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.

Breaking Bad Tokens: Detoxification of LLMs Using Sparse Autoencoders

Large language models (LLMs) are now ubiquitous in user-facing applications, yet they still generate undesirable toxic outputs, including profanity, vulgarity, and derogatory remarks. Although numerous detoxification methods exist, most apply broad, surface-level fixes and can therefore easily be circumvented by jailbreak attacks. In this paper we leverage sparse autoencoders (SAEs) to identify toxicity-related directions in the residual stream of models and perform targeted activation steering using the corresponding decoder vectors. We introduce three tiers of steering aggressiveness and evaluate them on GPT-2 Small and Gemma-2-2B, revealing trade-offs between toxicity reduction and language fluency. At stronger steering strengths, these causal interventions surpass competitive baselines in reducing toxicity by up to 20%, though fluency can degrade noticeably on GPT-2 Small depending on the aggressiveness. Crucially, standard NLP benchmark scores upon steering remain stable, indicating that the model's knowledge and general abilities are preserved. We further show that feature-splitting in wider SAEs hampers safety interventions, underscoring the importance of disentangled feature learning. Our findings highlight both the promise and the current limitations of SAE-based causal interventions for LLM detoxification, further suggesting practical guidelines for safer language-model deployment.

COBRA: Algorithm-Architecture Co-optimized Binary Transformer Accelerator for Edge Inference

Transformer-based models have demonstrated superior performance in various fields, including natural language processing and computer vision. However, their enormous model size and high demands in computation, memory, and communication limit their deployment to edge platforms for local, secure inference. Binary transformers offer a compact, low-complexity solution for edge deployment with reduced bandwidth needs and acceptable accuracy. However, existing binary transformers perform inefficiently on current hardware due to the lack of binary specific optimizations. To address this, we introduce COBRA, an algorithm-architecture co-optimized binary Transformer accelerator for edge computing. COBRA features a real 1-bit binary multiplication unit, enabling matrix operations with -1, 0, and +1 values, surpassing ternary methods. With further hardware-friendly optimizations in the attention block, COBRA achieves up to 3,894.7 GOPS throughput and 448.7 GOPS/Watt energy efficiency on edge FPGAs, delivering a 311x energy efficiency improvement over GPUs and a 3.5x throughput improvement over the state-of-the-art binary accelerator, with only negligible inference accuracy degradation.

TeLLMe: An Energy-Efficient Ternary LLM Accelerator for Prefilling and Decoding on Edge FPGAs

Deploying large language models (LLMs) on edge platforms is challenged by their high computational and memory demands. Although recent low-bit quantization methods (e.g., BitNet, DeepSeek) compress weights to as little as 1.58 bits with minimal accuracy loss, edge deployment is still constrained by limited on-chip resources, power budgets, and the often-neglected latency of the prefill phase. We present TeLLMe, the first ternary LLM accelerator for low-power FPGAs (e.g., AMD KV260) that fully supports both prefill and autoregressive decoding using 1.58-bit weights and 8-bit activations. Our contributions include: (1) a table-lookup matrix engine for ternary matmul that merges grouped activations with online precomputation to minimize resource use; (2) a fused, bandwidth-efficient attention module featuring a reversed reordering scheme to accelerate prefill; and (3) a tightly integrated normalization and quantization--dequantization unit optimized for ultra-low-bit inference. Under a 7W power budget, TeLLMe delivers up to 9 tokens/s throughput over 1,024-token contexts and prefill latencies of 0.55--1.15 s for 64--128 token prompts, marking a significant energy-efficiency advance and establishing a new edge FPGA benchmark for generative AI.

LuciBot: Automated Robot Policy Learning from Generated Videos

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these approaches are largely limited to simple tasks with well-defined rewards, such as pick-and-place. This limitation arises because LLMs struggle to interpret complex scenes compressed into text or code due to their restricted input modality, while VLM-based rewards, though better at visual perception, remain limited by their less expressive output modality. To address these challenges, we leverage the imagination capability of general-purpose video generation models. Given an initial simulation frame and a textual task description, the video generation model produces a video demonstrating task completion with correct semantics. We then extract rich supervisory signals from the generated video, including 6D object pose sequences, 2D segmentations, and estimated depth, to facilitate task learning in simulation. Our approach significantly improves supervision quality for complex embodied tasks, enabling large-scale training in simulators.

MatchMaker: Automated Asset Generation for Robotic Assembly

Robotic assembly remains a significant challenge due to complexities in visual perception, functional grasping, contact-rich manipulation, and performing high-precision tasks. Simulation-based learning and sim-to-real transfer have led to recent success in solving assembly tasks in the presence of object pose variation, perception noise, and control error; however, the development of a generalist (i.e., multi-task) agent for a broad range of assembly tasks has been limited by the need to manually curate assembly assets, which greatly constrains the number and diversity of assembly problems that can be used for policy learning. Inspired by recent success of using generative AI to scale up robot learning, we propose MatchMaker, a pipeline to automatically generate diverse, simulation-compatible assembly asset pairs to facilitate learning assembly skills. Specifically, MatchMaker can 1) take a simulation-incompatible, interpenetrating asset pair as input, and automatically convert it into a simulation-compatible, interpenetration-free pair, 2) take an arbitrary single asset as input, and generate a geometrically-mating asset to create an asset pair, 3) automatically erode contact surfaces from (1) or (2) according to a user-specified clearance parameter to generate realistic parts. We demonstrate that data generated by MatchMaker outperforms previous work in terms of diversity and effectiveness for downstream assembly skill learning. For videos and additional details, please see our project website: https://wangyian-me.github.io/MatchMaker/.

Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modeling

3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily depend on training data from a limited set of handcrafted articulated object categories (e.g., cabinets and drawers), which restricts their ability to model a wide range of articulated objects in an open-vocabulary context. To address these limitations, we propose Articulate Anymesh, an automated framework that is able to convert any rigid 3D mesh into its articulated counterpart in an open-vocabulary manner. Given a 3D mesh, our framework utilizes advanced Vision-Language Models and visual prompting techniques to extract semantic information, allowing for both the segmentation of object parts and the construction of functional joints. Our experiments show that Articulate Anymesh can generate large-scale, high-quality 3D articulated objects, including tools, toys, mechanical devices, and vehicles, significantly expanding the coverage of existing 3D articulated object datasets. Additionally, we show that these generated assets can facilitate the acquisition of new articulated object manipulation skills in simulation, which can then be transferred to a real robotic system. Our Github website is https://articulate-anymesh.github.io.

OS-Genesis: Automating GUI Agent Trajectory Construction via Reverse Task Synthesis

Graphical User Interface (GUI) agents powered by Vision-Language Models (VLMs) have demonstrated human-like computer control capability. Despite their utility in advancing digital automation, a critical bottleneck persists: collecting high-quality trajectory data for training. Common practices for collecting such data rely on human supervision or synthetic data generation through executing pre-defined tasks, which are either resource-intensive or unable to guarantee data quality. Moreover, these methods suffer from limited data diversity and significant gaps between synthetic data and real-world environments. To address these challenges, we propose OS-Genesis, a novel GUI data synthesis pipeline that reverses the conventional trajectory collection process. Instead of relying on pre-defined tasks, OS-Genesis enables agents first to perceive environments and perform step-wise interactions, then retrospectively derive high-quality tasks to enable trajectory-level exploration. A trajectory reward model is then employed to ensure the quality of the generated trajectories. We demonstrate that training GUI agents with OS-Genesis significantly improves their performance on highly challenging online benchmarks. In-depth analysis further validates OS-Genesis's efficiency and its superior data quality and diversity compared to existing synthesis methods. Our codes, data, and checkpoints are available at \href{https://qiushisun.github.io/OS-Genesis-Home/}{OS-Genesis Homepage}.

UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments

It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training, simulating soft materials presents considerable challenges. Specifically, it is significantly more costly than simulating rigid objects in terms of simulation speed and storage requirements. These limitations typically restrict the scope of studies on soft materials to small and bounded areas, thereby hindering the learning of skills in broader spaces. To address this issue, we introduce UBSoft, a new simulation platform designed to support unbounded soft environments for robot skill acquisition. Our platform utilizes spatially adaptive resolution scales, where simulation resolution dynamically adjusts based on proximity to active robotic agents. Our framework markedly reduces the demand for extensive storage space and computation costs required for large-scale scenarios involving soft materials. We also establish a set of benchmark tasks in our platform, including both locomotion and manipulation tasks, and conduct experiments to evaluate the efficacy of various reinforcement learning algorithms and trajectory optimization techniques, both gradient-based and sampling-based. Preliminary results indicate that sampling-based trajectory optimization generally achieves better results for obtaining one trajectory to solve the task. Additionally, we conduct experiments in real-world environments to demonstrate that advancements made in our UBSoft simulator could translate to improved robot interactions with large-scale soft material. More videos can be found at https://vis-www.cs.umass.edu/ubsoft/.

Architect: Generating Vivid and Interactive 3D Scenes with Hierarchical 2D Inpainting

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language model (LLM) guided scene design, are hindered by limitations such as excessive human effort, reliance on predefined rules or training datasets, and limited 3D spatial reasoning ability. Since pre-trained 2D image generative models better capture scene and object configuration than LLMs, we address these challenges by introducing Architect, a generative framework that creates complex and realistic 3D embodied environments leveraging diffusion-based 2D image inpainting. In detail, we utilize foundation visual perception models to obtain each generated object from the image and leverage pre-trained depth estimation models to lift the generated 2D image to 3D space. Our pipeline is further extended to a hierarchical and iterative inpainting process to continuously generate placement of large furniture and small objects to enrich the scene. This iterative structure brings the flexibility for our method to generate or refine scenes from various starting points, such as text, floor plans, or pre-arranged environments.