NebulaVLA: A Dual-Frequency Vision-Language-Action Model With Guide Action for Robotic Manipulation

Real-world deployment of Vision-Language-Action (VLA) models is often bottlenecked by efficiency-performance trade-offs, cross-embodiment generalization, and execution smoothness. We present NebulaVLA, an asynchronous dual-frequency architecture that decouples high-level semantic reasoning from low-level action control, optimizing computational resources and modularity. To bridge semantic gaps across heterogeneous robots, we introduce GESTURE-7, a unified language-grounded action representation. Furthermore, our Guide Action algorithm enforces kinematic continuity via mask-based smoothness constraints. Comprehensive evaluations demonstrate that NebulaVLA significantly outperforms synchronous baselines, achieving an 85.5\% average success rate on LIBERO-Plus and accelerating action generation by \textasciitilde 2.7$\times$. This asynchronous design enables highly efficient and responsive control for practical robotics.

Geometry-Aware Anisotropic Boundary Correction for Aerodynamic Simulation

Aerodynamic simulation is a key component of engineering shape design, where core quantities such as the surface pressure coefficient strongly depend on flow dynamics near solid boundaries. Neural operators provide an efficient alternative to expensive Computational Fluid Dynamics (CFD) solvers. However, conventional methods treat the boundary region isotropically, failing to account for the distinct physical behaviors along the boundaries. In reality, the aerodynamic process exhibits anisotropy: along the tangential direction, flow propagates along the wall; along the normal direction, physical quantities are constrained by the wall. To explicitly model the distinct physical behaviors, we propose GeoABC, a geometry-conditioned anisotropic boundary correction framework. GeoABC leverages the boundary geometries to introduce direction-aware boundary correction into the intermediate representations of neural operators, transforming boundary geometry from static input features into a structural prior that modulates physical prediction. On 2D airfoil and 3D car tasks, GeoABC consistently adapts to multiple neural operator backbones, reducing near-boundary relative $L_2$ error by $\sim$38\% on average, narrowing the structural near-wall gap shared by mainstream neural operators, and advancing neural operators toward high-fidelity aerodynamic simulation.

ReBA-Pred-Net: Weakly-Supervised Regional Brain Age Prediction on MRI

Brain age has become a prominent biomarker of brain health. Yet most prior work targets whole brain age (WBA), a coarse paradigm that struggles to support tasks such as disease characterization and research on development and aging patterns, because relevant changes are typically region-selective rather than brain-wide. Therefore, robust regional brain age (ReBA) estimation is critical, yet a widely generalizable model has yet to be established. In this paper, we propose the Regional Brain Age Prediction Network (ReBA-Pred-Net), a Teacher-Student framework designed for fine-grained brain age estimation. The Teacher produces soft ReBA to guide the Student to yield reliable ReBA estimates with a clinical-prior consistency constraint (regions within the same function should change similarly). For rigorous evaluation, we introduce two indirect metrics: Healthy Control Similarity (HCS), which assesses statistical consistency by testing whether regional brain-age-gap (ReBA minus chronological age) distributions align between training and unseen HC; and Neuro Disease Correlation (NDC), which assesses factual consistency by checking whether clinically confirmed patients show elevated brain-age-gap in disease-associated regions. Experiments across multiple backbones demonstrate the statistical and factual validity of our method.

Fading the Digital Ink: A Universal Black-Box Attack Framework for 3DGS Watermarking Systems

With the rise of 3D Gaussian Splatting (3DGS), a variety of digital watermarking techniques, embedding either 1D bitstreams or 2D images, are used for copyright protection. However, the robustness of these watermarking techniques against potential attacks remains underexplored. This paper introduces the first universal black-box attack framework, the Group-based Multi-objective Evolutionary Attack (GMEA), designed to challenge these watermarking systems. We formulate the attack as a large-scale multi-objective optimization problem, balancing watermark removal with visual quality. In a black-box setting, we introduce an indirect objective function that blinds the watermark detector by minimizing the standard deviation of features extracted by a convolutional network, thus rendering the feature maps uninformative. To manage the vast search space of 3DGS models, we employ a group-based optimization strategy to partition the model into multiple, independent sub-optimization problems. Experiments demonstrate that our framework effectively removes both 1D and 2D watermarks from mainstream 3DGS watermarking methods while maintaining high visual fidelity. This work reveals critical vulnerabilities in existing 3DGS copyright protection schemes and calls for the development of more robust watermarking systems.

Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning

The pursuit of data efficiency, where quality outweighs quantity, has emerged as a cornerstone in robotic manipulation, especially given the high costs associated with real-world data collection. We propose that maximizing the informational density of individual demonstrations can dramatically reduce reliance on large-scale datasets while improving task performance. To this end, we introduce Adversarial Data Collection, a Human-in-the-Loop (HiL) framework that redefines robotic data acquisition through real-time, bidirectional human-environment interactions. Unlike conventional pipelines that passively record static demonstrations, ADC adopts a collaborative perturbation paradigm: during a single episode, an adversarial operator dynamically alters object states, environmental conditions, and linguistic commands, while the tele-operator adaptively adjusts actions to overcome these evolving challenges. This process compresses diverse failure-recovery behaviors, compositional task variations, and environmental perturbations into minimal demonstrations. Our experiments demonstrate that ADC-trained models achieve superior compositional generalization to unseen task instructions, enhanced robustness to perceptual perturbations, and emergent error recovery capabilities. Strikingly, models trained with merely 20% of the demonstration volume collected through ADC significantly outperform traditional approaches using full datasets. These advances bridge the gap between data-centric learning paradigms and practical robotic deployment, demonstrating that strategic data acquisition, not merely post-hoc processing, is critical for scalable, real-world robot learning. Additionally, we are curating a large-scale ADC-Robotics dataset comprising real-world manipulation tasks with adversarial perturbations. This benchmark will be open-sourced to facilitate advancements in robotic imitation learning.

AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

Phys4DGen: A Physics-Driven Framework for Controllable and Efficient 4D Content Generation from a Single Image

The task of 4D content generation involves creating dynamic 3D models that evolve over time in response to specific input conditions, such as images. Existing methods rely heavily on pre-trained video diffusion models to guide 4D content dynamics, but these approaches often fail to capture essential physical principles, as video diffusion models lack a robust understanding of real-world physics. Moreover, these models face challenges in providing fine-grained control over dynamics and exhibit high computational costs. In this work, we propose Phys4DGen, a novel, high-efficiency framework that generates physics-compliant 4D content from a single image with enhanced control capabilities. Our approach uniquely integrates physical simulations into the 4D generation pipeline, ensuring adherence to fundamental physical laws. Inspired by the human ability to infer physical properties visually, we introduce a Physical Perception Module (PPM) that discerns the material properties and structural components of the 3D object from the input image, facilitating accurate downstream simulations. Phys4DGen significantly accelerates the 4D generation process by eliminating iterative optimization steps in the dynamics modeling phase. It allows users to intuitively control the movement speed and direction of generated 4D content by adjusting external forces, achieving finely tunable, physically plausible animations. Extensive evaluations show that Phys4DGen outperforms existing methods in both inference speed and physical realism, producing high-quality, controllable 4D content.

BatGPT-Chem: A Foundation Large Model For Retrosynthesis Prediction

Retrosynthesis analysis is pivotal yet challenging in drug discovery and organic chemistry. Despite the proliferation of computational tools over the past decade, AI-based systems often fall short in generalizing across diverse reaction types and exploring alternative synthetic pathways. This paper presents BatGPT-Chem, a large language model with 15 billion parameters, tailored for enhanced retrosynthesis prediction. Integrating chemical tasks via a unified framework of natural language and SMILES notation, this approach synthesizes extensive instructional data from an expansive chemical database. Employing both autoregressive and bidirectional training techniques across over one hundred million instances, BatGPT-Chem captures a broad spectrum of chemical knowledge, enabling precise prediction of reaction conditions and exhibiting strong zero-shot capabilities. Superior to existing AI methods, our model demonstrates significant advancements in generating effective strategies for complex molecules, as validated by stringent benchmark tests. BatGPT-Chem not only boosts the efficiency and creativity of retrosynthetic analysis but also establishes a new standard for computational tools in synthetic design. This development empowers chemists to adeptly address the synthesis of novel compounds, potentially expediting the innovation cycle in drug manufacturing and materials science. We release our trial platform at \url{https://www.batgpt.net/dapp/chem}.

FMDNN: A Fuzzy-guided Multi-granular Deep Neural Network for Histopathological Image Classification

Histopathological image classification constitutes a pivotal task in computer-aided diagnostics. The precise identification and categorization of histopathological images are of paramount significance for early disease detection and treatment. In the diagnostic process of pathologists, a multi-tiered approach is typically employed to assess abnormalities in cell regions at different magnifications. However, feature extraction is often performed at a single granularity, overlooking the multi-granular characteristics of cells. To address this issue, we propose the Fuzzy-guided Multi-granularity Deep Neural Network (FMDNN). Inspired by the multi-granular diagnostic approach of pathologists, we perform feature extraction on cell structures at coarse, medium, and fine granularity, enabling the model to fully harness the information in histopathological images. We incorporate the theory of fuzzy logic to address the challenge of redundant key information arising during multi-granular feature extraction. Cell features are described from different perspectives using multiple fuzzy membership functions, which are fused to create universal fuzzy features. A fuzzy-guided cross-attention module guides universal fuzzy features toward multi-granular features. We propagate these features through an encoder to all patch tokens, aiming to achieve enhanced classification accuracy and robustness. In experiments on multiple public datasets, our model exhibits a significant improvement in accuracy over commonly used classification methods for histopathological image classification and shows commendable interpretability.

Seeking Common but Distinguishing Difference, A Joint Aspect-based Sentiment Analysis Model

Aspect-based sentiment analysis (ABSA) task consists of three typical subtasks: aspect term extraction, opinion term extraction, and sentiment polarity classification. These three subtasks are usually performed jointly to save resources and reduce the error propagation in the pipeline. However, most of the existing joint models only focus on the benefits of encoder sharing between subtasks but ignore the difference. Therefore, we propose a joint ABSA model, which not only enjoys the benefits of encoder sharing but also focuses on the difference to improve the effectiveness of the model. In detail, we introduce a dual-encoder design, in which a pair encoder especially focuses on candidate aspect-opinion pair classification, and the original encoder keeps attention on sequence labeling. Empirical results show that our proposed model shows robustness and significantly outperforms the previous state-of-the-art on four benchmark datasets.