EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control

Chunked vision-language-action (VLA) policies predict multi-step robot controls, conditioning each update on the current visual observation alone. Yet robot actions cause contact, occlusion, and object motion, and the geometry that later decisions depend on can change before the next visual update arrives. Spatial VLAs improve current-frame geometry. Temporal VLAs aggregate past frames. Neither maintains an action-updated scene prior across chunks. We argue for a persistent action-updated scene state across control calls, and introduce EvoScene-VLA. Its recurrent scene prefix carries a geometry-aware scene state across chunks. At each vision-language model (VLM) call, the VLM combines scene information from the current observation with the action-updated prior from the previous chunk; the action decoder outputs both the next action chunk and a compact scene update. This update becomes the next prior, which the VLM corrects against the new observation when the next call arrives. Each control call therefore starts from a scene prior that reflects both recent actions and fresh visual evidence. During training, \textbf{Scene Predictor} supplies future scene-token targets, and Geometric Anchor aligns scene slots with frozen depth and 3D teachers. We discard both modules at deployment. On 31 RoboTwin tasks, EvoScene-VLA raises average success from 87.2% to 89.1% in fixed evaluation and from 86.1% to 88.5% in randomized evaluation. On the Galaxea R1-Lite real robot, EvoScene-VLA outperforms all baselines.

Structural Energy Guidance for View-Consistent Text-to-3D Generation

Text-to-3D generation based on diffusion models often suffers from the Janus problem, leading to inconsistent geometry across viewpoints. This work identifies viewpoint bias in 2D diffusion priors as the main cause and proposes Structural Energy-Guided Sampling (SEGS), a training-free and plug-and-play framework to improve multi-view consistency. SEGS constructs a structural energy in the PCA subspace of U-Net features and injects its gradient into the denoising process. It can be easily integrated into SDS/VSD pipelines without retraining. Experiments show that SEGS reduces the Janus Rate by about 10% on average and improves View-CS scores across multiple baselines, including DreamFusion, Magic3D, and LucidDreamer. This method effectively alleviates viewpoint artifacts while preserving appearance fidelity, providing a flexible solution for high-quality text-to-3D content generation.

Break the Brake, Not the Wheel: Untargeted Jailbreak via Entropy Maximization

Recent studies show that gradient-based universal image jailbreaks on vision-language models (VLMs) exhibit little or no cross-model transferability, casting doubt on the feasibility of transferable multimodal jailbreaks. We revisit this conclusion under a strictly untargeted threat model without enforcing a fixed prefix or response pattern. Our preliminary experiment reveals that refusal behavior concentrates at high-entropy tokens during autoregressive decoding, and non-refusal tokens already carry substantial probability mass among the top-ranked candidates before attack. Motivated by this finding, we propose Untargeted Jailbreak via Entropy Maximization(UJEM)-KL, a lightweight attack that maximizes entropy at these decision tokens to flip refusal outcomes, while stabilizing the remaining low-entropy positions to preserve output quality. Across three VLMs and two safety benchmarks, UJEM-KL achieves competitive white-box attack success rates and consistently improves transferability, while remaining effective under representative defenses. Our experimental results indicate that the limited transferability primarily stems from overly constrained optimization objectives.

From Diffusion to Rectified Flow: Rethinking Text-Based Segmentation

Text-based image segmentation aims to delineate object boundaries within an image from text prompts, offering higher flexibility and broader application scope compared to traditional fixed-category segmentation tasks. Recent studies have shown that diffusion models (e.g., Stable Diffusion) can provide rich multimodal semantic features, leading to studies of using diffusion models as feature extractors for segmentation tasks. Such methods, however, inherit the generative natures of diffusion models that are harmful to discriminative segmentation tasks. In response, we propose RLFSeg, a novel framework that leverages Rectified Flow to learn direct mapping from the image to the segmentation mask within the latent space. The model is thus freed from the noise-denoise process and the need to optimize the time step of diffusion models, resulting in substantially better performance than previous diffusion-based methods, especially on zero-shot scenarios. By introducing label refinement and an Adaptive One-Step Sampling strategy, the model achieves higher accuracy even on a single inference step. The framework redirects a pretrained generative model to the discriminative segmentation task with zero modification to model structure, thus reveals promising application potential and significant research value.

EgoSelf: From Memory to Personalized Egocentric Assistant

Egocentric assistants often rely on first-person view data to capture user behavior and context for personalized services. Since different users exhibit distinct habits, preferences, and routines, such personalization is essential for truly effective assistance. However, effectively integrating long-term user data for personalization remains a key challenge. To address this, we introduce EgoSelf, a system that includes a graph-based interaction memory constructed from past observations and a dedicated learning task for personalization. The memory captures temporal and semantic relationships among interaction events and entities, from which user-specific profiles are derived. The personalized learning task is formulated as a prediction problem where the model predicts possible future interactions from individual user's historical behavior recorded in the graph. Extensive experiments demonstrate the effectiveness of EgoSelf as a personalized egocentric assistant. Code is available at https://abie-e.github.io/EgoSelf/.

ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy

Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks. Existing 3D integration methods struggle to bridge this gap due to the structural irregularity of sparse point clouds and the geometric distortion introduced by multi-view orthographic rendering. To overcome these barriers, we present ReMAP-DP, a novel framework synergizing standardized perspective reprojection with a structure-aware dual-stream diffusion policy. By coupling the re-projected views with pixel-aligned PointMaps, our dual-stream architecture leverages learnable modality embeddings to fuse frozen semantic features and explicit geometric descriptors, ensuring precise implicit patch-level alignment. Extensive experiments across simulation and real-world environments demonstrate ReMAP-DP's superior performance in diverse manipulation tasks. On RoboTwin 2.0, it attains a 59.3% average success rate, outperforming the DP3 baseline by +6.6%. On ManiSkill 3, our method yields a 28% improvement over DP3 on the geometrically challenging Stack Cube task. Furthermore, ReMAP-DP exhibits remarkable real-world robustness, executing high-precision and dynamic manipulations with superior data efficiency from only a handful of demonstrations. Project page is available at: https://icr-lab.github.io/ReMAP-DP/

MVHOI: Bridge Multi-view Condition to Complex Human-Object Interaction Video Reenactment via 3D Foundation Model

Human-Object Interaction (HOI) video reenactment with realistic motion remains a frontier in expressive digital human creation. Existing approaches primarily handle simple image-plane motion (e.g., in-plane translations), struggling with complex non-planar manipulations like out-of-plane reorientation. In this paper, we propose MVHOI, a two-stage HOI video reenactment framework that bridges multi-view reference conditions and video foundation models via a 3D Foundation Model (3DFM). The 3DFM first produces view-consistent object priors conditioned on implicit motion dynamics across novel viewpoints. A controllable video generation model then synthesizes high-fidelity object texture by incorporating multi-view reference images, ensuring appearance consistency via a reasonable retrieval mechanism. By enabling these two stages to mutually reinforce one another during the inference phase, our framework shows superior performance in generating long-duration HOI videos with intricate object manipulations. Extensive experiments show substantial improvements over prior approaches, especially for HOI with complex 3D object manipulations.

RnG: A Unified Transformer for Complete 3D Modeling from Partial Observations

Human perceive the 3D world through 2D observations from limited viewpoints. While recent feed-forward generalizable 3D reconstruction models excel at recovering 3D structures from sparse images, their representations are often confined to observed regions, leaving unseen geometry un-modeled. This raises a key, fundamental challenge: Can we infer a complete 3D structure from partial 2D observations? We present RnG (Reconstruction and Generation), a novel feed-forward Transformer that unifies these two tasks by predicting an implicit, complete 3D representation. At the core of RnG, we propose a reconstruction-guided causal attention mechanism that separates reconstruction and generation at the attention level, and treats the KV-cache as an implicit 3D representation. Then, arbitrary poses can efficiently query this cache to render high-fidelity, novel-view RGBD outputs. As a result, RnG not only accurately reconstructs visible geometry but also generates plausible, coherent unseen geometry and appearance. Our method achieves state-of-the-art performance in both generalizable 3D reconstruction and novel view generation, while operating efficiently enough for real-time interactive applications. Project page: https://npucvr.github.io/RnG

Probing and Bridging Geometry-Interaction Cues for Affordance Reasoning in Vision Foundation Models

What does it mean for a visual system to truly understand affordance? We argue that this understanding hinges on two complementary capacities: geometric perception, which identifies the structural parts of objects that enable interaction, and interaction perception, which models how an agent's actions engage with those parts. To test this hypothesis, we conduct a systematic probing of Visual Foundation Models (VFMs). We find that models like DINO inherently encode part-level geometric structures, while generative models like Flux contain rich, verb-conditioned spatial attention maps that serve as implicit interaction priors. Crucially, we demonstrate that these two dimensions are not merely correlated but are composable elements of affordance. By simply fusing DINO's geometric prototypes with Flux's interaction maps in a training-free and zero-shot manner, we achieve affordance estimation competitive with weakly-supervised methods. This final fusion experiment confirms that geometric and interaction perception are the fundamental building blocks of affordance understanding in VFMs, providing a mechanistic account of how perception grounds action.

A Kung Fu Athlete Bot That Can Do It All Day: Highly Dynamic, Balance-Challenging Motion Dataset and Autonomous Fall-Resilient Tracking

Current humanoid motion tracking systems can execute routine and moderately dynamic behaviors, yet significant gaps remain near hardware performance limits and algorithmic robustness boundaries. Martial arts represent an extreme case of highly dynamic human motion, characterized by rapid center-of-mass shifts, complex coordination, and abrupt posture transitions. However, datasets tailored to such high-intensity scenarios remain scarce. To address this gap, we construct KungFuAthlete, a high-dynamic martial arts motion dataset derived from professional athletes' daily training videos. The dataset includes ground and jump subsets covering representative complex motion patterns. The jump subset exhibits substantially higher joint, linear, and angular velocities compared to commonly used datasets such as LAFAN1, PHUMA, and AMASS, indicating significantly increased motion intensity and complexity. Importantly, even professional athletes may fail during highly dynamic movements. Similarly, humanoid robots are prone to instability and falls under external disturbances or execution errors. Most prior work assumes motion execution remains within safe states and lacks a unified strategy for modeling unsafe states and enabling reliable autonomous recovery. We propose a novel training paradigm that enables a single policy to jointly learn high-dynamic motion tracking and fall recovery, unifying agile execution and stabilization within one framework. This framework expands robotic capability from pure motion tracking to recovery-enabled execution, promoting more robust and autonomous humanoid performance in real-world high-dynamic scenarios.