Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspective

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually similar objects. In these non-Markovian settings, key decision cues are often hidden in object-specific histories rather than the current scene. Without persistent memory of prior interactions (what has been interacted with, where it has been, or how it has changed) visuomotor policies may fail, repeat past actions, or overlook completed ones. To surface this challenge, we introduce LIBERO-Mem, a non-Markovian task suite for stress-testing robotic manipulation under object-level partial observability. It combines short- and long-horizon object tracking with temporally sequenced subgoals, requiring reasoning beyond the current frame. However, vision-language-action (VLA) models often struggle in such settings, with token scaling quickly becoming intractable even for tasks spanning just a few hundred frames. We propose Embodied-SlotSSM, a slot-centric VLA framework built for temporal scalability. It maintains spatio-temporally consistent slot identities and leverages them through two mechanisms: (1) slot-state-space modeling for reconstructing short-term history, and (2) a relational encoder to align the input tokens with action decoding. Together, these components enable temporally grounded, context-aware action prediction. Experiments show Embodied-SlotSSM's baseline performance on LIBERO-Mem and general tasks, offering a scalable solution for non-Markovian reasoning in object-centric robotic policies.

SlotVLA: Towards Modeling of Object-Relation Representations in Robotic Manipulation

Inspired by how humans reason over discrete objects and their relationships, we explore whether compact object-centric and object-relation representations can form a foundation for multitask robotic manipulation. Most existing robotic multitask models rely on dense embeddings that entangle both object and background cues, raising concerns about both efficiency and interpretability. In contrast, we study object-relation-centric representations as a pathway to more structured, efficient, and explainable visuomotor control. Our contributions are two-fold. First, we introduce LIBERO+, a fine-grained benchmark dataset designed to enable and evaluate object-relation reasoning in robotic manipulation. Unlike prior datasets, LIBERO+ provides object-centric annotations that enrich demonstrations with box- and mask-level labels as well as instance-level temporal tracking, supporting compact and interpretable visuomotor representations. Second, we propose SlotVLA, a slot-attention-based framework that captures both objects and their relations for action decoding. It uses a slot-based visual tokenizer to maintain consistent temporal object representations, a relation-centric decoder to produce task-relevant embeddings, and an LLM-driven module that translates these embeddings into executable actions. Experiments on LIBERO+ demonstrate that object-centric slot and object-relation slot representations drastically reduce the number of required visual tokens, while providing competitive generalization. Together, LIBERO+ and SlotVLA provide a compact, interpretable, and effective foundation for advancing object-relation-centric robotic manipulation.

RoboDesign1M: A Large-scale Dataset for Robot Design Understanding

Robot design is a complex and time-consuming process that requires specialized expertise. Gaining a deeper understanding of robot design data can enable various applications, including automated design generation, retrieving example designs from text, and developing AI-powered design assistants. While recent advancements in foundation models present promising approaches to addressing these challenges, progress in this field is hindered by the lack of large-scale design datasets. In this paper, we introduce RoboDesign1M, a large-scale dataset comprising 1 million samples. Our dataset features multimodal data collected from scientific literature, covering various robotics domains. We propose a semi-automated data collection pipeline, enabling efficient and diverse data acquisition. To assess the effectiveness of RoboDesign1M, we conduct extensive experiments across multiple tasks, including design image generation, visual question answering about designs, and design image retrieval. The results demonstrate that our dataset serves as a challenging new benchmark for design understanding tasks and has the potential to advance research in this field. RoboDesign1M will be released to support further developments in AI-driven robotic design automation.

h-Edit: Effective and Flexible Diffusion-Based Editing via Doob's h-Transform

We introduce a theoretical framework for diffusion-based image editing by formulating it as a reverse-time bridge modeling problem. This approach modifies the backward process of a pretrained diffusion model to construct a bridge that converges to an implicit distribution associated with the editing target at time 0. Building on this framework, we propose h-Edit, a novel editing method that utilizes Doob's h-transform and Langevin Monte Carlo to decompose the update of an intermediate edited sample into two components: a "reconstruction" term and an "editing" term. This decomposition provides flexibility, allowing the reconstruction term to be computed via existing inversion techniques and enabling the combination of multiple editing terms to handle complex editing tasks. To our knowledge, h-Edit is the first training-free method capable of performing simultaneous text-guided and reward-model-based editing. Extensive experiments, both quantitative and qualitative, show that h-Edit outperforms state-of-the-art baselines in terms of editing effectiveness and faithfulness. Our source code is available at https://github.com/nktoan/h-edit.

Deep-Wide Learning Assistance for Insect Pest Classification

Accurate insect pest recognition plays a critical role in agriculture. It is a challenging problem due to the intricate characteristics of insects. In this paper, we present DeWi, novel learning assistance for insect pest classification. With a one-stage and alternating training strategy, DeWi simultaneously improves several Convolutional Neural Networks in two perspectives: discrimination (by optimizing a triplet margin loss in a supervised training manner) and generalization (via data augmentation). From that, DeWi can learn discriminative and in-depth features of insect pests (deep) yet still generalize well to a large number of insect categories (wide). Experimental results show that DeWi achieves the highest performances on two insect pest classification benchmarks (76.44\% accuracy on the IP102 dataset and 99.79\% accuracy on the D0 dataset, respectively). In addition, extensive evaluations and ablation studies are conducted to thoroughly investigate our DeWi and demonstrate its superiority. Our source code is available at https://github.com/toannguyen1904/DeWi.

Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidance

6-DoF grasp detection has been a fundamental and challenging problem in robotic vision. While previous works have focused on ensuring grasp stability, they often do not consider human intention conveyed through natural language, hindering effective collaboration between robots and users in complex 3D environments. In this paper, we present a new approach for language-driven 6-DoF grasp detection in cluttered point clouds. We first introduce Grasp-Anything-6D, a large-scale dataset for the language-driven 6-DoF grasp detection task with 1M point cloud scenes and more than 200M language-associated 3D grasp poses. We further introduce a novel diffusion model that incorporates a new negative prompt guidance learning strategy. The proposed negative prompt strategy directs the detection process toward the desired object while steering away from unwanted ones given the language input. Our method enables an end-to-end framework where humans can command the robot to grasp desired objects in a cluttered scene using natural language. Intensive experimental results show the effectiveness of our method in both benchmarking experiments and real-world scenarios, surpassing other baselines. In addition, we demonstrate the practicality of our approach in real-world robotic applications. Our project is available at https://airvlab.github.io/grasp-anything.

Crossing Linguistic Horizons: Finetuning and Comprehensive Evaluation of Vietnamese Large Language Models

Recent advancements in large language models (LLMs) have underscored their importance in the evolution of artificial intelligence. However, despite extensive pretraining on multilingual datasets, available open-sourced LLMs exhibit limited effectiveness in processing Vietnamese. The challenge is exacerbated by the absence of systematic benchmark datasets and metrics tailored for Vietnamese LLM evaluation. To mitigate these issues, we have finetuned LLMs specifically for Vietnamese and developed a comprehensive evaluation framework encompassing 10 common tasks and 31 metrics. Our evaluation results reveal that the fine-tuned LLMs exhibit enhanced comprehension and generative capabilities in Vietnamese. Moreover, our analysis indicates that models with more parameters can introduce more biases and uncalibrated outputs and the key factor influencing LLM performance is the quality of the training or fine-tuning datasets. These insights underscore the significance of meticulous fine-tuning with high-quality datasets in enhancing LLM performance.

Variational Flow Models: Flowing in Your Style

We introduce a variational inference interpretation for models of "posterior flows" - generalizations of "probability flows" to a broader class of stochastic processes not necessarily diffusion processes. We coin the resulting models as "Variational Flow Models". Additionally, we propose a systematic training-free method to transform the posterior flow of a "linear" stochastic process characterized by the equation Xt = at * X0 + st * X1 into a straight constant-speed (SC) flow, reminiscent of Rectified Flow. This transformation facilitates fast sampling along the original posterior flow without training a new model of the SC flow. The flexibility of our approach allows us to extend our transformation to inter-convert two posterior flows from distinct "linear" stochastic processes. Moreover, we can easily integrate high-order numerical solvers into the transformed SC flow, further enhancing sampling accuracy and efficiency. Rigorous theoretical analysis and extensive experimental results substantiate the advantages of our framework.

Domain Generalisation via Risk Distribution Matching

We propose a novel approach for domain generalisation (DG) leveraging risk distributions to characterise domains, thereby achieving domain invariance. In our findings, risk distributions effectively highlight differences between training domains and reveal their inherent complexities. In testing, we may observe similar, or potentially intensifying in magnitude, divergences between risk distributions. Hence, we propose a compelling proposition: Minimising the divergences between risk distributions across training domains leads to robust invariance for DG. The key rationale behind this concept is that a model, trained on domain-invariant or stable features, may consistently produce similar risk distributions across various domains. Building upon this idea, we propose Risk Distribution Matching (RDM). Using the maximum mean discrepancy (MMD) distance, RDM aims to minimise the variance of risk distributions across training domains. However, when the number of domains increases, the direct optimisation of variance leads to linear growth in MMD computations, resulting in inefficiency. Instead, we propose an approximation that requires only one MMD computation, by aligning just two distributions: that of the worst-case domain and the aggregated distribution from all domains. Notably, this method empirically outperforms optimising distributional variance while being computationally more efficient. Unlike conventional DG matching algorithms, RDM stands out for its enhanced efficacy by concentrating on scalar risk distributions, sidestepping the pitfalls of high-dimensional challenges seen in feature or gradient matching. Our extensive experiments on standard benchmark datasets demonstrate that RDM shows superior generalisation capability over state-of-the-art DG methods.

Language-Conditioned Affordance-Pose Detection in 3D Point Clouds

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task. Previous methods for affodance-pose joint learning are limited to a predefined set of affordances, thus limiting the adaptability of robots in real-world environments. In this paper, we propose a new method for language-conditioned affordance-pose joint learning in 3D point clouds. Given a 3D point cloud object, our method detects the affordance region and generates appropriate 6-DoF poses for any unconstrained affordance label. Our method consists of an open-vocabulary affordance detection branch and a language-guided diffusion model that generates 6-DoF poses based on the affordance text. We also introduce a new high-quality dataset for the task of language-driven affordance-pose joint learning. Intensive experimental results demonstrate that our proposed method works effectively on a wide range of open-vocabulary affordances and outperforms other baselines by a large margin. In addition, we illustrate the usefulness of our method in real-world robotic applications. Our code and dataset are publicly available at https://3DAPNet.github.io