AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation

Monocular local navigation is attractive for lightweight robots, but existing vision-based policies often couple perception to a specific body, camera height, and footprint, making transfer from wheeled bases to legged platforms dependent on retraining or active depth hardware. This paper introduces AgniNav, a configuration-driven local navigation framework that standardizes cross-embodiment transfer at the collision-envelope level. Each robot is specified by a measurable four-parameter safety envelope: collision-relevant height, front length, rear length, and half width. The height parameter conditions an image-to-scan network to predict a one-dimensional, collision-relevant pseudo-laserscan from a monocular color image, while the remaining footprint parameters configure a dimension-aware local planner for collision checking. Training uses height-conditioned column-minimum scan labels generated from paired color-depth data, allowing the same image to supervise different safety envelopes without collecting robot-specific data. To the best of our knowledge, AgniNav is the first monocular local-navigation framework that jointly conditions perception and planning on a shared collision-envelope configuration for zero-retraining deployment across wheeled, quadruped, and humanoid platforms. Real-robot experiments on a Turtlebot2, Unitree Go2, and Accelerated Evolution K1 achieve 39/40, 18/20, and 18/20 successes with 0/40, 1/20, and 2/20 collisions, respectively, while running at 30 Hz on Jetson Orin.

Earth-OneVision: Extending Remote Sensing Multimodal Large Language Models to More Sensor Modalities and Tasks

RS-MLLMs enable natural-language understanding and spatial reasoning over earth observation imagery. However, existing models support only a narrow range of sensor types and tasks, yielding a fragmented view of the earth and leaving cross-modal geoscientific knowledge largely unexploited. This work presents Earth-OneVision, a 2B RS-MLLM that unifies six sensor modalities (i.e., optical, SAR, infrared, multispectral, temporal, and video) and cross-sensor fusion across 9 task categories within a single autoregressive framework. Three dedicated mechanisms address three bottlenecks. Full-Granularity Vision-Language Alignment (FGVLA) aligns multi-level visual features with the multi-dimensional language space. Spatial-Linguistic Isomorphic Serialization (SLIS) unifies heterogeneous spatial outputs as autoregressive tokens. Progressive Cross-Modality Adaptation (PCMA) decomposes the compound domain gap into sequential stages, tackling the viewpoint and imaging physics gaps in turn. To support joint training, MMRS-OneVision is constructed with ~34M QA pairs spanning all six sensor modalities and cross-sensor fusion across 9 task categories, substantially exceeding existing RS multimodal instruction datasets. With only 2B parameters, Earth-OneVision achieves competitive or state-of-the-art results across extensive benchmarks, consistently matching or outperforming 4B-72B RS-MLLMs. It achieves 87.52% P@0.5 on the OPT-RSVG testset for optical visual grounding and 80.68% on the SAR VQA benchmark SARLANG-Bench, exceeding 7B models by over 7%. It further achieves 75.74% recall on the BigEarthNet-MS testset for multispectral classification, and 81.94% MCQ accuracy on EarthMind-Bench for cross-modality reasoning.

miniReranker: Efficient Multimodal Reranking through Visual Cache Reuse and Interaction Sparsity

Multimodal large language models (MLLMs) have recently shown strong potential as point-wise rerankers by directly modeling query--document relevance through next-token prediction. However, point-wise reranking suffers from substantial repeated computation across query--document pairs, while the causal structure of transformers allows only prefix segments to be reused via pre-caching. To address the misalignment of existing query-first and document-first formats with both VQA-style prompting and computation-aware reuse, we propose a \textit{vision-first} formulation that improves both cache reuse efficiency and reranking performance. However, the remaining cost is still considerable and stems from three main sources: (1) \textit{model depth}, for which we reduce active parameters via early exit; (2) \textit{cross-segment attention}, which we restrict to a narrow interaction band across a few layers; and (3) \textit{visual tokens}, where we reduce the number of tokens via embedder-guided pruning. Together, these designs form miniReranker, which reduces reranking runtime to <1% of the dense implementation under high-reuse settings for a single query, while preserving >96% of the dense model performance.

PTDL:Multi-Terrain Fall Recovery via Phase-Terrain Decoupled Learning

Humanoid robots can fall on slopes, gravel, and uneven ground in unstructured environments. We target integrated fall recovery and locomotion: rebuilding balance from a fallen state using proprioception alone and resuming velocity-commanded walking at the fall site. Prior methods often stop at quasi-static rise, neglect the post-fall ground-contact phase, or, when trained on mixed terrains without separating recovery and locomotion phases or per-surface constraints, collapse to a single compromise get-up across surfaces. We propose Phase--Terrain Decoupled Learning (PTDL), which decouples training supervision along phase and terrain axes while deploying one proprioceptive policy. On the phase axis, projected-gravity-gated dual motion-prior discriminators and a probe-to-walk transition link post-fall recovery to commanded walking. On the terrain axis, terrain-stratified recovery shaping assigns surface-specific training supervision on flat ground, gravel, and slopes; terrain labels are training-only and withheld from policy observations, enabling implicit post-fall strategy selection at deployment. We validate PTDL on a 29-DoF Unitree G1 across flat ground, gravel, and slopes up to 20 degrees in simulation and on hardware, achieving stable cross-terrain recovery, smooth recovery-to-locomotion transitions, and differentiated post-fall rise behaviors under one deployed policy.

MineExplorer: Evaluating Open-World Exploration of MLLM Agents in Minecraft

Multimodal large language models (MLLMs) have shown strong capabilities in perception, reasoning, and action generation. However, their ability to sustain exploration in dynamic open worlds remains unclear. Existing embodied and game-based benchmarks often compress interaction into short-horizon tasks or entangle success with domain-specific game mechanics. In this paper, we introduce MineExplorer benchmark for evaluating open-world exploration capabilities of MLLM agents in Minecraft. We first filter atomic tasks whose solutions rely heavily on Minecraft-specific knowledge to better reflect general open-world reasoning. Then we organize the benchmark around a ReAct-style capability formulation and compose atomic tasks into implicit multi-hop tasks. To further construct reliable instances, MineExplorer uses a multi-agent synthesis workflow that jointly designs task graphs, sandbox scenes, and rule-based milestone evaluators. Human evaluation shows that the multi-agent synthesis workflow produces significantly more reliable instances than a single-agent baseline. Experiments with advanced MLLM agents show that open-world exploration remains challenging, as strong models can handle many single-hop tasks but degrade sharply when hidden prerequisites must be coordinated over longer trajectories. Further analysis finds that task difficulty tracks agent completion, and larger models or thinking modes do not consistently translate into better performance. Code and dataset are available at https://github.com/Jometeorie/MineExplorer.

MarginGate: Sparse Margin-Triggered Verification for Batch-Invariant LLM Inference

Temperature-zero BF16 LLM inference is often treated as reproducible, yet the same request can emit different tokens when decoded alone or inside a larger batch. Existing fixes use batch-invariant operators or LLM-42's per-token verification, incurring cost even when most steps are stable. We ask whether verification can be applied exclusively to flipped tokens. Across five models, batch-induced token flips are sparse on the flip-rate benchmarks: on MATH500, Llama-3.1-8B flips on $0.48\%$ of synchronous decode steps, and all tested models stay within the 0.3-1.3% range on MATH500, GSM8K, and HumanEval. K/V perturbations remain flat before flips, while low top-1/top-2 logit margins expose much of the flip risk. MarginGate turns these observations into a verifier policy: it keeps BF16 decoding on high-margin steps, verifies only low-margin steps, and repairs confirmed mismatches by replacing the current K/V column. We evaluate on four datasets, calibrating on MATH500 and transferring to GSM8K, SharedGPT, and HumanEval. MarginGate restores 100% sequence-level deterministic decoding on Llama-3.1-8B and Qwen2.5-14B with 18.56%/15.05% verifier trigger rates, reducing LLM-42's latency increment by 2.23x/1.99x relative to always-on verification. On DSR1-Distill-Qwen-7B, the same policy reaches determinism in a harder regime at 49.50% triggers.

World Models: A Comprehensive Survey of Architectures, Methodologies, Reasoning Paradigms, and Applications

World models, internal simulators that learn the structure and dynamics of an environment, have emerged as a central paradigm in the pursuit of artificial general intelligence, enabling agents to predict, plan, and reason within learned representations. Despite rapid progress across reinforcement learning, robotics, autonomous driving, and video generation, the field lacks a unified framework integrating its diverse architectural choices, training methods, reasoning mechanisms, and application settings. This survey addresses that gap with a multi-axis taxonomy organized along four dimensions: (i) architecture, encompassing representation format, dynamics formulation, input modality, learning paradigm, and downstream application; (ii) methodological family, including state-space and recurrent approaches, transformer-based models, diffusion-based generators, physics-informed networks, and language-augmented multimodal systems; (iii) reasoning strategy, covering imagination-based planning, latent policy learning, counterfactual reasoning, and planning under uncertainty; and (iv) application domain, spanning robotics, autonomous driving, video prediction, multimodal agents, reinforcement learning, scientific modeling, medical imaging, educational measurement, and business and finance. Tracing the field from early cognitive-science foundations to milestone systems such as PlaNet, the Dreamer family, MuZero, Sora, Cosmos, and Genie, we examine how these dimensions interact and highlight the recent convergence of chain-of-thought reasoning with world-model imagination. We review evaluation protocols and benchmarks, identify persistent challenges such as compounding prediction errors, sim-to-real transfer, and fragmented evaluation, and outline future directions toward unified multimodal world models, foundation-scale interactive simulators, and safe deployment in safety-critical domains.

Geometry-First Generative Spatial Single-Cell Reconstruction

Single-cell RNA sequencing (scRNA-seq) profiles large numbers of cells but loses spatial context, whereas spatial transcriptomics (ST) preserves partial spatial structure at lower resolution. Most existing integration methods either deconvolve spot mixtures or map cells onto a measured spot lattice, which ties reconstructions to a fixed grid and slide-specific coordinate systems, a limitation that is especially problematic in unpaired settings. We propose GEARS, a geometry-first framework that reconstructs an intrinsic single-cell spatial geometry guided by ST, without relying on cell-type labels, histological images, or cell-to-spot assignment. GEARS first learns a domain-invariant expression encoder that aligns ST spots and dissociated cells, and then trains a permutation-equivariant generator with a diffusion-based refiner with EDM-style preconditioning to generate local spatial geometries under pose-invariant supervision derived from ST coordinates. At inference, GEARS reconstructs geometry on many overlapping subsets of scRNA-seq cells, aggregates predicted pairwise distances across subsets, and solves a global distance-geometry problem to obtain canonical two-dimensional coordinates and a dense distance matrix. Extensive quantitative and qualitative experiments, including cross-section generalization, show that GEARS consistently improves global distance preservation, local neighborhood fidelity, and spatial distribution alignment compared to strong spatial mapping and deconvolution baselines.

HTMLCure: Turning Browser Experience into State Guided Repair for Interactive HTML

LLMs can now produce full HTML pages, but many of those pages are only superficially correct: they render once, then fail under scroll, hover, click, resize, or gameplay. Evaluation from screenshots can miss these failures, and filtering discards many pages that are still repairable. We introduce HTMLCure, a browser experience framework that evaluates HTML after the system has interacted with it. The evaluator executes the page across viewports and interaction states, records deterministic browser evidence, and gives the VLM curated keyframes from the executed trajectory rather than isolated screenshots. The same state signal drives a closed loop repair engine: HTMLCure diagnoses the current page, chooses a state specific repair family, runs each candidate again, and exports quality cleared pages for SFT. On a 97K prompt corpus, this expands the directly usable seed into a candidate pool of 63703 quality cleared pages, from which we construct the final refined SFT set of 40K pages. Under the same backbone and training recipe, HTMLCure-27B-Refined reaches 50.6 on HTMLBench-400 with 45.2% deterministic test case pass, placing it in the same performance band as strong reference rows such as Kimi-K2.6 and GPT-5.4. On the released MiniAppBench validation split, it reaches 81.2 average, improving raw 27B SFT by 15.3 points and approaching the level of strong reference systems.

Neural Scalable Symbolic Search Framework for Complex Logical Queries with Multiple Free Variables

Complex Query Answering (CQA) is a fundamental knowledge representation and reasoning task over incomplete knowledge graphs (KGs). Answering existential first-order queries with $k$ free variables (i.e., $\text{EFO}_k$ queries) is a crucial yet challenging problem, as it requires ranking answer tuples in $\mathcal{E}^k$, where $\mathcal{E}$ denotes the entity set of a KG. This quickly becomes intractable as $k$ grows. Consequently, existing benchmarks and methods rely on marginal rankings over individual variables; however, marginal rankings are a poor proxy for the true joint ranking of tuples. Building on neural symbolic search for $\text{EFO}_1$ queries, we propose Neural Scalable Symbolic Search (NS3), a budgeted framework that approximates joint ranking without enumerating $\mathcal{E}^k$. NS3 (i) answers marginalized sub-queries to obtain necessary candidate sets, (ii) merges multiple free variables into hypernodes whose domains are pruned and controlled by a dynamic budget $B$, and (iii) progressively reduces an $\text{EFO}_k$ query to an $\text{EFO}_{k-1}$ query over a budgeted reduced domain. Across three standard KG datasets, NS3 substantially improves joint ranking performance while retaining strong marginal accuracy. We further release a joint-ranking benchmark that extends existing $\text{EFO}_1$ datasets to $k=3$, enabling systematic evaluation of multi-variable queries. Our code is provided in https://github.com/HKUST-KnowComp/NS3_KDD2026.