HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction

Humanoid intelligence requires learning over an extremely diverse space of whole-body motions and physically grounded interactions. However, existing embodied datasets remain fundamentally limited: internet-scale video data lack precise physical states and interaction grounding, while laboratory motion datasets provide high fidelity but only narrow behavioral coverage. This mismatch creates a critical bottleneck for scalable humanoid policy learning. We present HiPHI, a 600+ hour scale high-fidelity whole-body human motion dataset designed to systematically maximize coverage of the human motion and interaction manifold. HiPHI is theoretically guided by FrameNet, a linguistic framework organizing human primitives. Created using an optical motion capture pipeline, HiPHI provides sub-millimeter spatial marker tracking accuracy for full-body human motion and mesh-level object trajectories. We further introduce a benchmark suite evaluating motion-space diversity, interaction grounding, object consistency, and physical AI applications. Our analyses demonstrate that HiPHI significantly expands motion coverage compared to existing motion datasets while maintaining high-fidelity interaction quality, and establishes a scalable data foundation for training, evaluating, and generalizing humanoid policies in real-world embodied tasks, where similar extensions are also applicable to motion prior models in computer graphics.

Sufficient Dimesion Reduction via Generalized Stein's Lemma

Sufficient dimension reduction (SDR) seeks the minimal subspace of the predictors that captures the full conditional distribution of the response, which is known as the central subspace (CS). When the response is multivariate, the problem becomes considerably more challenging, particularly when the sample size is limited. Existing methods face different limitations:inverse regression approaches rely on strong distributional assumptions and matrix inversion, and their multi-response extensions suffer from severe slice sparsity; forward regression methods depend on computationally intensive iterative smoothing whose cost grows with the response dimension; and deep learning-based approaches demand large amounts of labeled data. To circumvent these shortcomings, we propose an SDR framework based on the generalized Stein's lemma. Our method constructs a cross-moment matrix between the multivariate response and the marginal score function of the predictors, and recovers the CS via its singular value decomposition. The proposed method does not rely on the linearity condition, avoids matrix inversion as well as iterative smoothing, and can leverage unlabeled data when available. We establish convergence guarantees for the proposed estimator under standard regularity conditions. Moreover, we propose a practical rank-selection algorithm to estimate the dimension of the CS. Extensive simulation studies and a real data application demonstrate that the proposed methods consistently outperform existing approaches across a variety of settings, particularly in moderate-dimensional, label-scarce scenarios with high noise levels.

Contaminated Multi-task Learning with Heterogeneity: Fundamental Limits and Optimal Algorithms

Integrating information across related tasks can improve estimation and prediction in transfer, multi-task, and federated learning, but contamination and heterogeneity make robust borrowing challenging. We study a contaminated multi-task empirical risk minimization (ERM) framework in which an $ε$ fraction of $K$ tasks, each with sample size $n$, may be arbitrarily contaminated while the remaining tasks are heterogeneous. Our goal is to estimate both the global minimizer of the average risk and the clean task-specific minimizers, thereby combining robustness and personalization. In the Gaussian mean model, we show that several common paradigms, including adaptive and robust regularization around a shared center, global matrix regularization, decomposition-based regularization, and score-based outlier-task detection, all suffer from a worst-case contamination error of order $ε\sqrt{d/n}$, which is suboptimal compared to the lower bound $ε/\sqrt{n}$. This identifies a dimension-dependent barrier for these approaches. We then establish minimax lower bounds for a general heterogeneous ERM setting and propose a computationally efficient filtering-based robust multi-task gradient descent method. Under local strong convexity, smoothness, and sub-Gaussian gradient assumptions, the proposed method attains high-probability upper bounds matching the minimax rates up to logarithmic factors over a broad regime. In particular, it removes the extra $\sqrt{d}$ contamination dependence of many regularization-based methods and score-based outlier detection, while achieving personalization to local tasks under strong heterogeneity. Simulations and a real-data analysis demonstrate strong robustness and personalization relative to a broad range of benchmark methods.

Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning

Embodied task planning asks an agent to turn a natural-language instruction into an executable sequence of actions in a physical scene, and is a building block for household, assistive, and service robots. Recent prompting-based and reinforcement-learning planners generate fluent action text but lack a cheap deterministic check that the produced plan is valid in the target world, while high-fidelity simulation is too slow to serve as an inner-loop training signal. The general problem is therefore how to obtain verifiable supervision and rewards for embodied planners without relying on string-level matching or full simulation. Here we show that a single BDDL specification, automatically constructed from open-world video evidence or curated tasks, can serve as a shared interface for data construction, plan verification, and reward design. A video-to-BDDL parser, an LLM verifier, and a lightweight symbolic engine together supply dense feedback at millisecond latency. We further introduce GroupAdapt, a difficulty-aware length schedule that uses the in-batch group pass rate as a zero-cost signal so that hard prompts get wider length tolerance and automatically tighten as their pass rate improves. Under the guidance of the proposed verifier and GroupAdapt schedule, the 8B planner attains a Strict-Pass score of 97.3 on BEHAVIOR-1000, yielding a 25.9 percent relative improvement over the Qwen3-8B baseline. This result exceeds the strongest large-model baseline by 3.5 percent, while simultaneously compressing the response length by 79 percent to 207 tokens, demonstrating both effectiveness and efficiency.

Multi-Source Transfer Learning of Sparse Single-Index Models

Transfer learning leverages knowledge from related source domains to improve learning in a target domain. Recent theoretical advances cover a broad range of regression settings within (generalized) linear models. Despite their diversity, these methods share two common constraints: they assume a known link function or linear structure and require direct access to raw source data. To move beyond these constraints, we propose a source-data-free transfer learning framework based on the single-index model (SIM). Instead of requiring raw source data, our method transfers only summary statistics derived from a generalized Stein's lemma in a one-time communication. This design preserves privacy and avoids side effects caused by dissimilarities of unknown nonlinear link functions across domains. To capture flexible, unknown nonlinearity, we employ a multilayer perceptron guided by the pre-estimated index from the transferred statistics, which significantly mitigates overfitting. Extensive experiments on synthetic data and a real-world application demonstrate consistent improvements over existing (generalized) linear model-based approaches. The proposed framework thus offers a practical, privacy-preserving, and nonlinear-adaptive solution for transfer learning.

RGLD: Randomized Global-Local Density Estimation for Tabular Anomaly Detection

Unsupervised tabular anomaly detection requires methods that are accurate, robust across heterogeneous datasets, and computationally efficient. Classical statistical detectors are often efficient, but they usually rely on a fixed data view and a single notion of abnormality. Deep anomaly detectors can learn more flexible scoring functions, but they are substantially slower and difficult to tune in unsupervised settings due to the lack of a reliable supervisory signal. We propose RGLD, a randomized global-local density estimator for efficient unsupervised tabular anomaly detection. RGLD combines a global random-feature density branch, which identifies samples in broadly low-density regions, with a local neighbor branch, which detects samples that are weakly supported by nearby observations. Both branches operate over feature-bagged randomized views, allowing RGLD to expose anomaly evidence that may be hidden in any single representation. We conduct experiments on 47 tabular datasets against 23 statistical and deep anomaly detection baselines under fully unsupervised setting. RGLD achieves the strongest dataset-level AUROC performance, ranking 1st in dataset wins, and ranks 2nd in AUPRC wins. RGLD is also faster than all evaluated deep detectors, achieving 50x-580x speedups, and remains competitive with statistical methods in runtime, yielding a favorable accuracy-efficiency tradeoff.

PerceptionDLM: Parallel Region Perception with Multimodal Diffusion Language Models

Multimodal large language models (MLLMs) have achieved remarkable progress in visual understanding tasks. However, most existing MLLMs rely on autoregressive generation, which limits their efficiency for perception tasks that require captioning multiple regions. In this work, we propose PerceptionDLM, a multimodal diffusion language model optimized for efficient parallel region perception. Built upon PerceptionDLM-Base, a strong foundational baseline that achieves state-of-the-art performance among open-source diffusion MLLMs, our architecture fully leverages the parallel decoding nature of DLMs. Specifically, we introduce efficient prompting and structured attention masking to enable simultaneous perception of multiple masked regions, allowing the model to generate region descriptions in parallel at both the sequence and token levels. This design significantly improves inference efficiency compared with existing approaches that process regions sequentially. To systematically evaluate the parallelism property of visual perception capability for DLMs, we construct a new Parallel Detailed Localized Captioning Benchmark (ParaDLC-Bench) by scaling the DLC-Bench to include multiple region masks per image, enabling joint evaluation of both caption quality and inference efficiency. Experiments demonstrate that PerceptionDLM maintains competitive performance in region captioning while achieving substantial speed improvements for multi-region perception tasks. Our results highlight the potential of multimodal diffusion language models for efficient, parallel visual perception. To the best of our knowledge, we are the first to achieve parallel region caption and perception by leveraging the advantages of diffusion language models. Code, models, and datasets are released.

LoomVideo: Unifying Multimodal Inputs into Video Generation and Editing

Developing unified video generation and editing models capable of interpreting interleaved multimodal inputs is a promising yet challenging frontier field. Existing unified frameworks predominantly rely on massive models (typically 13B parameters or more) and incorporate source video conditions for editing by concatenating sequence tokens. This concatenation inevitably doubles the sequence length, quadrupling the computational complexity of the self-attention mechanism and introducing prohibitive overhead. To address these bottlenecks, we present LoomVideo, a highly efficient 5B-parameter unified architecture for both video generation and editing. LoomVideo replaces the standard text encoder with a Multimodal Large Language Model (MLLM) and employs Deepstack injection mechanism to align multi-layer MLLM features with the Diffusion Transformer (DiT). Crucially, we introduce a zero-overhead Scale-and-Add conditioning approach for video editing. By scaling and directly adding the clean source video latent to the noised target latent, this elegant design eliminates the need for token concatenation, drastically reducing computational cost while maintaining robust capabilities for complex, non-rigid edits. Furthermore, a Negative Temporal RoPE strategy is seamlessly integrated to handle multiple reference images. Extensive experiments demonstrate that our compact 5B model achieves state-of-the-art or highly competitive performance across comprehensive benchmarks, exhibiting exceptional superiority in e-commerce and fashion generation scenarios. Benefiting from the zero-overhead conditioning mechanism, LoomVideo achieves at least a 5.41x acceleration in inference speed compared to models of similar capabilities, paving the way for highly practical and efficient video foundation models.

Benchmarking and Evolving Reason-Reflect-Rectify for Reflective Visual Generation

Text-to-Image (T2I) models and Unified Multimodal Models (UMMs) have achieved remarkable progress in visual generation. However, their reliance on a single-pass generation paradigm limits their ability to handle complex prompts requiring iterative refinement. To enable multi-round Reflective Visual Generation (RVG), we formalize the Reason-Reflect-Rectify (R^3) loop as a core framework and introduce R^3-Bench, a benchmark of over 600 expert-annotated instances that quantifies iterative reasoning and rectification capabilities. Evaluation on R^3-Bench reveals a critical gap: while state-of-the-art models can identify generation errors, they fail to generate actionable rectification instructions. To bridge this gap, we propose R^3-Refiner, a dual-stage framework leveraging Group Relative Policy Optimization (GRPO) and a Hierarchical Reward Mechanism (HRM) to better align rectification with reflective reasoning. Experiments show that R^3-Refiner achieves significant improvements on R^3-Bench (+12.0% in Reflective Verdict Score, +9.0% in Rectification Score), and can be seamlessly integrated with various MLLMs to enhance the generation quality of different T2I models on GenEval++ and T2I-CompBench. Code is available at https://github.com/xiaomoguhz/R3-Bench.

Sparse Fluid Antenna Arrays: Continuous Position Design Beyond Classical DOF Limits

Fluid antenna system (FAS), which continuously repositions a single physical element across a deployment region $[0, D]$, breaks this limit by freeing antenna positions from the discrete grid entirely. This paper establishes the theoretical foundations of sparse FAS design for direction-of-arrival (DOA) estimation and shows that continuous position freedom unlocks three compounding advantages over the classical designs. \emph{First}, we derive a universal dual DOF bound and prove that FAS-optimized positions can approach it, growing the DOF linearly with $D/λ$ , where $λ$ is the signal wavelength, rather than saturating at $O(N^2)$. \emph{Second}, the CRB scales as $O(1/D^{2L})$ for $L$ sources, a $(D/(N^2 d_0))^{2L}$ improvement over the best grid design, with $d_0 = λ/2$ and D-optimal positions admitting closed-form solution for single sources and efficient Frank-Wolfe algorithm for multiple sources. \emph{Third}, we propose a two-stage FAS-MUSIC approach that combines coarray MUSIC disambiguation with full-aperture local maximum likelihood (ML) refinement to track the CRB, overcoming the grating-lobe ambiguity inherent in large-aperture non-uniform arrays. Robustness to minimum spacing constraints, mutual coupling, and finite position accuracy is also analyzed. Extensive simulations show that FAS-MUSIC achieves $17.5\times$ lower root mean squared error (RMSE) than uniform linear array (ULA) MUSIC and that FAS with $4$ antennas outperforms MRA with $8$ antennas, gains that are unattainable by any grid-constrained design.