Mixture-Constrained Max Pooling Improves Separation-Based Bird Species Classification

Bird species classification from field recordings remains challenging due to overlapping vocalizations and incomplete species labels. We study source separation as a preprocessing for bird species classification to improve multi-species detection. Specifically, we employ an ensemble of two separators, FTRNN and TF-Locoformer, both trained with mixture invariant training (MixIT). To address the false positive gain caused by separation errors in separated outputs, we propose mixture-constrained max pooling (MCM), which clips the predicted probability from each separated channel based on the corresponding species probability in the original mixture. The classifier is applied to each separated output and the original mixture independently, and MCM aggregates the predictions into a final per-species probability. Experiments on two real-world datasets show that the ensemble outperforms individual separators and MCM outperforms standard max pooling across multiple metrics, and reveal that separation leads to both true positive gain for present species and false positive gain for absent species.

iFLYTEK-Embodied-Omni Technical Report

General-purpose embodied agents must understand multimodal instructions, anticipate how their environment will evolve, and produce precise control actions over extended horizons. Existing approaches typically specialize in visual-language reasoning, video-based world modeling, or action generation, while cascaded pipelines that first synthesize future observations and then infer actions can introduce interface bottlenecks and compound prediction errors. We present iFLYTEK-Embodied-Omni, a unified multimodal foundation model that jointly models vision(videos and images), language, and action within a single Omni framework. Its modality-specific visual-language, video-generation, and action-generation components communicate through shared multimodal self-attention. This design establishes brain-cerebellum collaboration: the vision-language modeland video generation model form a high-level brain for instruction understanding, task planning, progress tracking, and future visual-state prediction, whereas the action generation modelserves as a low-level cerebellum that directly converts planned subgoals and shared multimodal context into executable action chunks. To develop these capabilities, we combine action-annotated and action-free embodied videos from human demonstrations and robot interactions with embodied reasoning, embodied perception, and general-purpose image-text data to construct a comprehensive dataset. We further adopt a four-stage strategy that progressively trains the VLM, VGM, and AGM before jointly fine-tuning the complete model.

Perron--Frobenius Operator Matching for Generative Modeling

We introduce Perron--Frobenius Operator Matching (PFOM), a generative framework that matches density evolution via the integral PF operator, subsuming flow, diffusion, and jump models. We prove that among Bregman divergences, only Kullback--Leibler divergence preserves equality between density-level and sample-conditioned objectives, yielding a practical loss equivalent to Koopman path matching. We further develop Nesterov-accelerated training and sampling that stabilize discretization and accelerate convergence. %On Gaussian mixtures and two-moons, PFOM achieves faster KL/$W_2$/MMD decrease and improved wall-clock efficiency with empirical validation. PFOM unifies operator-theoretic identification with modern generative modeling and opens paths to adaptive dictionaries and high-dimensional applications.

GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation

Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot embodiments. We argue that this stems from the lack of a unified geometry-aware manipulation representation, leaving existing VLAs vulnerable to low-level trajectory supervision, misaligned 3D features, and embodiment differences. To address this, we propose GEAR-VLA, a VLA framework for learning unified geometry-aware action representations for generalizable robotic manipulation. GEAR-VLA adopts coarse-to-fine action learning, where multi-source embodied pretraining equips the VLM with embodied reasoning and discrete action understanding before latent action tokens connect action semantics to a gradient-decoupled DiT continuous action expert. It further performs semantic-aligned 3D integration by aligning a trainable 3D spatial backbone with the VLA representation while freezing the original VLM-aligned visual pathway. To share this representation across robots, GEAR-VLA uses embodiment canonicalization, where embodiment-aware states and embodiment-invariant actions confine robot differences to the low-level interface. Extensive simulation and real-world experiments demonstrate strong generalization: GEAR-VLA achieves state-of-the-art performance on LIBERO, zero-shot LIBERO-Plus, and RoboTwin 2.0, reaches 85.9% success on AgileX and 81.0% on the pretraining-unseen LDT-01 embodiment, and obtains 90.1% success on a 6,360-trial universal grasping benchmark with 212 unseen objects. Code and models will be released at https://github.com/babynabeauty/GEAR-VLA.

Air-Know: Arbiter-Calibrated Knowledge-Internalizing Robust Network for Composed Image Retrieval

Composed Image Retrieval (CIR) has attracted significant attention due to its flexible multimodal query method, yet its development is severely constrained by the Noisy Triplet Correspondence (NTC) problem. Most existing robust learning methods rely on the "small loss hypothesis", but the unique semantic ambiguity in NTC, such as "partial matching", invalidates this assumption, leading to unreliable noise identification. This entraps the model in a self dependent vicious cycle where the learner is intertwined with the arbiter, ultimately causing catastrophic "representation pollution". To address this critical challenge, we propose a novel "Expert-Proxy-Diversion" decoupling paradigm, named Air-Know (ArbIteR calibrated Knowledge iNternalizing rObust netWork). Air-Know incorporates three core modules: (1) External Prior Arbitration (EPA), which utilizes Multimodal Large Language Models (MLLMs) as an offline expert to construct a high precision anchor dataset; (2) Expert Knowledge Internalization (EKI), which efficiently guides a lightweight proxy "arbiter" to internalize the expert's discriminative logic; (3) Dual Stream Reconciliation (DSR), which leverages the EKI's matching confidence to divert the training data, achieving a clean alignment stream and a representation feedback reconciliation stream. Extensive experiments on multiple CIR benchmark datasets demonstrate that Air-Know significantly outperforms existing SOTA methods under the NTC setting, while also showing strong competitiveness in traditional CIR.

HABIT: Chrono-Synergia Robust Progressive Learning Framework for Composed Image Retrieval

Composed Image Retrieval (CIR) is a flexible image retrieval paradigm that enables users to accurately locate the target image through a multimodal query composed of a reference image and modification text. Although this task has demonstrated promising applications in personalized search and recommendation systems, it encounters a severe challenge in practical scenarios known as the Noise Triplet Correspondence (NTC) problem. This issue primarily arises from the high cost and subjectivity involved in annotating triplet data. To address this problem, we identify two central challenges: the precise estimation of composed semantic discrepancy and the insufficient progressive adaptation to modification discrepancy. To tackle these challenges, we propose a cHrono-synergiA roBust progressIve learning framework for composed image reTrieval (HABIT), which consists of two core modules. First, the Mutual Knowledge Estimation Module quantifies sample cleanliness by calculating the Transition Rate of mutual information between the composed feature and the target image, thereby effectively identifying clean samples that align with the intended modification semantics. Second, the Dual-consistency Progressive Learning Module introduces a collaborative mechanism between the historical and current models, simulating human habit formation to retain good habits and calibrate bad habits, ultimately enabling robust learning under the presence of NTC. Extensive experiments conducted on two standard CIR datasets demonstrate that HABIT significantly outperforms most methods under various noise ratios, exhibiting superior robustness and retrieval performance. Codes are available at https://github.com/Lee-zixu/HABIT

GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction, limiting the ability to recover regions occluded by dynamic objects. In this paper, we propose GA-GS, a Generation-Assisted Gaussian Splatting method for Static Scene Reconstruction. The key innovation of our work lies in leveraging generation to assist in reconstructing occluded regions. We employ a motion-aware module to segment and remove dynamic regions, and thenuse a diffusion model to inpaint the occluded areas, providing pseudo-ground-truth supervision. To balance contributions from real background and generated region, we introduce a learnable authenticity scalar for each Gaussian primitive, which dynamically modulates opacity during splatting for authenticity-aware rendering and supervision. Since no existing dataset provides ground-truth static scene of video with dynamic objects, we construct a dataset named Trajectory-Match, using a fixed-path robot to record each scene with/without dynamic objects, enabling quantitative evaluation in reconstruction of occluded regions. Extensive experiments on both the DAVIS and our dataset show that GA-GS achieves state-of-the-art performance in static scene reconstruction, especially in challenging scenarios with large-scale, persistent occlusions.

Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control

Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. Each action therefore needs tens to hundreds of network function evaluations (NFEs), making them costly for high-frequency closed-loop control and online reinforcement learning (RL). To address this limitation, we propose a two-stage framework for native one-step generative policies that shifts refinement from inference to training. First, we introduce the Drift-Based Policy (DBP), which leverages fixed-point drifting objectives to internalize iterative refinement into the model parameters, yielding a one-step generative backbone by design while preserving multimodal action modeling capacity. Second, we develop Drift-Based Policy Optimization (DBPO), an online RL framework that equips the pretrained backbone with a compatible stochastic interface, enabling stable on-policy updates without sacrificing the one-step deployment property. Extensive experiments demonstrate the effectiveness of the proposed framework across offline imitation learning, online fine-tuning, and real-world control scenarios. DBP matches or exceeds the performance of multi-step diffusion policies while achieving up to $100\times$ faster inference. It also consistently outperforms existing one-step baselines on challenging manipulation benchmarks. Moreover, DBPO enables effective and stable policy improvement in online settings. Experiments on a real-world dual-arm robot demonstrate reliable high-frequency control at 105.2 Hz.

From Woofs to Words: Towards Intelligent Robotic Guide Dogs with Verbal Communication

Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation. Enabling language capabilities for robotic guide dogs goes beyond naively adding an existing dialog system onto a mobile robot. The novel challenges include grounding language in the dynamically changing environment and improving spatial awareness for the human handler. To address those challenges, we develop a novel dialog system for robotic guide dogs that uses LLMs to verbalize both navigational plans and scenes. The goal is to enable verbal communication for collaborative decision-making within the handler-robot team. In experiments, we conducted a human study to evaluate different verbalization strategies and a simulation study to assess the efficiency and accuracy in navigation tasks.

M$^2$-Miner: Multi-Agent Enhanced MCTS for Mobile GUI Agent Data Mining

Graphical User Interface (GUI) agent is pivotal to advancing intelligent human-computer interaction paradigms. Constructing powerful GUI agents necessitates the large-scale annotation of high-quality user-behavior trajectory data (i.e., intent-trajectory pairs) for training. However, manual annotation methods and current GUI agent data mining approaches typically face three critical challenges: high construction cost, poor data quality, and low data richness. To address these issues, we propose M$^2$-Miner, the first low-cost and automated mobile GUI agent data-mining framework based on Monte Carlo Tree Search (MCTS). For better data mining efficiency and quality, we present a collaborative multi-agent framework, comprising InferAgent, OrchestraAgent, and JudgeAgent for guidance, acceleration, and evaluation. To further enhance the efficiency of mining and enrich intent diversity, we design an intent recycling strategy to extract extra valuable interaction trajectories. Additionally, a progressive model-in-the-loop training strategy is introduced to improve the success rate of data mining. Extensive experiments have demonstrated that the GUI agent fine-tuned using our mined data achieves state-of-the-art performance on several commonly used mobile GUI benchmarks. Our work will be released to facilitate the community research.