C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

High-quality demonstrations for dexterous robot manipulation are costly and difficult to collect, whereas monocular human videos provide a scalable source of diverse manipulation behaviors. However, transferring such demonstrations to dexterous robots remains challenging: monocular hand-object interaction (HOI) reconstruction often produces temporally unstable contacts and physically implausible interactions, while conventional retargeting methods struggle to preserve task-relevant contacts and local interaction geometry across different hand embodiments. We present C2Dex, a video-to-dexterous-manipulation framework built around a shared interaction representation: stable object-side contacts recovered by aggregating noisy frame-wise observations in the canonical object space. These stable contacts serve a dual role: as trajectory-level constraints that guide reconstruction toward temporally coherent and physically plausible human HOI trajectories, and as explicit transfer targets for the dexterous hand, where Laplacian interaction optimization preserves the local hand-object geometry across embodiments and residual reinforcement learning refines the trajectory in simulation. Experiments on DexYCB and TACO show that C2Dex achieves end-to-end trajectory success rates of 57.78% and 26.67%, respectively, substantially outperforming the strongest baselines (17.78% and 10.00%) under identical evaluation criteria. Real-robot replay experiments further demonstrate physical feasibility across diverse contact-rich manipulation tasks. Project page: https://k-jie.github.io/C2Dex/

Hyperspectral Intrinsic Decomposition: Joint Recovery of Reflectance and Photometric Components for Non-Lambertian Scenes

Hyperspectral intrinsic decomposition (HID) aims to disentangle material-related spectral properties and photometric effects in hyperspectral images (HSIs), which is essential for understanding real-world imaging processes and benefits a variety of downstream applications. Most existing HID studies have been developed under Lambertian or near-Lambertian assumptions. The few prior non-Lambertian efforts rely on simplified specular assumptions insufficient to handle diverse real-world specularity, and typically require auxiliary inputs or recover only a subset of the coupled reflectance and photometric components, hindering complete and blind decomposition. In this paper, we revisit the dichromatic reflection model (DRM) and develop a unified inversion paradigm that reformulates the recovery of four coupled reflectance and photometric components as the estimation of two spectral--spatial target variables. Building on this reformulation, we propose a dual-scale decomposition scheme to handle non-Lambertian effects with distinct spatial characteristics. At the global scale, photometrically invariant descriptors serve as edge priors for high-fidelity intrinsic boundary preservation; at the local scale, specularity-guided attention directs refinement with emphasis on specularity-dominated regions, including those affected by clipping distortion. To facilitate future research, we establish CITE, the first public real-world HID dataset for non-Lambertian objects, and develop a Physically-faithful Intrinsic Set Generator (PISG) for controllable data synthesis. Extensive ablation studies and experiments on the CITE and additional HSIs demonstrate the effectiveness of our method and its robustness across diverse scenes.

TaoMate: Anchor-Guided Memory Bridging Evolving and Reference States for Real-Time Audio-Video Digital Human Generation

Real-time long-form digital-human generation relies on causal models to extend audio-visual content while preserving subject appearance and audio-video synchronization across successive segments. A bounded cache retains local motion and phonetic context but discards older evidence, whereas attending to the complete generated history is computationally expensive and can propagate accumulated errors. We present \method, an anchor-guided persistent-memory framework for few-step joint audio-video generation. The framework preserves an immutable visual anchor, compresses completed video and audio blocks into fixed-capacity dynamic states, and retrieves those states through modality-specific residual attention without extending the active cache. A reference-aware modulation method additionally conditions video features on dynamic and anchor appearance statistics. Anchor-preserving causal-context distillation varies rollout horizon, prefix provenance, and cache-history reliability while keeping the immutable visual anchor unperturbed. By separating persistent memory from stage-local denoising dependencies, \method further admits stage-parallel execution across blocks, accelerating autoregressive inference without pipeline-specific retraining. We evaluate long-form video continuations with appearance, temporal, synchronization, facial, and speech diagnostics. Results show that \method preserves stable appearance across prompt-conditioned segments and strong audio-visual synchronization under autoregressive generation. Our project page is https://taoliveaigc.github.io/TaoMate.

ShopX: A Foundation Model for Intent-to-Item Fulfillment in Agentic Shopping

The wave of AI-native applications is moving shopping beyond page- and feed-based browsing toward intent-driven experiences orchestrated by LLM agents. A common design wraps an LLM around existing search and recommendation pipelines, forcing complex intents through low-bandwidth retrieval or ranking interfaces and leaving a gap between language understanding and item-space fulfillment. Generative recommendation gives LLMs a direct item-space interface through semantic IDs (SIDs), but existing models mainly generate candidates for retrieval rather than translate flexible intents into item-space outcomes. We propose ShopX to address this bottleneck by unifying intent understanding, execution planning, and flexible SID-native item-space operations into a single foundation model. We deploy ShopX in agentic shopping workflows through a model-native item-fulfillment framework with a serving harness that defines a model-facing action protocol and exposes support surfaces for context access, catalog grounding, and state management. Within this framework, ShopX plans and composes SID-based item-space operations such as SID beam-search retrieval, listwise ranking, or product bundling. This model-centric design reduces lossy hand-offs between agent orchestration and item-space execution. To build ShopX, we design semantically recoverable, LLM-operable SIDs and a training recipe that equips a general LLM for flexible multi-turn item-space fulfillment while retaining the knowledge and instruction-following abilities needed by a shopping agent. We evaluate the ShopX framework against tool-mediated agentic systems on single- and multi-turn fulfillment tasks derived from anonymized Taobao production logs, showing that model-native fulfillment improves overall framework behavior, especially on complex or ambiguous requests.

PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation

Humanoid motion imitation requires not only accurate perception of human kinematics but also faithful reproduction of physical interactions with the environment. However, existing pipelines rely primarily on vision-based motion capture and kinematic imitation, largely ignoring contact dynamics, leading to artifacts such as foot sliding, floor penetration, and unstable behaviors. In this work, we revisit humanoid motion imitation from the perspective of physical grounding and leverage pressure as a unified modality across perception and control. We present PressMimic, a framework that integrates pressure into the full pipeline from motion capture to humanoid control. In the perception stage, we introduce FRAPPE++, a multimodal model that fuses RGB and pressure to jointly estimate 3D pose and global motion, where pressure provides explicit contact and support constraints to resolve ambiguity in vision-based estimation. In the control stage, we propose a pressure-supervised policy (PSP) that incorporates pressure-derived signals into reinforcement learning, enabling physically consistent contact patterns during execution. We further construct MotionPRO, a large-scale dataset with synchronized RGB, pressure, and motion capture data. Experiments show that pressure improves motion estimation accuracy, trajectory consistency, and execution stability. These results demonstrate that pressure serves as an effective physical grounding signal, bridging perception and control for physically consistent humanoid motion imitation.

LACON: Training Text-to-Image Model from Uncurated Data

The success of modern text-to-image generation is largely attributed to massive, high-quality datasets. Currently, these datasets are curated through a filter-first paradigm that aggressively discards low-quality raw data based on the assumption that it is detrimental to model performance. Is the discarded bad data truly useless, or does it hold untapped potential? In this work, we critically re-examine this question. We propose LACON (Labeling-and-Conditioning), a novel training framework that exploits the underlying uncurated data distribution. Instead of filtering, LACON re-purposes quality signals, such as aesthetic scores and watermark probabilities as explicit, quantitative condition labels. The generative model is then trained to learn the full spectrum of data quality, from bad to good. By learning the explicit boundary between high- and low-quality content, LACON achieves superior generation quality compared to baselines trained only on filtered data using the same compute budget, proving the significant value of uncurated data.

Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottleneck. We demonstrate through Hessian analysis that traditional optimization-based retargeting is inherently non-convex and prone to local optima, leading to physical artifacts like joint jumps and self-penetration. To address this, we reformulate the targeting problem as learning data distribution rather than optimizing optimal solutions, where we propose NMR, a Neural Motion Retargeting framework that transforms static geometric mapping into a dynamics-aware learned process. We first propose Clustered-Expert Physics Refinement (CEPR), a hierarchical data pipeline that leverages VAE-based motion clustering to group heterogeneous movements into latent motifs. This strategy significantly reduces the computational overhead of massively parallel reinforcement learning experts, which project and repair noisy human demonstrations onto the robot's feasible motion manifold. The resulting high-fidelity data supervises a non-autoregressive CNN-Transformer architecture that reasons over global temporal context to suppress reconstruction noise and bypass geometric traps. Experiments on the Unitree G1 humanoid across diverse dynamic tasks (e.g., martial arts, dancing) show that NMR eliminates joint jumps and significantly reduces self-collisions compared to state-of-the-art baselines. Furthermore, NMR-generated references accelerate the convergence of downstream whole-body control policies, establishing a scalable path for bridging the human-robot embodiment gap.

PEAfowl: Perception-Enhanced Multi-View Vision-Language-Action for Bimanual Manipulation

Bimanual manipulation in cluttered scenes requires policies that remain stable under occlusions, viewpoint and scene variations. Existing vision-language-action models often fail to generalize because (i) multi-view features are fused via view-agnostic token concatenation, yielding weak 3D-consistent spatial understanding, and (ii) language is injected as global conditioning, resulting in coarse instruction grounding. In this paper, we introduce PEAfowl, a perception-enhanced multi-view VLA policy for bimanual manipulation. For spatial reasoning, PEAfowl predicts per-token depth distributions, performs differentiable 3D lifting, and aggregates local cross-view neighbors to form geometrically grounded, cross-view consistent representations. For instruction grounding, we propose to replace global conditioning with a Perceiver-style text-aware readout over frozen CLIP visual features, enabling iterative evidence accumulation. To overcome noisy and incomplete commodity depth without adding inference overhead, we apply training-only depth distillation from a pretrained depth teacher to supervise the depth-distribution head, providing perception front-end with geometry-aware priors. On RoboTwin 2.0 under domain-randomized setting, PEAfowl improves the strongest baseline by 23.0 pp in success rate, and real-robot experiments further demonstrate reliable sim-to-real transfer and consistent improvements from depth distillation. Project website: https://peafowlvla.github.io/.

Split-Layer: Enhancing Implicit Neural Representation by Maximizing the Dimensionality of Feature Space

Implicit neural representation (INR) models signals as continuous functions using neural networks, offering efficient and differentiable optimization for inverse problems across diverse disciplines. However, the representational capacity of INR defined by the range of functions the neural network can characterize, is inherently limited by the low-dimensional feature space in conventional multilayer perceptron (MLP) architectures. While widening the MLP can linearly increase feature space dimensionality, it also leads to a quadratic growth in computational and memory costs. To address this limitation, we propose the split-layer, a novel reformulation of MLP construction. The split-layer divides each layer into multiple parallel branches and integrates their outputs via Hadamard product, effectively constructing a high-degree polynomial space. This approach significantly enhances INR's representational capacity by expanding the feature space dimensionality without incurring prohibitive computational overhead. Extensive experiments demonstrate that the split-layer substantially improves INR performance, surpassing existing methods across multiple tasks, including 2D image fitting, 2D CT reconstruction, 3D shape representation, and 5D novel view synthesis.

Pressure2Motion: Hierarchical Motion Synthesis from Ground Pressure with Text Guidance

We present Pressure2Motion, a novel motion capture algorithm that synthesizes human motion from a ground pressure sequence and text prompt. It eliminates the need for specialized lighting setups, cameras, or wearable devices, making it suitable for privacy-preserving, low-light, and low-cost motion capture scenarios. Such a task is severely ill-posed due to the indeterminate nature of the pressure signals to full-body motion. To address this issue, we introduce Pressure2Motion, a generative model that leverages pressure features as input and utilizes a text prompt as a high-level guiding constraint. Specifically, our model utilizes a dual-level feature extractor that accurately interprets pressure data, followed by a hierarchical diffusion model that discerns broad-scale movement trajectories and subtle posture adjustments. Both the physical cues gained from the pressure sequence and the semantic guidance derived from descriptive texts are leveraged to guide the motion generation with precision. To the best of our knowledge, Pressure2Motion is a pioneering work in leveraging both pressure data and linguistic priors for motion generation, and the established MPL benchmark is the first benchmark for this task. Experiments show our method generates high-fidelity, physically plausible motions, establishing a new state-of-the-art for this task. The codes and benchmarks will be publicly released upon publication.