LINR Bridge: Vector Graphic Animation via Neural Implicits and Video Diffusion Priors

Vector graphics, known for their scalability and user-friendliness, provide a unique approach to visual content compared to traditional pixel-based images. Animation of these graphics, driven by the motion of their elements, offers enhanced comprehensibility and controllability but often requires substantial manual effort. To automate this process, we propose a novel method that integrates implicit neural representations with text-to-video diffusion models for vector graphic animation. Our approach employs layered implicit neural representations to reconstruct vector graphics, preserving their inherent properties such as infinite resolution and precise color and shape constraints, which effectively bridges the large domain gap between vector graphics and diffusion models. The neural representations are then optimized using video score distillation sampling, which leverages motion priors from pretrained text-to-video diffusion models. Finally, the vector graphics are warped to match the representations resulting in smooth animation. Experimental results validate the effectiveness of our method in generating vivid and natural vector graphic animations, demonstrating significant improvement over existing techniques that suffer from limitations in flexibility and animation quality.

ANYPORTAL: Zero-Shot Consistent Video Background Replacement

Despite the rapid advancements in video generation technology, creating high-quality videos that precisely align with user intentions remains a significant challenge. Existing methods often fail to achieve fine-grained control over video details, limiting their practical applicability. We introduce ANYPORTAL, a novel zero-shot framework for video background replacement that leverages pre-trained diffusion models. Our framework collaboratively integrates the temporal prior of video diffusion models with the relighting capabilities of image diffusion models in a zero-shot setting. To address the critical challenge of foreground consistency, we propose a Refinement Projection Algorithm, which enables pixel-level detail manipulation to ensure precise foreground preservation. ANYPORTAL is training-free and overcomes the challenges of achieving foreground consistency and temporally coherent relighting. Experimental results demonstrate that ANYPORTAL achieves high-quality results on consumer-grade GPUs, offering a practical and efficient solution for video content creation and editing.

STream3R: Scalable Sequential 3D Reconstruction with Causal Transformer

We present STream3R, a novel approach to 3D reconstruction that reformulates pointmap prediction as a decoder-only Transformer problem. Existing state-of-the-art methods for multi-view reconstruction either depend on expensive global optimization or rely on simplistic memory mechanisms that scale poorly with sequence length. In contrast, STream3R introduces an streaming framework that processes image sequences efficiently using causal attention, inspired by advances in modern language modeling. By learning geometric priors from large-scale 3D datasets, STream3R generalizes well to diverse and challenging scenarios, including dynamic scenes where traditional methods often fail. Extensive experiments show that our method consistently outperforms prior work across both static and dynamic scene benchmarks. Moreover, STream3R is inherently compatible with LLM-style training infrastructure, enabling efficient large-scale pretraining and fine-tuning for various downstream 3D tasks. Our results underscore the potential of causal Transformer models for online 3D perception, paving the way for real-time 3D understanding in streaming environments. More details can be found in our project page: https://nirvanalan.github.io/projects/stream3r.

InstructVLA: Vision-Language-Action Instruction Tuning from Understanding to Manipulation

To operate effectively in the real world, robots must integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to task-specific manipulation data, and suffer catastrophic forgetting of pre-trained vision-language capabilities. To bridge this gap, we introduce InstructVLA, an end-to-end VLA model that preserves the flexible reasoning of large vision-language models (VLMs) while delivering leading manipulation performance. InstructVLA introduces a novel training paradigm, Vision-Language-Action Instruction Tuning (VLA-IT), which employs multimodal training with mixture-of-experts adaptation to jointly optimize textual reasoning and action generation on both standard VLM corpora and a curated 650K-sample VLA-IT dataset. On in-domain SimplerEnv tasks, InstructVLA achieves 30.5% improvement over SpatialVLA. To evaluate generalization, we introduce SimplerEnv-Instruct, an 80-task benchmark requiring closed-loop control and high-level instruction understanding, where it outperforms a fine-tuned OpenVLA by 92% and an action expert aided by GPT-4o by 29%. Additionally, InstructVLA surpasses baseline VLMs on multimodal tasks and exhibits inference-time scaling by leveraging textual reasoning to boost manipulation performance in both simulated and real-world settings. These results demonstrate InstructVLA's potential for bridging intuitive and steerable human-robot interaction with efficient policy learning.

CronusVLA: Transferring Latent Motion Across Time for Multi-Frame Prediction in Manipulation

Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong generalization across manipulation tasks. However, they remain constrained by a single-frame observation paradigm and cannot fully benefit from the motion information offered by aggregated multi-frame historical observations, as the large vision-language backbone introduces substantial computational cost and inference latency. We propose CronusVLA, a unified framework that extends single-frame VLA models to the multi-frame paradigm through an efficient post-training stage. CronusVLA comprises three key components: (1) single-frame pretraining on large-scale embodied datasets with autoregressive action tokens prediction, which establishes an embodied vision-language foundation; (2) multi-frame encoding, adapting the prediction of vision-language backbones from discrete action tokens to motion features during post-training, and aggregating motion features from historical frames into a feature chunking; (3) cross-frame decoding, which maps the feature chunking to accurate actions via a shared decoder with cross-attention. By reducing redundant token computation and caching past motion features, CronusVLA achieves efficient inference. As an application of motion features, we further propose an action adaptation mechanism based on feature-action retrieval to improve model performance during finetuning. CronusVLA achieves state-of-the-art performance on SimplerEnv with 70.9% success rate, and 12.7% improvement over OpenVLA on LIBERO. Real-world Franka experiments also show the strong performance and robustness.

GENMANIP: LLM-driven Simulation for Generalizable Instruction-Following Manipulation

Robotic manipulation in real-world settings remains challenging, especially regarding robust generalization. Existing simulation platforms lack sufficient support for exploring how policies adapt to varied instructions and scenarios. Thus, they lag behind the growing interest in instruction-following foundation models like LLMs, whose adaptability is crucial yet remains underexplored in fair comparisons. To bridge this gap, we introduce GenManip, a realistic tabletop simulation platform tailored for policy generalization studies. It features an automatic pipeline via LLM-driven task-oriented scene graph to synthesize large-scale, diverse tasks using 10K annotated 3D object assets. To systematically assess generalization, we present GenManip-Bench, a benchmark of 200 scenarios refined via human-in-the-loop corrections. We evaluate two policy types: (1) modular manipulation systems integrating foundation models for perception, reasoning, and planning, and (2) end-to-end policies trained through scalable data collection. Results show that while data scaling benefits end-to-end methods, modular systems enhanced with foundation models generalize more effectively across diverse scenarios. We anticipate this platform to facilitate critical insights for advancing policy generalization in realistic conditions. Project Page: https://genmanip.axi404.top/.

Video World Models with Long-term Spatial Memory

Emerging world models autoregressively generate video frames in response to actions, such as camera movements and text prompts, among other control signals. Due to limited temporal context window sizes, these models often struggle to maintain scene consistency during revisits, leading to severe forgetting of previously generated environments. Inspired by the mechanisms of human memory, we introduce a novel framework to enhancing long-term consistency of video world models through a geometry-grounded long-term spatial memory. Our framework includes mechanisms to store and retrieve information from the long-term spatial memory and we curate custom datasets to train and evaluate world models with explicitly stored 3D memory mechanisms. Our evaluations show improved quality, consistency, and context length compared to relevant baselines, paving the way towards long-term consistent world generation.

Training-Free Watermarking for Autoregressive Image Generation

Invisible image watermarking can protect image ownership and prevent malicious misuse of visual generative models. However, existing generative watermarking methods are mainly designed for diffusion models while watermarking for autoregressive image generation models remains largely underexplored. We propose IndexMark, a training-free watermarking framework for autoregressive image generation models. IndexMark is inspired by the redundancy property of the codebook: replacing autoregressively generated indices with similar indices produces negligible visual differences. The core component in IndexMark is a simple yet effective match-then-replace method, which carefully selects watermark tokens from the codebook based on token similarity, and promotes the use of watermark tokens through token replacement, thereby embedding the watermark without affecting the image quality. Watermark verification is achieved by calculating the proportion of watermark tokens in generated images, with precision further improved by an Index Encoder. Furthermore, we introduce an auxiliary validation scheme to enhance robustness against cropping attacks. Experiments demonstrate that IndexMark achieves state-of-the-art performance in terms of image quality and verification accuracy, and exhibits robustness against various perturbations, including cropping, noises, Gaussian blur, random erasing, color jittering, and JPEG compression.

On the Eligibility of LLMs for Counterfactual Reasoning: A Decompositional Study

Counterfactual reasoning has emerged as a crucial technique for generalizing the reasoning capabilities of large language models (LLMs). By generating and analyzing counterfactual scenarios, researchers can assess the adaptability and reliability of model decision-making. Although prior work has shown that LLMs often struggle with counterfactual reasoning, it remains unclear which factors most significantly impede their performance across different tasks and modalities. In this paper, we propose a decompositional strategy that breaks down the counterfactual generation from causality construction to the reasoning over counterfactual interventions. To support decompositional analysis, we investigate 11 datasets spanning diverse tasks, including natural language understanding, mathematics, programming, and vision-language tasks. Through extensive evaluations, we characterize LLM behavior across each decompositional stage and identify how modality type and intermediate reasoning influence performance. By establishing a structured framework for analyzing counterfactual reasoning, this work contributes to the development of more reliable LLM-based reasoning systems and informs future elicitation strategies.

Dynamic Arthroscopic Navigation System for Anterior Cruciate Ligament Reconstruction Based on Multi-level Memory Architecture

This paper presents a dynamic arthroscopic navigation system based on multi-level memory architecture for anterior cruciate ligament (ACL) reconstruction surgery. The system extends our previously proposed markerless navigation method from static image matching to dynamic video sequence tracking. By integrating the Atkinson-Shiffrin memory model's three-level architecture (sensory memory, working memory, and long-term memory), our system maintains continuous tracking of the femoral condyle throughout the surgical procedure, providing stable navigation support even in complex situations involving viewpoint changes, instrument occlusion, and tissue deformation. Unlike existing methods, our system operates in real-time on standard arthroscopic equipment without requiring additional tracking hardware, achieving 25.3 FPS with a latency of only 39.5 ms, representing a 3.5-fold improvement over our previous static system. For extended sequences (1000 frames), the dynamic system maintained an error of 5.3 plus-minus 1.5 pixels, compared to the static system's 12.6 plus-minus 3.7 pixels - an improvement of approximately 45 percent. For medium-length sequences (500 frames) and short sequences (100 frames), the system achieved approximately 35 percent and 19 percent accuracy improvements, respectively. Experimental results demonstrate the system overcomes limitations of traditional static matching methods, providing new technical support for improving surgical precision in ACL reconstruction.