applies a greedy search algorithm that selects which layers to retain indexers by directly minimizing language modeling loss on a calibration set, requiring no weight updates. Training-aware IndexCache introduces a multi-layer distillation loss that trains each retained indexer against the averaged attention distributions of all layers it serves, enabling even simple interleaved patterns to match full-indexer accuracy. Experimental results on a 30B DSA model show that IndexCache can remove 75% of indexer computations with negligible quality degradation, achieving up to 1.82$\times$ prefill speedup and 1.48$\times$ decode speedup compared to standard DSA. These positive results are further confirmed by our preliminary experiments on the production-scale GLM-5 model (Figure 1).

GLM-5: from Vibe Coding to Agentic Engineering

We present GLM-5, a next-generation foundation model designed to transition the paradigm of vibe coding to agentic engineering. Building upon the agentic, reasoning, and coding (ARC) capabilities of its predecessor, GLM-5 adopts DSA to significantly reduce training and inference costs while maintaining long-context fidelity. To advance model alignment and autonomy, we implement a new asynchronous reinforcement learning infrastructure that drastically improves post-training efficiency by decoupling generation from training. Furthermore, we propose novel asynchronous agent RL algorithms that further improve RL quality, enabling the model to learn from complex, long-horizon interactions more effectively. Through these innovations, GLM-5 achieves state-of-the-art performance on major open benchmarks. Most critically, GLM-5 demonstrates unprecedented capability in real-world coding tasks, surpassing previous baselines in handling end-to-end software engineering challenges. Code, models, and more information are available at https://github.com/zai-org/GLM-5.

LegalOne: A Family of Foundation Models for Reliable Legal Reasoning

While Large Language Models (LLMs) have demonstrated impressive general capabilities, their direct application in the legal domain is often hindered by a lack of precise domain knowledge and complexity of performing rigorous multi-step judicial reasoning. To address this gap, we present LegalOne, a family of foundational models specifically tailored for the Chinese legal domain. LegalOne is developed through a comprehensive three-phase pipeline designed to master legal reasoning. First, during mid-training phase, we propose Plasticity-Adjusted Sampling (PAS) to address the challenge of domain adaptation. This perplexity-based scheduler strikes a balance between the acquisition of new knowledge and the retention of original capabilities, effectively establishing a robust legal foundation. Second, during supervised fine-tuning, we employ Legal Agentic CoT Distillation (LEAD) to distill explicit reasoning from raw legal texts. Unlike naive distillation, LEAD utilizes an agentic workflow to convert complex judicial processes into structured reasoning trajectories, thereby enforcing factual grounding and logical rigor. Finally, we implement a Curriculum Reinforcement Learning (RL) strategy. Through a progressive reinforcement process spanning memorization, understanding, and reasoning, LegalOne evolves from simple pattern matching to autonomous and reliable legal reasoning. Experimental results demonstrate that LegalOne achieves state-of-the-art performance across a wide range of legal tasks, surpassing general-purpose LLMs with vastly larger parameter counts through enhanced knowledge density and efficiency. We publicly release the LegalOne weights and the LegalKit evaluation framework to advance the field of Legal AI, paving the way for deploying trustworthy and interpretable foundation models in high-stakes judicial applications.

LangPrecip: Language-Aware Multimodal Precipitation Nowcasting

Short-term precipitation nowcasting is an inherently uncertain and under-constrained spatiotemporal forecasting problem, especially for rapidly evolving and extreme weather events. Existing generative approaches rely primarily on visual conditioning, leaving future motion weakly constrained and ambiguous. We propose a language-aware multimodal nowcasting framework(LangPrecip) that treats meteorological text as a semantic motion constraint on precipitation evolution. By formulating nowcasting as a semantically constrained trajectory generation problem under the Rectified Flow paradigm, our method enables efficient and physically consistent integration of textual and radar information in latent space.We further introduce LangPrecip-160k, a large-scale multimodal dataset with 160k paired radar sequences and motion descriptions. Experiments on Swedish and MRMS datasets show consistent improvements over state-of-the-art methods, achieving over 60 \% and 19\% gains in heavy-rainfall CSI at an 80-minute lead time.

GLM-4.5: Agentic, Reasoning, and Coding (ARC) Foundation Models

We present GLM-4.5, an open-source Mixture-of-Experts (MoE) large language model with 355B total parameters and 32B activated parameters, featuring a hybrid reasoning method that supports both thinking and direct response modes. Through multi-stage training on 23T tokens and comprehensive post-training with expert model iteration and reinforcement learning, GLM-4.5 achieves strong performance across agentic, reasoning, and coding (ARC) tasks, scoring 70.1% on TAU-Bench, 91.0% on AIME 24, and 64.2% on SWE-bench Verified. With much fewer parameters than several competitors, GLM-4.5 ranks 3rd overall among all evaluated models and 2nd on agentic benchmarks. We release both GLM-4.5 (355B parameters) and a compact version, GLM-4.5-Air (106B parameters), to advance research in reasoning and agentic AI systems. Code, models, and more information are available at https://github.com/zai-org/GLM-4.5.

AdapSCA-PSO: An Adaptive Localization Algorithm with AI-Based Hybrid SCA-PSO for IoT WSNs

The accurate localization of sensor nodes is a fundamental requirement for the practical application of the Internet of Things (IoT). To enable robust localization across diverse environments, this paper proposes a hybrid meta-heuristic localization algorithm. Specifically, the algorithm integrates the Sine Cosine Algorithm (SCA), which is effective in global search, with Particle Swarm Optimization (PSO), which excels at local search. An adaptive switching module is introduced to dynamically select between the two algorithms. Furthermore, the initialization, fitness evaluation, and parameter settings of the algorithm have been specifically redesigned and optimized to address the characteristics of the node localization problem. Simulation results across varying numbers of sensor nodes demonstrate that, compared to standalone PSO and the unoptimized SCAPSO algorithm, the proposed method significantly reduces the number of required iterations and achieves an average localization error reduction of 84.97%.

Dynamic and Parametric Retrieval-Augmented Generation

Retrieval-Augmented Generation (RAG) has become a foundational paradigm for equipping large language models (LLMs) with external knowledge, playing a critical role in information retrieval and knowledge-intensive applications. However, conventional RAG systems typically adopt a static retrieve-then-generate pipeline and rely on in-context knowledge injection, which can be suboptimal for complex tasks that require multihop reasoning, adaptive information access, and deeper integration of external knowledge. Motivated by these limitations, the research community has moved beyond static retrieval and in-context knowledge injection. Among the emerging directions, this tutorial delves into two rapidly growing and complementary research areas on RAG: Dynamic RAG and Parametric RAG. Dynamic RAG adaptively determines when and what to retrieve during the LLM's generation process, enabling real-time adaptation to the LLM's evolving information needs. Parametric RAG rethinks how retrieved knowledge should be injected into LLMs, transitioning from input-level to parameter-level knowledge injection for enhanced efficiency and effectiveness. This tutorial offers a comprehensive overview of recent advances in these emerging research areas. It also shares theoretical foundations and practical insights to support and inspire further research in RAG.

LLMs-as-Judges: A Comprehensive Survey on LLM-based Evaluation Methods

The rapid advancement of Large Language Models (LLMs) has driven their expanding application across various fields. One of the most promising applications is their role as evaluators based on natural language responses, referred to as ''LLMs-as-judges''. This framework has attracted growing attention from both academia and industry due to their excellent effectiveness, ability to generalize across tasks, and interpretability in the form of natural language. This paper presents a comprehensive survey of the LLMs-as-judges paradigm from five key perspectives: Functionality, Methodology, Applications, Meta-evaluation, and Limitations. We begin by providing a systematic definition of LLMs-as-Judges and introduce their functionality (Why use LLM judges?). Then we address methodology to construct an evaluation system with LLMs (How to use LLM judges?). Additionally, we investigate the potential domains for their application (Where to use LLM judges?) and discuss methods for evaluating them in various contexts (How to evaluate LLM judges?). Finally, we provide a detailed analysis of the limitations of LLM judges and discuss potential future directions. Through a structured and comprehensive analysis, we aim aims to provide insights on the development and application of LLMs-as-judges in both research and practice. We will continue to maintain the relevant resource list at https://github.com/CSHaitao/Awesome-LLMs-as-Judges.