SPIRAL: A Closed-Loop Framework for Self-Improving Action World Models via Reflective Planning Agents

We introduce SPIRAL, a self-improving planning and iterative reflective action world modeling closed-loop framework that enables controllable long-horizon video generation conditioned on high-level semantic actions. Existing one-shot video generation models operate in open-loop, often resulting in incomplete action execution, weak semantic grounding, and temporal drift. SPIRAL formulates ActWM as a closed-loop think-act-reflect process, where generation proceeds step by step under explicit planning and feedback. A PlanAgent decomposes abstract actions into object-centric sub-actions, while a CriticAgent evaluates intermediate results and guides iterative refinement with long-horizon memory. This closed-loop design naturally supports RL evolving optimization, improving semantic alignment and temporal consistency over extended horizons. We further introduce the ActWM-Dataset and ActWM-Bench for training and evaluation. Experiments across multiple TI2V backbones demonstrate consistent gains on ActWM-Bench and mainstream video generation benchmarks, validating SPIRAL's effectiveness.

Localized Dynamics-Aware Domain Adaption for Off-Dynamics Offline Reinforcement Learning

Off-dynamics offline reinforcement learning (RL) aims to learn a policy for a target domain using limited target data and abundant source data collected under different transition dynamics. Existing methods typically address dynamics mismatch either globally over the state space or via pointwise data filtering; these approaches can miss localized cross-domain similarities or incur high computational cost. We propose Localized Dynamics-Aware Domain Adaptation (LoDADA), which exploits localized dynamics mismatch to better reuse source data. LoDADA clusters transitions from source and target datasets and estimates cluster-level dynamics discrepancy via domain discrimination. Source transitions from clusters with small discrepancy are retained, while those from clusters with large discrepancy are filtered out. This yields a fine-grained and scalable data selection strategy that avoids overly coarse global assumptions and expensive per-sample filtering. We provide theoretical insights and extensive experiments across environments with diverse global and local dynamics shifts. Results show that LoDADA consistently outperforms state-of-the-art off-dynamics offline RL methods by better leveraging localized distribution mismatch.

Mobility-Aware Cache Framework for Scalable LLM-Based Human Mobility Simulation

Large-scale human mobility simulation is critical for applications such as urban planning, epidemiology, and transportation analysis. Recent works treat large language models (LLMs) as human agents to simulate realistic mobility behaviors using structured reasoning, but their high computational cost limits scalability. To address this, we design a mobility-aware cache framework named MobCache that leverages reconstructible caches to enable efficient large-scale human mobility simulations. It consists of: (1) a reasoning component that encodes each reasoning step as a latent-space embedding and uses a latent-space evaluator to enable the reuse and recombination of reasoning steps; and (2) a decoding component that employs a lightweight decoder trained with mobility law-constrained distillation to translate latent-space reasoning chains into natural language, thereby improving simulation efficiency while maintaining fidelity. Experiments show that MobCache significantly improves efficiency across multiple dimensions while maintaining performance comparable to state-of-the-art LLM-based methods.

Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution

In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a carefully designed training recipe and deployment strategy. Xiaomi-Robotics-0 is first pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, endowing it with broad and generalizable action-generation capabilities while avoiding catastrophic forgetting of the visual-semantic knowledge of the underlying pre-trained VLM. During post-training, we propose several techniques for training the VLA model for asynchronous execution to address the inference latency during real-robot rollouts. During deployment, we carefully align the timesteps of consecutive predicted action chunks to ensure continuous and seamless real-time rollouts. We evaluate Xiaomi-Robotics-0 extensively in simulation benchmarks and on two challenging real-robot tasks that require precise and dexterous bimanual manipulation. Results show that our method achieves state-of-the-art performance across all simulation benchmarks. Moreover, Xiaomi-Robotics-0 can roll out fast and smoothly on real robots using a consumer-grade GPU, achieving high success rates and throughput on both real-robot tasks. To facilitate future research, code and model checkpoints are open-sourced at https://xiaomi-robotics-0.github.io

Efficient and Stable Reinforcement Learning for Diffusion Language Models

Reinforcement Learning (RL) is crucial for unlocking the complex reasoning capabilities of Diffusion-based Large Language Models (dLLMs). However, applying RL to dLLMs faces unique challenges in efficiency and stability. To address these challenges, we propose Spatio-Temporal Pruning (STP), a framework designed to simultaneously improve the efficiency and stability of RL for dLLMs. STP compresses the redundancy in the generative process through: (1) \textit{spatial pruning}, which constrains the exploration space using static priors; and (2) \textit{temporal pruning}, which bypasses redundant late-stage refinement steps. Our theoretical analysis demonstrates that STP strictly reduces the variance of the log-likelihood estimation, thereby ensuring more stable policy updates. Extensive experiments demonstrate that STP surpasses state-of-the-art baselines in both efficiency and accuracy. Our code is available at https://github.com/Lolo1222/STP.

ScaleEnv: Scaling Environment Synthesis from Scratch for Generalist Interactive Tool-Use Agent Training

Training generalist agents capable of adapting to diverse scenarios requires interactive environments for self-exploration. However, interactive environments remain critically scarce, and existing synthesis methods suffer from significant limitations regarding environmental diversity and scalability. To address these challenges, we introduce ScaleEnv, a framework that constructs fully interactive environments and verifiable tasks entirely from scratch. Specifically, ScaleEnv ensures environment reliability through procedural testing, and guarantees task completeness and solvability via tool dependency graph expansion and executable action verification. By enabling agents to learn through exploration within ScaleEnv, we demonstrate significant performance improvements on unseen, multi-turn tool-use benchmarks such as $τ^2$-Bench and VitaBench, highlighting strong generalization capabilities. Furthermore, we investigate the relationship between increasing number of domains and model generalization performance, providing empirical evidence that scaling environmental diversity is critical for robust agent learning.

CoBA-RL: Capability-Oriented Budget Allocation for Reinforcement Learning in LLMs

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as a key approach for enhancing LLM reasoning.However, standard frameworks like Group Relative Policy Optimization (GRPO) typically employ a uniform rollout budget, leading to resource inefficiency. Moreover, existing adaptive methods often rely on instance-level metrics, such as task pass rates, failing to capture the model's dynamic learning state. To address these limitations, we propose CoBA-RL, a reinforcement learning algorithm designed to adaptively allocate rollout budgets based on the model's evolving capability. Specifically, CoBA-RL utilizes a Capability-Oriented Value function to map tasks to their potential training gains and employs a heap-based greedy strategy to efficiently self-calibrate the distribution of computational resources to samples with high training value. Extensive experiments demonstrate that our approach effectively orchestrates the trade-off between exploration and exploitation, delivering consistent generalization improvements across multiple challenging benchmarks. These findings underscore that quantifying sample training value and optimizing budget allocation are pivotal for advancing LLM post-training efficiency.

MemOCR: Layout-Aware Visual Memory for Efficient Long-Horizon Reasoning

Long-horizon agentic reasoning necessitates effectively compressing growing interaction histories into a limited context window. Most existing memory systems serialize history as text, where token-level cost is uniform and scales linearly with length, often spending scarce budget on low-value details. To this end, we introduce MemOCR, a multimodal memory agent that improves long-horizon reasoning under tight context budgets by allocating memory space with adaptive information density through visual layout. Concretely, MemOCR maintains a structured rich-text memory (e.g., headings, highlights) and renders it into an image that the agent consults for memory access, visually prioritizing crucial evidence while aggressively compressing auxiliary details. To ensure robustness across varying memory budgets, we train MemOCR with reinforcement learning under budget-aware objectives that expose the agent to diverse compression levels. Across long-context multi-hop and single-hop question-answering benchmarks, MemOCR outperforms strong text-based baselines and achieves more effective context utilization under extreme budgets.

FedRD: Reducing Divergences for Generalized Federated Learning via Heterogeneity-aware Parameter Guidance

Heterogeneous federated learning (HFL) aims to ensure effective and privacy-preserving collaboration among different entities. As newly joined clients require significant adjustments and additional training to align with the existing system, the problem of generalizing federated learning models to unseen clients under heterogeneous data has become progressively crucial. Consequently, we highlight two unsolved challenging issues in federated domain generalization: Optimization Divergence and Performance Divergence. To tackle the above challenges, we propose FedRD, a novel heterogeneity-aware federated learning algorithm that collaboratively utilizes parameter-guided global generalization aggregation and local debiased classification to reduce divergences, aiming to obtain an optimal global model for participating and unseen clients. Extensive experiments on public multi-domain datasets demonstrate that our approach exhibits a substantial performance advantage over competing baselines in addressing this specific problem.

FedCCA: Client-Centric Adaptation against Data Heterogeneity in Federated Learning on IoT Devices

With the rapid development of the Internet of Things (IoT), AI model training on private data such as human sensing data is highly desired. Federated learning (FL) has emerged as a privacy-preserving distributed training framework for this purpuse. However, the data heterogeneity issue among IoT devices can significantly degrade the model performance and convergence speed in FL. Existing approaches limit in fixed client selection and aggregation on cloud server, making the privacy-preserving extraction of client-specific information during local training challenging. To this end, we propose Client-Centric Adaptation federated learning (FedCCA), an algorithm that optimally utilizes client-specific knowledge to learn a unique model for each client through selective adaptation, aiming to alleviate the influence of data heterogeneity. Specifically, FedCCA employs dynamic client selection and adaptive aggregation based on the additional client-specific encoder. To enhance multi-source knowledge transfer, we adopt an attention-based global aggregation strategy. We conducted extensive experiments on diverse datasets to assess the efficacy of FedCCA. The experimental results demonstrate that our approach exhibits a substantial performance advantage over competing baselines in addressing this specific problem.