KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills

Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper presents a physics-based humanoid control framework, aiming to master highly-dynamic human behaviors such as Kungfu and dancing through multi-steps motion processing and adaptive motion tracking. For motion processing, we design a pipeline to extract, filter out, correct, and retarget motions, while ensuring compliance with physical constraints to the maximum extent. For motion imitation, we formulate a bi-level optimization problem to dynamically adjust the tracking accuracy tolerance based on the current tracking error, creating an adaptive curriculum mechanism. We further construct an asymmetric actor-critic framework for policy training. In experiments, we train whole-body control policies to imitate a set of highly-dynamic motions. Our method achieves significantly lower tracking errors than existing approaches and is successfully deployed on the Unitree G1 robot, demonstrating stable and expressive behaviors. The project page is https://kungfu-bot.github.io.

AI Flow: Perspectives, Scenarios, and Approaches

Pioneered by the foundational information theory by Claude Shannon and the visionary framework of machine intelligence by Alan Turing, the convergent evolution of information and communication technologies (IT/CT) has created an unbroken wave of connectivity and computation. This synergy has sparked a technological revolution, now reaching its peak with large artificial intelligence (AI) models that are reshaping industries and redefining human-machine collaboration. However, the realization of ubiquitous intelligence faces considerable challenges due to substantial resource consumption in large models and high communication bandwidth demands. To address these challenges, AI Flow has been introduced as a multidisciplinary framework that integrates cutting-edge IT and CT advancements, with a particular emphasis on the following three key points. First, device-edge-cloud framework serves as the foundation, which integrates end devices, edge servers, and cloud clusters to optimize scalability and efficiency for low-latency model inference. Second, we introduce the concept of familial models, which refers to a series of different-sized models with aligned hidden features, enabling effective collaboration and the flexibility to adapt to varying resource constraints and dynamic scenarios. Third, connectivity- and interaction-based intelligence emergence is a novel paradigm of AI Flow. By leveraging communication networks to enhance connectivity, the collaboration among AI models across heterogeneous nodes achieves emergent intelligence that surpasses the capability of any single model. The innovations of AI Flow provide enhanced intelligence, timely responsiveness, and ubiquitous accessibility to AI services, paving the way for the tighter fusion of AI techniques and communication systems.

MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL framework. However, these methods are limited in flat terrains with proprioception only, restricting their abilities to traverse challenging terrains with human-like gaits. In this work, we propose a novel framework using a mixture of latent residual experts with multi-discriminators to train an RL policy, which is capable of traversing complex terrains in controllable lifelike gaits with exteroception. Our two-stage training pipeline first teaches the policy to traverse complex terrains using a depth camera, and then enables gait-commanded switching between human-like gait patterns. We also design gait rewards to adjust human-like behaviors like robot base height. Simulation and real-world experiments demonstrate that our framework exhibits exceptional performance in traversing complex terrains, and achieves seamless transitions between multiple human-like gait patterns.

Decoupling the Image Perception and Multimodal Reasoning for Reasoning Segmentation with Digital Twin Representations

Reasoning Segmentation (RS) is a multimodal vision-text task that requires segmenting objects based on implicit text queries, demanding both precise visual perception and vision-text reasoning capabilities. Current RS approaches rely on fine-tuning vision-language models (VLMs) for both perception and reasoning, but their tokenization of images fundamentally disrupts continuous spatial relationships between objects. We introduce DTwinSeger, a novel RS approach that leverages Digital Twin (DT) representation as an intermediate layer to decouple perception from reasoning. Innovatively, DTwinSeger reformulates RS as a two-stage process, where the first transforms the image into a structured DT representation that preserves spatial relationships and semantic properties and then employs a Large Language Model (LLM) to perform explicit reasoning over this representation to identify target objects. We propose a supervised fine-tuning method specifically for LLM with DT representation, together with a corresponding fine-tuning dataset Seg-DT, to enhance the LLM's reasoning capabilities with DT representations. Experiments show that our method can achieve state-of-the-art performance on two image RS benchmarks and three image referring segmentation benchmarks. It yields that DT representation functions as an effective bridge between vision and text, enabling complex multimodal reasoning tasks to be accomplished solely with an LLM.

LLMs Caught in the Crossfire: Malware Requests and Jailbreak Challenges

The widespread adoption of Large Language Models (LLMs) has heightened concerns about their security, particularly their vulnerability to jailbreak attacks that leverage crafted prompts to generate malicious outputs. While prior research has been conducted on general security capabilities of LLMs, their specific susceptibility to jailbreak attacks in code generation remains largely unexplored. To fill this gap, we propose MalwareBench, a benchmark dataset containing 3,520 jailbreaking prompts for malicious code-generation, designed to evaluate LLM robustness against such threats. MalwareBench is based on 320 manually crafted malicious code generation requirements, covering 11 jailbreak methods and 29 code functionality categories. Experiments show that mainstream LLMs exhibit limited ability to reject malicious code-generation requirements, and the combination of multiple jailbreak methods further reduces the model's security capabilities: specifically, the average rejection rate for malicious content is 60.93%, dropping to 39.92% when combined with jailbreak attack algorithms. Our work highlights that the code security capabilities of LLMs still pose significant challenges.

WebUIBench: A Comprehensive Benchmark for Evaluating Multimodal Large Language Models in WebUI-to-Code

With the rapid advancement of Generative AI technology, Multimodal Large Language Models(MLLMs) have the potential to act as AI software engineers capable of executing complex web application development. Considering that the model requires a confluence of multidimensional sub-capabilities to address the challenges of various development phases, constructing a multi-view evaluation framework is crucial for accurately guiding the enhancement of development efficiency. However, existing benchmarks usually fail to provide an assessment of sub-capabilities and focus solely on webpage generation outcomes. In this work, we draw inspiration from the principles of software engineering and further propose WebUIBench, a benchmark systematically designed to evaluate MLLMs in four key areas: WebUI Perception, HTML Programming,WebUI-HTML Understanding, and WebUI-to-Code. WebUIBench comprises 21K high-quality question-answer pairs derived from over 0.7K real-world websites. The extensive evaluation of 29 mainstream MLLMs uncovers the skill characteristics and various weakness that models encountered during the development process.

Dynamic Mixture of Progressive Parameter-Efficient Expert Library for Lifelong Robot Learning

A generalist agent must continuously learn and adapt throughout its lifetime, achieving efficient forward transfer while minimizing catastrophic forgetting. Previous work within the dominant pretrain-then-finetune paradigm has explored parameter-efficient fine-tuning for single-task adaptation, effectively steering a frozen pretrained model with a small number of parameters. However, in the context of lifelong learning, these methods rely on the impractical assumption of a test-time task identifier and restrict knowledge sharing among isolated adapters. To address these limitations, we propose Dynamic Mixture of Progressive Parameter-Efficient Expert Library (DMPEL) for lifelong robot learning. DMPEL progressively learn a low-rank expert library and employs a lightweight router to dynamically combine experts into an end-to-end policy, facilitating flexible behavior during lifelong adaptation. Moreover, by leveraging the modular structure of the fine-tuned parameters, we introduce coefficient replay to guide the router in accurately retrieving frozen experts for previously encountered tasks, thereby mitigating catastrophic forgetting. This method is significantly more storage- and computationally-efficient than applying demonstration replay to the entire policy. Extensive experiments on the lifelong manipulation benchmark LIBERO demonstrate that our framework outperforms state-of-the-art lifelong learning methods in success rates across continual adaptation, while utilizing minimal trainable parameters and storage.

HSSBench: Benchmarking Humanities and Social Sciences Ability for Multimodal Large Language Models

Multimodal Large Language Models (MLLMs) have demonstrated significant potential to advance a broad range of domains. However, current benchmarks for evaluating MLLMs primarily emphasize general knowledge and vertical step-by-step reasoning typical of STEM disciplines, while overlooking the distinct needs and potential of the Humanities and Social Sciences (HSS). Tasks in the HSS domain require more horizontal, interdisciplinary thinking and a deep integration of knowledge across related fields, which presents unique challenges for MLLMs, particularly in linking abstract concepts with corresponding visual representations. Addressing this gap, we present HSSBench, a dedicated benchmark designed to assess the capabilities of MLLMs on HSS tasks in multiple languages, including the six official languages of the United Nations. We also introduce a novel data generation pipeline tailored for HSS scenarios, in which multiple domain experts and automated agents collaborate to generate and iteratively refine each sample. HSSBench contains over 13,000 meticulously designed samples, covering six key categories. We benchmark more than 20 mainstream MLLMs on HSSBench and demonstrate that it poses significant challenges even for state-of-the-art models. We hope that this benchmark will inspire further research into enhancing the cross-disciplinary reasoning abilities of MLLMs, especially their capacity to internalize and connect knowledge across fields.

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to acquire bimanual policies. However, transferring knowledge from single-arm datasets or pre-trained VLA models often fails to generalize effectively, primarily due to the scarcity of bimanual data and the fundamental differences between single-arm and bimanual manipulation. In this paper, we propose a novel bimanual foundation policy by fine-tuning the leading text-to-video models to predict robot trajectories and training a lightweight diffusion policy for action generation. Given the lack of embodied knowledge in text-to-video models, we introduce a two-stage paradigm that fine-tunes independent text-to-flow and flow-to-video models derived from a pre-trained text-to-video model. Specifically, optical flow serves as an intermediate variable, providing a concise representation of subtle movements between images. The text-to-flow model predicts optical flow to concretize the intent of language instructions, and the flow-to-video model leverages this flow for fine-grained video prediction. Our method mitigates the ambiguity of language in single-stage text-to-video prediction and significantly reduces the robot-data requirement by avoiding direct use of low-level actions. In experiments, we collect high-quality manipulation data for real dual-arm robot, and the results of simulation and real-world experiments demonstrate the effectiveness of our method.

Hume: Introducing System-2 Thinking in Visual-Language-Action Model

Humans practice slow thinking before performing actual actions when handling complex tasks in the physical world. This thinking paradigm, recently, has achieved remarkable advancement in boosting Large Language Models (LLMs) to solve complex tasks in digital domains. However, the potential of slow thinking remains largely unexplored for robotic foundation models interacting with the physical world. In this work, we propose Hume: a dual-system Vision-Language-Action (VLA) model with value-guided System-2 thinking and cascaded action denoising, exploring human-like thinking capabilities of Vision-Language-Action models for dexterous robot control. System 2 of Hume implements value-Guided thinking by extending a Vision-Language-Action Model backbone with a novel value-query head to estimate the state-action value of predicted actions. The value-guided thinking is conducted by repeat sampling multiple action candidates and selecting one according to state-action value. System 1 of Hume is a lightweight reactive visuomotor policy that takes System 2 selected action and performs cascaded action denoising for dexterous robot control. At deployment time, System 2 performs value-guided thinking at a low frequency while System 1 asynchronously receives the System 2 selected action candidate and predicts fluid actions in real time. We show that Hume outperforms the existing state-of-the-art Vision-Language-Action models across multiple simulation benchmark and real-robot deployments.