Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy

Off-road navigation is an important capability for mobile robots deployed in environments that are inaccessible or dangerous to humans, such as disaster response or planetary exploration. Progress is limited due to the lack of a controllable and standardized real-world testbed for systematic data collection and validation. To fill this gap, we introduce Verti-Arena, a reconfigurable indoor facility designed specifically for off-road autonomy. By providing a repeatable benchmark environment, Verti-Arena supports reproducible experiments across a variety of vertically challenging terrains and provides precise ground truth measurements through onboard sensors and a motion capture system. Verti-Arena also supports consistent data collection and comparative evaluation of algorithms in off-road autonomy research. We also develop a web-based interface that enables research groups worldwide to remotely conduct standardized off-road autonomy experiments on Verti-Arena.

Xiangqi-R1: Enhancing Spatial Strategic Reasoning in LLMs for Chinese Chess via Reinforcement Learning

Game playing has long served as a fundamental benchmark for evaluating Artificial General Intelligence (AGI). While Large Language Models (LLMs) have demonstrated impressive capabilities in general reasoning, their effectiveness in spatial strategic reasoning, which is critical for complex and fully observable board games, remains insufficiently explored. In this work, we adopt Chinese Chess (Xiangqi) as a challenging and rich testbed due to its intricate rules and spatial complexity. To advance LLMs' strategic competence in such environments, we propose a training framework tailored to Xiangqi, built upon a large-scale dataset of five million board-move pairs enhanced with expert annotations and engine evaluations. Building on this foundation, we introduce Xiangqi-R1, a 7B-parameter model trained in multi-stage manner: (1) fine-tuning for legal move prediction to capture basic spatial rules, (2) incorporating strategic annotations to improve decision-making, and (3) applying reinforcement learning via Group Relative Policy Optimization (GRPO) with multi-dimensional reward signals to enhance reasoning stability. Our Experimental results indicate that, despite their size and power, general-purpose LLMs struggle to achieve satisfactory performance in these tasks. Compared to general-purpose LLMs, Xiangqi-R1 greatly advances with an 18% rise in move legality and a 22% boost in analysis accuracy. Our results point to a promising path for creating general strategic intelligence in spatially complex areas.

From Long Videos to Engaging Clips: A Human-Inspired Video Editing Framework with Multimodal Narrative Understanding

The rapid growth of online video content, especially on short video platforms, has created a growing demand for efficient video editing techniques that can condense long-form videos into concise and engaging clips. Existing automatic editing methods predominantly rely on textual cues from ASR transcripts and end-to-end segment selection, often neglecting the rich visual context and leading to incoherent outputs. In this paper, we propose a human-inspired automatic video editing framework (HIVE) that leverages multimodal narrative understanding to address these limitations. Our approach incorporates character extraction, dialogue analysis, and narrative summarization through multimodal large language models, enabling a holistic understanding of the video content. To further enhance coherence, we apply scene-level segmentation and decompose the editing process into three subtasks: highlight detection, opening/ending selection, and pruning of irrelevant content. To facilitate research in this area, we introduce DramaAD, a novel benchmark dataset comprising over 800 short drama episodes and 500 professionally edited advertisement clips. Experimental results demonstrate that our framework consistently outperforms existing baselines across both general and advertisement-oriented editing tasks, significantly narrowing the quality gap between automatic and human-edited videos.

Bind-Your-Avatar: Multi-Talking-Character Video Generation with Dynamic 3D-mask-based Embedding Router

Recent years have witnessed remarkable advances in audio-driven talking head generation. However, existing approaches predominantly focus on single-character scenarios. While some methods can create separate conversation videos between two individuals, the critical challenge of generating unified conversation videos with multiple physically co-present characters sharing the same spatial environment remains largely unaddressed. This setting presents two key challenges: audio-to-character correspondence control and the lack of suitable datasets featuring multi-character talking videos within the same scene. To address these challenges, we introduce Bind-Your-Avatar, an MM-DiT-based model specifically designed for multi-talking-character video generation in the same scene. Specifically, we propose (1) A novel framework incorporating a fine-grained Embedding Router that binds `who' and `speak what' together to address the audio-to-character correspondence control. (2) Two methods for implementing a 3D-mask embedding router that enables frame-wise, fine-grained control of individual characters, with distinct loss functions based on observed geometric priors and a mask refinement strategy to enhance the accuracy and temporal smoothness of the predicted masks. (3) The first dataset, to the best of our knowledge, specifically constructed for multi-talking-character video generation, and accompanied by an open-source data processing pipeline, and (4) A benchmark for the dual-talking-characters video generation, with extensive experiments demonstrating superior performance over multiple state-of-the-art methods.

AMoPO: Adaptive Multi-objective Preference Optimization without Reward Models and Reference Models

Existing multi-objective preference alignment methods for large language models (LLMs) face limitations: (1) the inability to effectively balance various preference dimensions, and (2) reliance on auxiliary reward/reference models introduces computational complexity. To address these challenges, we propose Adaptive Multi-objective Preference Optimization (AMoPO), a novel framework that achieves dynamic balance across preference dimensions. By introducing the multi-objective optimization paradigm to use the dimension-aware generation metrics as implicit rewards, AMoPO aligns LLMs with diverse preferences without additional reward models or reference models. We introduce an adaptive weight assignment mechanism that models the generation space as a Gaussian distribution, allowing dynamic prioritization of preference dimensions. Empirical results demonstrate that AMoPO outperforms state-of-the-art baselines by 28.5%, and the experiments on 7B, 14B, and 32B models reveal the scaling ability of AMoPO. Moreover, additional analysis of multiple dimensions verifies its adaptability and effectiveness. These findings validate AMoPO's capability to achieve dimension-aware preference alignment, highlighting its superiority. Our codes and datasets are available at https://github.com/Javkonline/AMoPO.

CARoL: Context-aware Adaptation for Robot Learning

Using Reinforcement Learning (RL) to learn new robotic tasks from scratch is often inefficient. Leveraging prior knowledge has the potential to significantly enhance learning efficiency, which, however, raises two critical challenges: how to determine the relevancy of existing knowledge and how to adaptively integrate them into learning a new task. In this paper, we propose Context-aware Adaptation for Robot Learning (CARoL), a novel framework to efficiently learn a similar but distinct new task from prior knowledge. CARoL incorporates context awareness by analyzing state transitions in system dynamics to identify similarities between the new task and prior knowledge. It then utilizes these identified similarities to prioritize and adapt specific knowledge pieces for the new task. Additionally, CARoL has a broad applicability spanning policy-based, value-based, and actor-critic RL algorithms. We validate the efficiency and generalizability of CARoL on both simulated robotic platforms and physical ground vehicles. The simulations include CarRacing and LunarLander environments, where CARoL demonstrates faster convergence and higher rewards when learning policies for new tasks. In real-world experiments, we show that CARoL enables a ground vehicle to quickly and efficiently adapt policies learned in simulation to smoothly traverse real-world off-road terrain.

Towards Multi-Granularity Memory Association and Selection for Long-Term Conversational Agents

Large Language Models (LLMs) have recently been widely adopted in conversational agents. However, the increasingly long interactions between users and agents accumulate extensive dialogue records, making it difficult for LLMs with limited context windows to maintain a coherent long-term dialogue memory and deliver personalized responses. While retrieval-augmented memory systems have emerged to address this issue, existing methods often depend on single-granularity memory segmentation and retrieval. This approach falls short in capturing deep memory connections, leading to partial retrieval of useful information or substantial noise, resulting in suboptimal performance. To tackle these limits, we propose MemGAS, a framework that enhances memory consolidation by constructing multi-granularity association, adaptive selection, and retrieval. MemGAS is based on multi-granularity memory units and employs Gaussian Mixture Models to cluster and associate new memories with historical ones. An entropy-based router adaptively selects optimal granularity by evaluating query relevance distributions and balancing information completeness and noise. Retrieved memories are further refined via LLM-based filtering. Experiments on four long-term memory benchmarks demonstrate that MemGAS outperforms state-of-the-art methods on both question answer and retrieval tasks, achieving superior performance across different query types and top-K settings.

Align-GRAG: Reasoning-Guided Dual Alignment for Graph Retrieval-Augmented Generation

Large language models (LLMs) have demonstrated remarkable capabilities, but still struggle with issues like hallucinations and outdated information. Retrieval-augmented generation (RAG) addresses these issues by grounding LLM outputs in external knowledge with an Information Retrieval (IR) system. Building on this foundation, graph-based RAG systems go a step further by retrieving subgraphs, which preserve the relationships between knowledge entities and provide more comprehensive context. However, graph RAG faces two challenges: (1) Retrieving relevant information introduces irrelevant nodes (especially in dense graph databases, where retrieval usually extends to adjacent nodes), and leads to overly lengthy inputs that hinder efficiency; (2) The representation gap between graph and language during generation with LLMs limits the ability to fully leverage graph structures for enhanced understanding. To address these limitations, we propose Align-GRAG, a novel reasoning-guided dual alignment framework in post-retrieval phrase. It first formulates a subgraph by retrieving nodes and edges. Then an Aligner is proposed to jointly optimizes a graph encoder with LLM-summarized reasoning. It achieves dual alignment of graph node and representation by leveraging KL divergence loss and contrastive loss, facilitating efficient pruning of irrelevant knowledge and establishing a unified semantic space. The Generator integrates the aligned graph data with LLM to produce coherent and accurate answers. Experiments on GraphQA benchmark across three tasks (including common sense reasoning, scene graph understanding, and knowledge graph reasoning) validate the effectiveness of our method. The code will be available upon accepted.

MELLM: Exploring LLM-Powered Micro-Expression Understanding Enhanced by Subtle Motion Perception

Micro-expressions (MEs) are crucial psychological responses with significant potential for affective computing. However, current automatic micro-expression recognition (MER) research primarily focuses on discrete emotion classification, neglecting a convincing analysis of the subtle dynamic movements and inherent emotional cues. The rapid progress in multimodal large language models (MLLMs), known for their strong multimodal comprehension and language generation abilities, offers new possibilities. MLLMs have shown success in various vision-language tasks, indicating their potential to understand MEs comprehensively, including both fine-grained motion patterns and underlying emotional semantics. Nevertheless, challenges remain due to the subtle intensity and short duration of MEs, as existing MLLMs are not designed to capture such delicate frame-level facial dynamics. In this paper, we propose a novel Micro-Expression Large Language Model (MELLM), which incorporates a subtle facial motion perception strategy with the strong inference capabilities of MLLMs, representing the first exploration of MLLMs in the domain of ME analysis. Specifically, to explicitly guide the MLLM toward motion-sensitive regions, we construct an interpretable motion-enhanced color map by fusing onset-apex optical flow dynamics with the corresponding grayscale onset frame as the model input. Additionally, specialized fine-tuning strategies are incorporated to further enhance the model's visual perception of MEs. Furthermore, we construct an instruction-description dataset based on Facial Action Coding System (FACS) annotations and emotion labels to train our MELLM. Comprehensive evaluations across multiple benchmark datasets demonstrate that our model exhibits superior robustness and generalization capabilities in ME understanding (MEU). Code is available at https://github.com/zyzhangUstc/MELLM.

PaRT: Enhancing Proactive Social Chatbots with Personalized Real-Time Retrieval

Social chatbots have become essential intelligent companions in daily scenarios ranging from emotional support to personal interaction. However, conventional chatbots with passive response mechanisms usually rely on users to initiate or sustain dialogues by bringing up new topics, resulting in diminished engagement and shortened dialogue duration. In this paper, we present PaRT, a novel framework enabling context-aware proactive dialogues for social chatbots through personalized real-time retrieval and generation. Specifically, PaRT first integrates user profiles and dialogue context into a large language model (LLM), which is initially prompted to refine user queries and recognize their underlying intents for the upcoming conversation. Guided by refined intents, the LLM generates personalized dialogue topics, which then serve as targeted queries to retrieve relevant passages from RedNote. Finally, we prompt LLMs with summarized passages to generate knowledge-grounded and engagement-optimized responses. Our approach has been running stably in a real-world production environment for more than 30 days, achieving a 21.77\% improvement in the average duration of dialogues.