HALO-WA: Hybrid-Attention Latent-Guided Online Reinforcement Learning for World-Action Models

World-action (WA) models can generate long-horizon action chunks for general-purpose robotic manipulation, but they remain vulnerable to calibration, perception, and contact-dynamics errors in real-world precision tasks, often failing in the final few millimeters of alignment or insertion. We propose HALO-WA, a hybrid-attention latent-guided online reinforcement learning (RL) framework for WA models, which leverages latent features and action priors from the WA generation process through a lightweight actor-critic adapter to enable fast online adaptation to real deployment errors. HALO-WA introduces a hybrid-attention structure that preserves the temporal consistency of action chunks while reading task-relevant information from WA latents conditioned on visual context and end-stage correction requirements, thereby producing refined action chunks. We validate HALO-WA on four real-world precision manipulation tasks, where it improves the average success rate from 26.4\% for WA-base to 87.1\%, outperforming the strongest baseline by 19.2 percentage points while requiring only 45--75 minutes of online training per task. To facilitate reproducibility, we further conduct supplementary simulation experiments in RoboTwin and release the code at https://github.com/YeanRoot/HALO-WA.

Neurobench: DCASE 2020 Acoustic Scene Classification benchmark on XyloAudio 2

XyloAudio is a line of ultra-low-power audio inference chips, designed for in- and near-microphone analysis of audio in real-time energy-constrained scenarios. Xylo is designed around a highly efficient integer-logic processor which simulates parameter- and activity-sparse spiking neural networks (SNNs) using a leaky integrate-and-fire (LIF) neuron model. Neurons on Xylo are quantised integer devices operating in synchronous digital CMOS, with neuron and synapse state quantised to 16 bit, and weight parameters quantised to 8 bit. Xylo is tailored for real-time streaming operation, as opposed to accelerated-time operation in the case of an inference accelerator. XyloAudio includes a low-power audio encoding interface for direct connection to a microphone, designed for sparse encoding of incident audio for further processing by the inference core. In this report we present the results of DCASE 2020 acoustic scene classification audio benchmark dataset deployed to XyloAudio 2. We describe the benchmark dataset; the audio preprocessing approach; and the network architecture and training approach. We present the performance of the trained model, and the results of power and latency measurements performed on the XyloAudio 2 development kit. This benchmark is conducted as part of the Neurobench project.