BridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulation

Leveraging pre-trained vision-language models (VLMs) to construct vision-language-action (VLA) models has emerged as a promising paradigm for 3D robot manipulation. However, existing 3D VLA methods remain data-hungry, exhibit limited generalization under distribution shifts, and lack explicit memory of past observations. These limitations hinder their application to data-scarce, open-world, and memory-dependent manipulation scenarios. Our previous work, BridgeVLA, improves data efficiency and generalization by preserving the input--output alignment of a pre-trained VLM during 3D action learning: raw point clouds are projected into multi-view images, and intermediate heatmaps are predicted before generating robot actions. In this work, we develop BridgeVLA++ by equipping BridgeVLA with a unified spatio-temporal memory architecture that models persistent spatial context and temporal interaction history. The resulting memory-augmented framework can reason over observation histories while preserving BridgeVLA's data efficiency and generalization capabilities. Extensive experiments show that our framework achieves strong performance on spatial manipulation tasks while exhibiting robust generalization. BridgeVLA++ further achieves state-of-the-art performance on two challenging memory-dependent manipulation benchmarks without sacrificing the data efficiency and generalization of the original BridgeVLA. In addition, BridgeVLA++ performs effectively in bimanual manipulation settings and is validated on an additional real-world robotic platform, demonstrating its scalability across tasks, environments, and robotic platforms. These results establish BridgeVLA++ as a unified 3D vision-language-action framework that simultaneously supports data-efficient learning, robust generalization, and effective memory-aware robot manipulation. Project website: https://bridgevla-plus.github.io/.

SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation

Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulation. We present SiMDex, a similarity-based data mining framework that casts human data selection for VLA post-training in dexterous manipulation as a recommendation problem. For each robot demonstration, SiMDex employs a three-layer recall-ranking-re-ranking pipeline to extract task-relevant subsets from a pool of ~32M egocentric human samples, operating in a morphology-agnostic action space that requires no changes to VLA architecture or training. Against a strong baseline trained with an equal amount of randomly sampled human data, SiMDex uses only ~1.49M mined samples (<5% of the pool) yet improves the overall success rate from 47.7% to 61.1%, showing that selective curation outperforms indiscriminate data mixing.

A Machine-Learning-Based Gas Lift Optimization Workflow for Unconventional Fields

In this paper, we present an automated data-driven workflow using Machine Learning (ML) for gas lift optimization in unconventional fields. This workflow integrates a ML model that accurately forecasts the Gas Lift Performance Curve, and a Bayesian Optimization Framework to solve for the optimal gas injection rates under the constraints of facility capacity. The ML model leverages the historical production time series data without requiring downhole gauges or multi-rate well tests. We piloted this workflow on 30 wells across 5 well pads in Bakken and obtained >5% production uplift on average. With the success of the pilot, we have now fully-deployed this workflow in Bakken across 200+ gas lift and plunger-assisted gas lift (PAGL) wells. Moreover, the ML-based gas lift optimization workflow presented in this paper is an effective and economic solution for other assets where downhole data or multi-rate testing are not available/feasible due to cost or facility constraints.

EviBack: Search-Agent Reinforcement Learning via Evidence-Constrained Teacher Backoff

Reinforcement learning enables Agentic RAG systems to learn multi-turn search from verifiable outcome rewards, but all- zero rollout groups provide no comparative signal and may hide useful search behavior. We present EviBack, an evidence- constrained Teacher backoff that supplies auxiliary super- vision to such groups while preserving verifiable Actor re- wards. It separates evidence assessment from answer refine- ment, preventing reference answers from overriding evidence- insufficiency judgments. A fully automated, end-to-end GPT- 5.5-assisted APE pipeline starts from a manually authored single-prompt dual-task Teacher, automatically partitions and labels rollout data, and performs ablation, task decomposition, evaluation, and selection to produce a gated two-stage Teacher. Compared with the manual design, the resulting Teacher im- proves downstream F1 and valid-answer rate while reduc- ing search, duplicate queries, and forced termination. Across seven open-domain QA benchmarks and three Qwen3 scales, EviBack improves F1 over Search-R1 and raises both single- and multi-hop macro F1. We guarantee that the code will be made publicly available at a later stage.

World Value Models for Robotic Manipulation

Generalist value models play a pivotal role in scaling robotic policy learning from large-scale, mixed-quality data. Mathematically, accurate value estimation demands deep temporal understanding, requiring models to both ground the current belief using historical context and plan over future outcomes. However, most existing robotic value models are built on Vision-Language Model (VLM) backbones that are pretrained primarily on static or temporally sparse visual observations, lacking the requisite temporal modeling capabilities for value estimation. Unlike VLMs, world models naturally excel at temporal modeling and future planning, making them ideal foundations for learning generalizable value functions. Driven by this insight, we marry world models with value estimation to construct a new generalist robotic value model, World Value Model (WVM), that offers accurate task progressions to assess data quality. On standard benchmarks, WVM delivers state-of-the-art (SOTA) Value-Order Correlation (VOC) results. Complementing standard evaluation suites that contains only expert data, we further introduce Suboptimal-Value-Bench, a multi-embodiment benchmark consisting of 800 suboptimal trajectories with high-fidelity, human-labeled frame annotations. Our evaluations show that WVM maintains its SOTA performance on Suboptimal-Value-Bench, establishing its robustness in handling both expert and suboptimal data. When deployed for policy learning, WVM improves manipulation performance across various policy extraction approaches in both simulated and real-world deployment, providing robust guidance for learning from mixed-quality data.

TTT-VLA: Test-Time Latent Prompt Optimization for Vision-Language-Action Models

Vision-Language-Action (VLA) models trained on large-scale data have made remarkable progress, but they remain vulnerable to distribution shifts at deployment time. Recent VLA models suggest that prompts can serve as an efficient interface for steering policy behavior, but existing prompt-based steering typically relies on external guidance. This raises a natural question: can test-time training (TTT) for VLA be achieved by optimizing a prompt, so that the steering interface itself can be learned and adapted from interaction? We address this question with TTT-VLA, a test-time training framework based on Latent Prompt Optimization (LPO). During training, the latent prompt is learned with an additional proxy task, providing an extra learned conditioning signal for policy learning. At test time, TTT is performed by collecting interaction data from the current environment and optimizing only the latent prompt on those data using the proxy task's self-supervised signal, without modifying the policy itself. Experiments on SimplerEnv demonstrate that the proposed method consistently improves task success rates in both single- and multi-embodiment settings. Further analysis shows that the gains arise primarily from correcting a small number of critical decisions rather than globally altering policy behavior. These results suggest that LPO provides an effective and practical pathway for deployment-time improvement of foundation manipulation policies.

Hand-in-the-Loop: Improving Dexterous VLA via Seamless Interventional Correction

Vision-Language-Action (VLA) models are prone to compounding errors in dexterous manipulation, where high-dimensional action spaces and contact-rich dynamics amplify small policy deviations over long horizons. While Interactive Imitation Learning (IIL) can refine policies through human takeover data, applying it to high-degree-of-freedom (DoF) robotic hands remains challenging due to a command mismatch between human teleoperation and policy execution at the takeover moment, which causes abrupt robot-hand configuration changes, or "gesture jumps". We present Hand-in-the-Loop (HandITL), a seamless human-in-the-loop intervention method that blends human corrective intent with autonomous policy execution to avoid gesture jumps during bimanual dexterous manipulation. Compared with direct teleoperation takeover, HandITL reduces takeover jitter by 99.8% and preserves robust post-takeover manipulation, reducing grasp failures by 87.5% and mean completion time by 19.1%. We validate HandITL on tasks requiring bimanual coordination, tool use, and fine-grained long-horizon manipulation. When used to collect intervention data for policy refinement, HandITL yields policies that outperform those trained with standard teleoperation data by 19% on average across three long-horizon dexterous tasks.

Structured prototype regularization for synthetic-to-real driving scene parsing

Driving scene parsing is critical for autonomous vehicles to operate reliably in complex real-world traffic environments. To reduce the reliance on costly pixel-level annotations, synthetic datasets with automatically generated labels have become a popular alternative. However, models trained on synthetic data often perform poorly when applied to real-world scenes due to the synthetic-to-real domain gap. Despite the success of unsupervised domain adaptation in narrowing this gap, most existing methods mainly focus on global feature alignment while overlooking the semantic structure of the feature space. As a result, semantic relations among classes are insufficiently modeled, limiting the model's ability to generalize. To address these challenges, this study introduces a novel unsupervised domain adaptation framework that explicitly regularizes semantic feature structures to significantly enhance driving scene parsing performance in real-world scenarios. Specifically, the proposed method enforces inter-class separation and intra-class compactness by leveraging class-specific prototypes, thereby enhancing the discriminability and structural coherence of feature clusters. An entropy-based noise filtering strategy improves the reliability of pseudo labels, while a pixel-level attention mechanism further refines feature alignment. Extensive experiments on representative benchmarks demonstrate that the proposed method consistently outperforms recent state-of-the-art methods. These results underscore the importance of preserving semantic structure for robust synthetic-to-real adaptation in driving scene parsing tasks.

PersonaTrace: Synthesizing Realistic Digital Footprints with LLM Agents

Digital footprints (records of individuals' interactions with digital systems) are essential for studying behavior, developing personalized applications, and training machine learning models. However, research in this area is often hindered by the scarcity of diverse and accessible data. To address this limitation, we propose a novel method for synthesizing realistic digital footprints using large language model (LLM) agents. Starting from a structured user profile, our approach generates diverse and plausible sequences of user events, ultimately producing corresponding digital artifacts such as emails, messages, calendar entries, reminders, etc. Intrinsic evaluation results demonstrate that the generated dataset is more diverse and realistic than existing baselines. Moreover, models fine-tuned on our synthetic data outperform those trained on other synthetic datasets when evaluated on real-world out-of-distribution tasks.

FLAC: Maximum Entropy RL via Kinetic Energy Regularized Bridge Matching

Iterative generative policies, such as diffusion models and flow matching, offer superior expressivity for continuous control but complicate Maximum Entropy Reinforcement Learning because their action log-densities are not directly accessible. To address this, we propose Field Least-Energy Actor-Critic (FLAC), a likelihood-free framework that regulates policy stochasticity by penalizing the kinetic energy of the velocity field. Our key insight is to formulate policy optimization as a Generalized Schrödinger Bridge (GSB) problem relative to a high-entropy reference process (e.g., uniform). Under this view, the maximum-entropy principle emerges naturally as staying close to a high-entropy reference while optimizing return, without requiring explicit action densities. In this framework, kinetic energy serves as a physically grounded proxy for divergence from the reference: minimizing path-space energy bounds the deviation of the induced terminal action distribution. Building on this view, we derive an energy-regularized policy iteration scheme and a practical off-policy algorithm that automatically tunes the kinetic energy via a Lagrangian dual mechanism. Empirically, FLAC achieves superior or comparable performance on high-dimensional benchmarks relative to strong baselines, while avoiding explicit density estimation.