Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis

Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face prohibitive data collection costs. Meanwhile, retargeting relies on human-centric pose estimation (e.g., SMPL), introducing a morphology gap. Skeletal scale mismatches result in severe spatial misalignments when mapped to robots, compromising interaction success. In this work, we propose Dream2Act, a robot-centric framework enabling zero-shot interaction through generative video synthesis. Given a third-person image of the robot and target object, our framework leverages video generation models to envision the robot completing the task with morphology-consistent motion. We employ a high-fidelity pose extraction system to recover physically feasible, robot-native joint trajectories from these synthesized dreams, subsequently executed via a general-purpose whole-body controller. Operating strictly within the robot-native coordinate space, Dream2Act avoids retargeting errors and eliminates task-specific policy training. We evaluate Dream2Act on the Unitree G1 across four whole-body mobile interaction tasks: ball kicking, sofa sitting, bag punching, and box hugging. Dream2Act achieves a 37.5% overall success rate, compared to 0% for conventional retargeting. While retargeting fails to establish correct physical contacts due to the morphology gap (with errors compounded during locomotion), Dream2Act maintains robot-consistent spatial alignment, enabling reliable contact formation and substantially higher task completion.

Shifting Uncertainty to Critical Moments: Towards Reliable Uncertainty Quantification for VLA Model

Vision-Language-Action (VLA) models enable general-purpose robotic policies by mapping visual observations and language instructions to low-level actions, but they often lack reliable introspection. A common practice is to compute a token-level uncertainty signal and take its mean over a rollout. However, mean aggregation can dilute short-lived but safety-critical uncertainty spikes in continuous control. In particular, successful rollouts may contain localized high-entropy segments due to benign noise or non-critical micro-adjustments, while failure rollouts can appear low-entropy for most timesteps and only exhibit brief spikes near the onset of failure. We propose a unified uncertainty quantification approach for predicting rollout success versus failure that (1) uses max-based sliding window pooling to preserve transient risk signals, (2) applies motion-aware stability weighting to emphasize high-frequency action oscillations associated with unstable behaviors, and (3) performs DoF-adaptive calibration via Bayesian Optimization to prioritize kinematically critical axes. Experiments on the LIBERO benchmark show that our method substantially improves failure prediction accuracy and yields more reliable signals for failure detection, which can support downstream human-in-the-loop interventions.

UniGround: Universal 3D Visual Grounding via Training-Free Scene Parsing

Understanding and localizing objects in complex 3D environments from natural language descriptions, known as 3D Visual Grounding (3DVG), is a foundational challenge in embodied AI, with broad implications for robotics, augmented reality, and human-machine interaction. Large-scale pre-trained foundation models have driven significant progress on this front, enabling open-vocabulary 3DVG that allows systems to locate arbitrary objects in a given scene. However, their reliance on pre-trained models constrains 3D perception and reasoning within the inherited knowledge boundaries, resulting in limited generalization to unseen spatial relationships and poor robustness to out-of-distribution scenes. In this paper, we replace this constrained perception with training-free visual and geometric reasoning, thereby unlocking open-world 3DVG that enables the localization of any object in any scene beyond the training data. Specifically, the proposed UniGround operates in two stages: a Global Candidate Filtering stage that constructs scene candidates through training-free 3D topology and multi-view semantic encoding, and a Local Precision Grounding stage that leverages multi-scale visual prompting and structured reasoning to precisely identify the target object. Experiments on ScanRefer and EmbodiedScan show that UniGround achieves 46.1\%/34.1\% Acc@0.25/0.5 on ScanRefer and 28.7\% Acc@0.25 on EmbodiedScan, establishing a new state-of-the-art among zero-shot methods on EmbodiedScan without any 3D supervision. We further evaluate UniGround in real-world environments under uncontrolled reconstruction conditions and substantial domain shift, showing training-free reasoning generalizes robustly beyond curated benchmarks.

T2MBench: A Benchmark for Out-of-Distribution Text-to-Motion Generation

Most existing evaluations of text-to-motion generation focus on in-distribution textual inputs and a limited set of evaluation criteria, which restricts their ability to systematically assess model generalization and motion generation capabilities under complex out-of-distribution (OOD) textual conditions. To address this limitation, we propose a benchmark specifically designed for OOD text-to-motion evaluation, which includes a comprehensive analysis of 14 representative baseline models and the two datasets derived from evaluation results. Specifically, we construct an OOD prompt dataset consisting of 1,025 textual descriptions. Based on this prompt dataset, we introduce a unified evaluation framework that integrates LLM-based Evaluation, Multi-factor Motion evaluation, and Fine-grained Accuracy Evaluation. Our experimental results reveal that while different baseline models demonstrate strengths in areas such as text-to-motion semantic alignment, motion generalizability, and physical quality, most models struggle to achieve strong performance with Fine-grained Accuracy Evaluation. These findings highlight the limitations of existing methods in OOD scenarios and offer practical guidance for the design and evaluation of future production-level text-to-motion models.

On-the-Fly VLA Adaptation via Test-Time Reinforcement Learning

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular, they are primarily trained via supervised fine-tuning or training-time reinforcement learning, requiring explicit fine-tuning phases, human interventions, or controlled data collection. Consequently, existing methods remain unsuitable for challenging simulated- or physical-world deployments, where robots must respond autonomously and flexibly to evolving environments. To address this limitation, we introduce a Test-Time Reinforcement Learning for VLAs (TT-VLA), a framework that enables on-the-fly policy adaptation during inference. TT-VLA formulates a dense reward mechanism that leverages step-by-step task-progress signals to refine action policies during test time while preserving the SFT/RL-trained priors, making it an effective supplement to current VLA models. Empirical results show that our approach enhances overall adaptability, stability, and task success in dynamic, previously unseen scenarios under simulated and real-world settings. We believe TT-VLA offers a principled step toward self-improving, deployment-ready VLAs.

Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics

Recently in robotics, Vision-Language-Action (VLA) models have emerged as a transformative approach, enabling robots to execute complex tasks by integrating visual and linguistic inputs within an end-to-end learning framework. While VLA models offer significant capabilities, they also introduce new attack surfaces, making them vulnerable to adversarial attacks. With these vulnerabilities largely unexplored, this paper systematically quantifies the robustness of VLA-based robotic systems. Recognizing the unique demands of robotic execution, our attack objectives target the inherent spatial and functional characteristics of robotic systems. In particular, we introduce an untargeted position-aware attack objective that leverages spatial foundations to destabilize robotic actions, and a targeted attack objective that manipulates the robotic trajectory. Additionally, we design an adversarial patch generation approach that places a small, colorful patch within the camera's view, effectively executing the attack in both digital and physical environments. Our evaluation reveals a marked degradation in task success rates, with up to a 100\% reduction across a suite of simulated robotic tasks, highlighting critical security gaps in current VLA architectures. By unveiling these vulnerabilities and proposing actionable evaluation metrics, this work advances both the understanding and enhancement of safety for VLA-based robotic systems, underscoring the necessity for developing robust defense strategies prior to physical-world deployments.

Target-driven Attack for Large Language Models

Current large language models (LLM) provide a strong foundation for large-scale user-oriented natural language tasks. Many users can easily inject adversarial text or instructions through the user interface, thus causing LLM model security challenges like the language model not giving the correct answer. Although there is currently a large amount of research on black-box attacks, most of these black-box attacks use random and heuristic strategies. It is unclear how these strategies relate to the success rate of attacks and thus effectively improve model robustness. To solve this problem, we propose our target-driven black-box attack method to maximize the KL divergence between the conditional probabilities of the clean text and the attack text to redefine the attack's goal. We transform the distance maximization problem into two convex optimization problems based on the attack goal to solve the attack text and estimate the covariance. Furthermore, the projected gradient descent algorithm solves the vector corresponding to the attack text. Our target-driven black-box attack approach includes two attack strategies: token manipulation and misinformation attack. Experimental results on multiple Large Language Models and datasets demonstrate the effectiveness of our attack method.

Inertial Confinement Fusion Forecasting via LLMs

Controlled fusion energy is deemed pivotal for the advancement of human civilization. In this study, we introduce $\textbf{Fusion-LLM}$, a novel integration of Large Language Models (LLMs) with classical reservoir computing paradigms tailored to address challenges in Inertial Confinement Fusion ($\texttt{ICF}$). Our approach offers several key contributions: Firstly, we propose the $\textit{LLM-anchored Reservoir}$, augmented with a fusion-specific prompt, enabling accurate forecasting of hot electron dynamics during implosion. Secondly, we develop $\textit{Signal-Digesting Channels}$ to temporally and spatially describe the laser intensity across time, capturing the unique characteristics of $\texttt{ICF}$ inputs. Lastly, we design the $\textit{Confidence Scanner}$ to quantify the confidence level in forecasting, providing valuable insights for domain experts to design the $\texttt{ICF}$ process. Extensive experiments demonstrate the superior performance of our method, achieving 1.90 CAE, 0.14 $\texttt{top-1}$ MAE, and 0.11 $\texttt{top-5}$ MAE in predicting Hard X-ray ($\texttt{HXR}$) energies of $\texttt{ICF}$ tasks, which presents state-of-the-art comparisons against concurrent best systems. Additionally, we present $\textbf{Fusion4AI}$, the first $\texttt{ICF}$ benchmark based on physical experiments, aimed at fostering novel ideas in plasma physics research and enhancing the utility of LLMs in scientific exploration. Overall, our work strives to forge an innovative synergy between AI and plasma science for advancing fusion energy.