Physics-Aware 3D Gaussian Editing for Driving Scene Generation

3D Gaussian Splatting (3DGS) has shown great potential in autonomous driving simulation and data generation, enabling photorealistic reconstruction and flexible scene manipulation. However, existing 3DGS scene editing methods have limited support for road geometry editing (e.g., inserting speed humps or sunken roads), and generally do not couple such edits with plausible vehicle-road interaction dynamics. Such editing is essential for generating training data under extreme driving scenarios or evaluating system reliability under these road irregularities. Moreover, many optimization-based methods require minutes of per-edit refinement, while existing efficient alternatives mainly focus on appearance-level or object-level manipulation rather than physics-aware road irregularity editing. To address these limitations, we propose RoVES, a Road-and-Vehicle Editing System for physics-aware 3D Gaussian editing in driving scenes. RoVES enables single-image-driven road geometry insertion and couples the edited road profile with a 4-DOF half-car vehicle dynamics model to achieve physics-aware vehicle pose correction in vertical displacement and pitch. RoVES inserts road elements in a one-shot, optimization-free pipeline (1.84s), and the full pipeline (including color transfer and vehicle-dynamics-based pose correction) completes in 6.24s; it edits dynamic vehicles via pose editing and corrects poses frame-by-frame to approximate dynamics-consistent vertical displacement and pitch responses. Experiments on the Waymo dataset show that RoVES provides practical efficiency and competitive visual consistency for physics-aware driving scene generation.

PhysCodeBench: Benchmarking Physics-Aware Symbolic Simulation of 3D Scenes via Self-Corrective Multi-Agent Refinement

Physics-aware symbolic simulation of 3D scenes is critical for robotics, embodied AI, and scientific computing, requiring models to understand natural language descriptions of physical phenomena and translate them into executable simulation environments. While large language models (LLMs) excel at general code generation, they struggle with the semantic gap between physical descriptions and simulation implementation. We introduce PhysCodeBench, the first comprehensive benchmark for evaluating physics-aware symbolic simulation, comprising 700 manually-crafted diverse samples across mechanics, fluid dynamics, and soft-body physics with expert annotations. Our evaluation framework measures both code executability and physical accuracy through automated and visual assessment. Building on this, we propose a Self-Corrective Multi-Agent Refinement Framework (SMRF) with three specialized agents (simulation generator, error corrector, and simulation refiner) that collaborate iteratively with domain-specific validation to produce physically accurate simulations. SMRF achieves 67.7 points overall performance compared to 36.3 points for the best baseline among evaluated SOTA models, representing a 31.4-point improvement. Our analysis demonstrates that error correction is critical for accurate physics-aware symbolic simulation and that specialized multi-agent approaches significantly outperform single-agent methods across the tested physical domains.

SnapFlow: One-Step Action Generation for Flow-Matching VLAs via Progressive Self-Distillation

Vision-Language-Action (VLA) models based on flow matching -- such as pi0, pi0.5, and SmolVLA -- achieve state-of-the-art generalist robotic manipulation, yet their iterative denoising, typically 10 ODE steps, introduces substantial latency: on a modern GPU, denoising alone accounts for 80% of end-to-end inference time. Naively reducing the step count is unreliable, degrading success on most tasks due to the velocity field being uncalibrated for single-step jumps. We present SnapFlow, a plug-and-play self-distillation method that compresses multi-step denoising into a single forward pass (1-NFE) for flow-matching VLAs. SnapFlow mixes standard flow-matching samples with consistency samples whose targets are two-step Euler shortcut velocities computed from the model's own marginal velocity predictions, avoiding the trajectory drift caused by conditional velocities, as we analyze theoretically. A zero-initialized target-time embedding lets the network switch between local velocity estimation and global one-step generation within a single architecture. SnapFlow requires no external teacher, no architecture changes, and trains in ~12h on a single GPU. We validate on two VLA architectures spanning a 6x parameter range, with identical hyperparameters: on pi0.5 (3B) across four LIBERO suites (40 tasks, 400 episodes), SnapFlow achieves 98.75% average success -- matching the 10-step teacher at 97.75% and slightly exceeding it -- with 9.6x denoising speedup and end-to-end latency reduced from 274ms to 83ms; on SmolVLA (500M), it reduces MSE by 8.3% with 3.56x end-to-end acceleration. An action-step sweep on long-horizon tasks reveals that SnapFlow maintains its advantage across execution horizons, achieving 93% at n_act=5 where the baseline reaches only 90%. SnapFlow is orthogonal to layer-distillation and token-pruning approaches, enabling compositional speedups.

Rectified Schrödinger Bridge Matching for Few-Step Visual Navigation

Visual navigation is a core challenge in Embodied AI, requiring autonomous agents to translate high-dimensional sensory observations into continuous, long-horizon action trajectories. While generative policies based on diffusion models and Schrödinger Bridges (SB) effectively capture multimodal action distributions, they require dozens of integration steps due to high-variance stochastic transport, posing a critical barrier for real-time robotic control. We propose Rectified Schrödinger Bridge Matching (RSBM), a framework that exploits a shared velocity-field structure between standard Schrödinger Bridges ($\varepsilon=1$, maximum-entropy transport) and deterministic Optimal Transport ($\varepsilon\to 0$, as in Conditional Flow Matching), controlled by a single entropic regularization parameter $\varepsilon$. We prove two key results: (1) the conditional velocity field's functional form is invariant across the entire $\varepsilon$-spectrum (Velocity Structure Invariance), enabling a single network to serve all regularization strengths; and (2) reducing $\varepsilon$ linearly decreases the conditional velocity variance, enabling more stable coarse-step ODE integration. Anchored to a learned conditional prior that shortens transport distance, RSBM operates at an intermediate $\varepsilon$ that balances multimodal coverage and path straightness. Empirically, while standard bridges require $\geq 10$ steps to converge, RSBM achieves over 94% cosine similarity and 92% success rate in merely 3 integration steps -- without distillation or multi-stage training -- substantially narrowing the gap between high-fidelity generative policies and the low-latency demands of Embodied AI.

Understand and Accelerate Memory Processing Pipeline for Disaggregated LLM Inference

Modern large language models (LLMs) increasingly depends on efficient long-context processing and generation mechanisms, including sparse attention, retrieval-augmented generation (RAG), and compressed contextual memory, to support complex reasoning. We show that these optimizations can be unified into a four-step memory processing pipeline: Prepare Memory, Compute Relevancy, Retrieval, and Apply to Inference. Through systematic profiling, we identify a 22%-97% memory processing overhead in LLM inference and strong heterogeneity in its computational characteristics. Motivated by this insight, we argue that \textbf{heterogeneous systems} are well-suited to accelerate memory processing and thus end-to-end inference. We demonstrate this approach on a GPU-FPGA system by offloading sparse, irregular, and memory-bounded operations to FPGAs while retaining compute-intensive operations on GPUs. Evaluated on an AMD MI210 GPU and an Alveo U55C FPGA, our system is $1.04\sim2.2\times$ faster and requires $1.11\sim4.7\times$ less energy across multiple LLM inference optimizations than the GPU baseline (similar results hold on NVIDIA A100). These results establish heterogeneous systems as a practical direction for efficient LLM memory processing and inform future heterogeneous hardware design.

Act While Thinking: Accelerating LLM Agents via Pattern-Aware Speculative Tool Execution

LLM-powered agents are emerging as a dominant paradigm for autonomous task solving. Unlike standard inference workloads, agents operate in a strictly serial "LLM-tool" loop, where the LLM must wait for external tool execution at every step. This execution model introduces severe latency bottlenecks. To address this problem, we propose PASTE, a Pattern-Aware Speculative Tool Execution method designed to hide tool latency through speculation. PASTE is based on the insight that although agent requests are semantically diverse, they exhibit stable application level control flows (recurring tool-call sequences) and predictable data dependencies (parameter passing between tools). By exploiting these properties, PASTE improves agent serving performance through speculative tool execution. Experimental results against state of the art baselines show that PASTE reduces average task completion time by 48.5% and improves tool execution throughput by 1.8x.

A Reconstruction System for Industrial Pipeline Inner Walls Using Panoramic Image Stitching with Endoscopic Imaging

Visual analysis and reconstruction of pipeline inner walls remain challenging in industrial inspection scenarios. This paper presents a dedicated reconstruction system for pipeline inner walls via industrial endoscopes, which is built on panoramic image stitching technology. Equipped with a custom graphical user interface (GUI), the system extracts key frames from endoscope video footage, and integrates polar coordinate transformation with image stitching techniques to unwrap annular video frames of pipeline inner walls into planar panoramic images. Experimental results demonstrate that the proposed method enables efficient processing of industrial endoscope videos, and the generated panoramic stitched images preserve all detailed features of pipeline inner walls in their entirety. This provides intuitive and accurate visual support for defect detection and condition assessment of pipeline inner walls. In comparison with the traditional frame-by-frame video review method, the proposed approach significantly elevates the efficiency of pipeline inner wall reconstruction and exhibits considerable engineering application value.

When Fusion Helps and When It Breaks: View-Aligned Robustness in Same-Source Financial Imaging

We study same-source multi-view learning and adversarial robustness for next-day direction prediction with financial image representations. On Shanghai Gold Exchange (SGE) spot gold data (2005-2025), we construct two window-aligned views from each rolling window: an OHLCV-rendered price/volume chart and a technical-indicator matrix. To ensure reliable evaluation, we adopt leakage-resistant time-block splits with embargo and use Matthews correlation coefficient (MCC). We find that results depend strongly on the label-noise regime: we apply an ex-post minimum-movement filter that discards samples with realized next-day absolute return below tau to define evaluation subsets with reduced near-zero label ambiguity. This induces a non-monotonic data-noise trade-off that can reveal predictive signal but eventually increases variance as sample size shrinks; the filter is used for offline benchmark construction rather than an inference-time decision rule. In the stabilized subsets, fusion is regime dependent: early fusion by channel stacking can exhibit negative transfer, whereas late fusion with dual encoders and a fusion head provides the dominant clean-performance gains; cross-view consistency regularization has secondary, backbone-dependent effects. We further evaluate test-time L-infinity perturbations using FGSM and PGD under two threat scenarios: view-constrained attacks that perturb one view and joint attacks that perturb both. We observe severe vulnerability at tiny budgets with strong view asymmetry. Late fusion consistently improves robustness under view-constrained attacks, but joint attacks remain challenging and can still cause substantial worst-case degradation.

MiMo-V2-Flash Technical Report

We present MiMo-V2-Flash, a Mixture-of-Experts (MoE) model with 309B total parameters and 15B active parameters, designed for fast, strong reasoning and agentic capabilities. MiMo-V2-Flash adopts a hybrid attention architecture that interleaves Sliding Window Attention (SWA) with global attention, with a 128-token sliding window under a 5:1 hybrid ratio. The model is pre-trained on 27 trillion tokens with Multi-Token Prediction (MTP), employing a native 32k context length and subsequently extended to 256k. To efficiently scale post-training compute, MiMo-V2-Flash introduces a novel Multi-Teacher On-Policy Distillation (MOPD) paradigm. In this framework, domain-specialized teachers (e.g., trained via large-scale reinforcement learning) provide dense and token-level reward, enabling the student model to perfectly master teacher expertise. MiMo-V2-Flash rivals top-tier open-weight models such as DeepSeek-V3.2 and Kimi-K2, despite using only 1/2 and 1/3 of their total parameters, respectively. During inference, by repurposing MTP as a draft model for speculative decoding, MiMo-V2-Flash achieves up to 3.6 acceptance length and 2.6x decoding speedup with three MTP layers. We open-source both the model weights and the three-layer MTP weights to foster open research and community collaboration.

MiMo-Audio: Audio Language Models are Few-Shot Learners

Existing audio language models typically rely on task-specific fine-tuning to accomplish particular audio tasks. In contrast, humans are able to generalize to new audio tasks with only a few examples or simple instructions. GPT-3 has shown that scaling next-token prediction pretraining enables strong generalization capabilities in text, and we believe this paradigm is equally applicable to the audio domain. By scaling MiMo-Audio's pretraining data to over one hundred million of hours, we observe the emergence of few-shot learning capabilities across a diverse set of audio tasks. We develop a systematic evaluation of these capabilities and find that MiMo-Audio-7B-Base achieves SOTA performance on both speech intelligence and audio understanding benchmarks among open-source models. Beyond standard metrics, MiMo-Audio-7B-Base generalizes to tasks absent from its training data, such as voice conversion, style transfer, and speech editing. MiMo-Audio-7B-Base also demonstrates powerful speech continuation capabilities, capable of generating highly realistic talk shows, recitations, livestreaming and debates. At the post-training stage, we curate a diverse instruction-tuning corpus and introduce thinking mechanisms into both audio understanding and generation. MiMo-Audio-7B-Instruct achieves open-source SOTA on audio understanding benchmarks (MMSU, MMAU, MMAR, MMAU-Pro), spoken dialogue benchmarks (Big Bench Audio, MultiChallenge Audio) and instruct-TTS evaluations, approaching or surpassing closed-source models. Model checkpoints and full evaluation suite are available at https://github.com/XiaomiMiMo/MiMo-Audio.