Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision

Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and action spaces differ fundamentally across robot platforms. We observe that the high-level cognitive process underlying manipulation, including scene perception, object identification, task planning, and sub-task decomposition, is largely shared across embodiments. Based on this observation, we present ZR-0, a 2.6 billion parameter end-to-end VLA model that uses dense Embodied Chain-of-Thought (ECoT) supervision to align cross-embodiment representations within the vision-language model (VLM). ZR-0 adopts a dual-stream architecture: a pre-trained VLM (System 2) generates structured ECoT reasoning during training, while a Diffusion Transformer-based action expert (System 1) produces continuous action chunks via flow matching. The two components are coupled through cross-attention, with an attention mask that restricts the action expert to input prompt features only, enabling ECoT generation to be entirely skipped at inference without any performance loss. ZR-0 is pre-trained on ProcCorpus-60M, a large-scale dataset comprising approximately 60 million frames (approximately 1,000 hours) from over 400K trajectories, with dense ECoT annotations covering 96.8% of all frames. We evaluate ZR-0 on three simulation benchmarks spanning single-arm (LIBERO), bimanual (RoboTwin 2.0), and humanoid (RoboCasa GR-1 Tabletop) embodiments, as well as real-world experiments on the xArm platform, demonstrating strong performance across all settings. Code and model checkpoints are available at https://github.com/RUCKBReasoning/ZR-0.

Action Draft and Verify: A Self-Verifying Framework for Vision-Language-Action Model

Vision-Language-Action (VLA) models have recently demonstrated strong performance across embodied tasks. Modern VLAs commonly employ diffusion action experts to efficiently generate high-precision continuous action chunks, while auto-regressive generation can be slower and less accurate at low-level control. Yet auto-regressive paradigms still provide complementary priors that can improve robustness and generalization in out-of-distribution environments. To leverage both paradigms, we propose Action-Draft-and-Verify (ADV): diffusion action expert drafts multiple candidate action chunks, and the VLM selects one by scoring all candidates in a single forward pass with a perplexity-style metric. Under matched backbones, training data, and action-chunk length, ADV improves success rate by +4.3 points in simulation and +19.7 points in real-world over diffusion-based baseline, with a single-pass VLM reranking overhead.

ArtFormer: Controllable Generation of Diverse 3D Articulated Objects

This paper presents a novel framework for modeling and conditional generation of 3D articulated objects. Troubled by flexibility-quality tradeoffs, existing methods are often limited to using predefined structures or retrieving shapes from static datasets. To address these challenges, we parameterize an articulated object as a tree of tokens and employ a transformer to generate both the object's high-level geometry code and its kinematic relations. Subsequently, each sub-part's geometry is further decoded using a signed-distance-function (SDF) shape prior, facilitating the synthesis of high-quality 3D shapes. Our approach enables the generation of diverse objects with high-quality geometry and varying number of parts. Comprehensive experiments on conditional generation from text descriptions demonstrate the effectiveness and flexibility of our method.

A Solution-based LLM API-using Methodology for Academic Information Seeking

Applying large language models (LLMs) for academic API usage shows promise in reducing researchers' academic information seeking efforts. However, current LLM API-using methods struggle with complex API coupling commonly encountered in academic queries. To address this, we introduce SoAy, a solution-based LLM API-using methodology for academic information seeking. It uses code with a solution as the reasoning method, where a solution is a pre-constructed API calling sequence. The addition of the solution reduces the difficulty for the model to understand the complex relationships between APIs. Code improves the efficiency of reasoning. To evaluate SoAy, we introduce SoAyBench, an evaluation benchmark accompanied by SoAyEval, built upon a cloned environment of APIs from AMiner. Experimental results demonstrate a 34.58-75.99\% performance improvement compared to state-of-the-art LLM API-based baselines. All datasets, codes, tuned models, and deployed online services are publicly accessible at https://github.com/RUCKBReasoning/SoAy.