Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics

Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem: existing medical robotic datasets are small, single-embodiment, and rarely shared openly, restricting the development of foundation models that the field needs to advance. We introduce Open-H-Embodiment, the largest open dataset of medical robotic video with synchronized kinematics to date, spanning more than 49 institutions and multiple robotic platforms including the CMR Versius, Intuitive Surgical's da Vinci, da Vinci Research Kit (dVRK), Rob Surgical BiTrack, Virtual Incision's MIRA, Moon Surgical Maestro, and a variety of custom systems, spanning surgical manipulation, robotic ultrasound, and endoscopy procedures. We demonstrate the research enabled by this dataset through two foundation models. GR00T-H is the first open foundation vision-language-action model for medical robotics, which is the only evaluated model to achieve full end-to-end task completion on a structured suturing benchmark (25% of trials vs. 0% for all others) and achieves 64% average success across a 29-step ex vivo suturing sequence. We also train Cosmos-H-Surgical-Simulator, the first action-conditioned world model to enable multi-embodiment surgical simulation from a single checkpoint, spanning nine robotic platforms and supporting in silico policy evaluation and synthetic data generation for the medical domain. These results suggest that open, large-scale medical robot data collection can serve as critical infrastructure for the research community, enabling advances in robot learning, world modeling, and beyond.

GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction, limiting the ability to recover regions occluded by dynamic objects. In this paper, we propose GA-GS, a Generation-Assisted Gaussian Splatting method for Static Scene Reconstruction. The key innovation of our work lies in leveraging generation to assist in reconstructing occluded regions. We employ a motion-aware module to segment and remove dynamic regions, and thenuse a diffusion model to inpaint the occluded areas, providing pseudo-ground-truth supervision. To balance contributions from real background and generated region, we introduce a learnable authenticity scalar for each Gaussian primitive, which dynamically modulates opacity during splatting for authenticity-aware rendering and supervision. Since no existing dataset provides ground-truth static scene of video with dynamic objects, we construct a dataset named Trajectory-Match, using a fixed-path robot to record each scene with/without dynamic objects, enabling quantitative evaluation in reconstruction of occluded regions. Extensive experiments on both the DAVIS and our dataset show that GA-GS achieves state-of-the-art performance in static scene reconstruction, especially in challenging scenarios with large-scale, persistent occlusions.

Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control

Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. Each action therefore needs tens to hundreds of network function evaluations (NFEs), making them costly for high-frequency closed-loop control and online reinforcement learning (RL). To address this limitation, we propose a two-stage framework for native one-step generative policies that shifts refinement from inference to training. First, we introduce the Drift-Based Policy (DBP), which leverages fixed-point drifting objectives to internalize iterative refinement into the model parameters, yielding a one-step generative backbone by design while preserving multimodal action modeling capacity. Second, we develop Drift-Based Policy Optimization (DBPO), an online RL framework that equips the pretrained backbone with a compatible stochastic interface, enabling stable on-policy updates without sacrificing the one-step deployment property. Extensive experiments demonstrate the effectiveness of the proposed framework across offline imitation learning, online fine-tuning, and real-world control scenarios. DBP matches or exceeds the performance of multi-step diffusion policies while achieving up to $100\times$ faster inference. It also consistently outperforms existing one-step baselines on challenging manipulation benchmarks. Moreover, DBPO enables effective and stable policy improvement in online settings. Experiments on a real-world dual-arm robot demonstrate reliable high-frequency control at 105.2 Hz.

Understanding the Role of Hallucination in Reinforcement Post-Training of Multimodal Reasoning Models

The recent success of reinforcement learning (RL) in large reasoning models has inspired the growing adoption of RL for post-training Multimodal Large Language Models (MLLMs) to enhance their visual reasoning capabilities. Although many studies have reported improved performance, it remains unclear whether RL training truly enables models to learn from visual information. In this work, we propose the Hallucination-as-Cue Framework, an analytical framework designed to investigate the effects of RL-based post-training on multimodal reasoning models from the perspective of model hallucination. Specifically, we introduce hallucination-inductive, modality-specific corruptions that remove or replace essential information required to derive correct answers, thereby forcing the model to reason by hallucination. By applying these corruptions during both training and evaluation, our framework provides a unique perspective for diagnosing RL training dynamics and understanding the intrinsic properties of datasets. Through extensive experiments and analyses across multiple multimodal reasoning benchmarks, we reveal that the role of model hallucination for RL-training is more significant than previously recognized. For instance, we find that RL post-training under purely hallucination-inductive settings can still significantly improve models' reasoning performance, and in some cases even outperform standard training. These findings challenge prevailing assumptions about MLLM reasoning training and motivate the development of more modality-aware RL-based training designs.

OpenGo: An OpenClaw-Based Robotic Dog with Real-Time Skill Switching

Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of skills in real time, particularly in dynamic environments, has become a fundamental requirement for embodied intelligence. We introduce OpenGo, an OpenClaw-powered embodied robotic dog capable of switching skills in real time according to the scene and task instructions. Specifically, the agent is equipped with (1) a customizable skill library with easy skill import and autonomous skill validation, (2) a dispatcher that selects and invokes different skills according to task prompts or language instructions, and (3) a self-learning framework that fine-tunes skills based on task completion and human feedback. We deploy the agent in Unitree's Go2 robotic dog and validate its capabilities in self-checking and switching of skills autonomously. In addition, by integrating Feishu-platform communication, we enable natural-language guidance and human feedback, allowing inexperienced users to control the robotic dog through simple instructions.

MCLMR: A Model-Agnostic Causal Learning Framework for Multi-Behavior Recommendation

Multi-Behavior Recommendation (MBR) leverages multiple user interaction types (e.g., views, clicks, purchases) to enrich preference modeling and alleviate data sparsity issues in traditional single-behavior approaches. However, existing MBR methods face fundamental challenges: they lack principled frameworks to model complex confounding effects from user behavioral habits and item multi-behavior distributions, struggle with effective aggregation of heterogeneous auxiliary behaviors, and fail to align behavioral representations across semantic gaps while accounting for bias distortions. To address these limitations, we propose MCLMR, a novel model-agnostic causal learning framework that can be seamlessly integrated into various MBR architectures. MCLMR first constructs a causal graph to model confounding effects and performs interventions for unbiased preference estimation. Under this causal framework, it employs an Adaptive Aggregation module based on Mixture-of-Experts to dynamically fuse auxiliary behavior information and a Bias-aware Contrastive Learning module to align cross-behavior representations in a bias-aware manner. Extensive experiments on three real-world datasets demonstrate that MCLMR achieves significant performance improvements across various baseline models, validating its effectiveness and generality. All data and code will be made publicly available. For anonymous review, our code is available at the following the link: https://github.com/gitrxh/MCLMR.

Learning Surgical Robotic Manipulation with 3D Spatial Priors

Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the surgical scene prior to manipulation, or enhance multi-view features by adding wrist-mounted cameras to supplement the default stereo endoscopes. However, both paradigms suffer from notable limitations: the former easily leads to error accumulation and prevents end-to-end optimization due to its multi-stage nature, while the latter is rarely adopted in clinical practice since wrist-mounted cameras can interfere with the motion of surgical robot arms. In this work, we introduce the Spatial Surgical Transformer (SST), an end-to-end visuomotor policy that empowers surgical robots with 3D spatial awareness by directly exploring 3D spatial cues embedded in endoscopic images. First, we build Surgical3D, a large-scale photorealistic dataset containing 30K stereo endoscopic image pairs with accurate 3D geometry, addressing the scarcity of 3D data in surgical scenes. Based on Surgical3D, we finetune a powerful geometric transformer to extract robust 3D latent representations from stereo endoscopes images. These representations are then seamlessly aligned with the robot's action space via a lightweight multi-level spatial feature connector (MSFC), all within an endoscope-centric coordinate frame. Extensive real-robot experiments demonstrate that SST achieves state-of-the-art performance and strong spatial generalization on complex surgical tasks such as knot tying and ex-vivo organ dissection, representing a significant step toward practical clinical deployment. The dataset and code will be released.

End-to-End Simultaneous Dysarthric Speech Reconstruction with Frame-Level Adaptor and Multiple Wait-k Knowledge Distillation

Dysarthric speech reconstruction (DSR) typically employs a cascaded system that combines automatic speech recognition (ASR) and sentence-level text-to-speech (TTS) to convert dysarthric speech into normally-prosodied speech. However, dysarthric individuals often speak more slowly, leading to excessively long response times in such systems, rendering them impractical in long-speech scenarios. Cascaded DSR systems based on streaming ASR and incremental TTS can help reduce latency. However, patients with differing dysarthria severity exhibit substantial pronunciation variability for the same text, resulting in poor robustness of ASR and limiting the intelligibility of reconstructed speech. In addition, incremental TTS suffers from poor prosodic feature prediction due to a limited receptive field. In this study, we propose an end-to-end simultaneous DSR system with two key innovations: 1) A frame-level adaptor module is introduced to bridge ASR and TTS. By employing explicit-implicit semantic information fusion and joint module training, it enhances the error tolerance of TTS to ASR outputs. 2) A multiple wait-k autoregressive TTS module is designed to mitigate prosodic degradation via multi-view knowledge distillation. Our system has an average response time of 1.03 seconds on Tesla A100, with an average real-time factor (RTF) of 0.71. On the UASpeech dataset, it attains a mean opinion score (MOS) of 4.67 and demonstrates a 54.25% relative reduction in word error rate (WER) compared to the state-of-the-art. Our demo is available at: https://wflrz123.github.io/

DARS: Dysarthria-Aware Rhythm-Style Synthesis for ASR Enhancement

Dysarthric speech exhibits abnormal prosody and significant speaker variability, presenting persistent challenges for automatic speech recognition (ASR). While text-to-speech (TTS)-based data augmentation has shown potential, existing methods often fail to accurately model the pathological rhythm and acoustic style of dysarthric speech. To address this, we propose DARS, a dysarthria-aware rhythm-style synthesis framework based on the Matcha-TTS architecture. DARS incorporates a multi-stage rhythm predictor optimized by contrastive preferences between normal and dysarthric speech, along with a dysarthric-style conditional flow matching mechanism, jointly enhancing temporal rhythm reconstruction and pathological acoustic style simulation. Experiments on the TORGO dataset demonstrate that DARS achieves a Mean Cepstral Distortion (MCD) of 4.29, closely approximating real dysarthric speech. Adapting a Whisper-based ASR system with synthetic dysarthric speech from DARS achieves a 54.22% relative reduction in word error rate (WER) compared to state-of-the-art methods, demonstrating the framework's effectiveness in enhancing recognition performance.

DreamWorld: Unified World Modeling in Video Generation

Despite impressive progress in video generation, existing models remain limited to surface-level plausibility, lacking a coherent and unified understanding of the world. Prior approaches typically incorporate only a single form of world-related knowledge or rely on rigid alignment strategies to introduce additional knowledge. However, aligning the single world knowledge is insufficient to constitute a world model that requires jointly modeling multiple heterogeneous dimensions (e.g., physical commonsense, 3D and temporal consistency). To address this limitation, we introduce \textbf{DreamWorld}, a unified framework that integrates complementary world knowledge into video generators via a \textbf{Joint World Modeling Paradigm}, jointly predicting video pixels and features from foundation models to capture temporal dynamics, spatial geometry, and semantic consistency. However, naively optimizing these heterogeneous objectives can lead to visual instability and temporal flickering. To mitigate this issue, we propose \textit{Consistent Constraint Annealing (CCA)} to progressively regulate world-level constraints during training, and \textit{Multi-Source Inner-Guidance} to enforce learned world priors at inference. Extensive evaluations show that DreamWorld improves world consistency, outperforming Wan2.1 by 2.26 points on VBench. Code will be made publicly available at \href{https://github.com/ABU121111/DreamWorld}{\textcolor{mypink}{\textbf{Github}}}.