BiPreManip: Learning Affordance-Based Bimanual Preparatory Manipulation through Anticipatory Collaboration

Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm performs preparatory manipulation that enables the other's goal-directed action - for instance, pushing the iPad to the table's edge before picking it up, or lifting the pen body to allow the other hand to remove its cap. In this work, we introduce Collaborative Preparatory Manipulation, a class of bimanual manipulation tasks that demand understanding object semantics and geometry, anticipating spatial relationships, and planning long-horizon coordinated actions between the two arms. To tackle this challenge, we propose a visual affordance-based framework that first envisions the final goal-directed action and then guides one arm to perform a sequence of preparatory manipulations that facilitate the other arm's subsequent operation. This affordance-centric representation enables anticipatory inter-arm reasoning and coordination, generalizing effectively across various objects spanning diverse categories. Extensive experiments in both simulation and the real world demonstrate that our approach substantially improves task success rates and generalization compared to competitive baselines.

GUI-CEval: A Hierarchical and Comprehensive Chinese Benchmark for Mobile GUI Agents

Recent progress in Multimodal Large Language Models (MLLMs) has enabled mobile GUI agents capable of visual perception, cross-modal reasoning, and interactive control. However, existing benchmarks are largely English-centric and fail to capture the linguistic and interaction characteristics of the Chinese mobile ecosystem. They also focus on isolated skills such as GUI grounding or offline agent, lacking a unified and fine-grained framework to assess the full capability chain from perception to execution. To address this gap, we introduce GUI-CEval, the first comprehensive benchmark for Chinese mobile GUI agents, built entirely on physical device environments. GUI-CEval spans 201 mainstream apps across four device types and adopts a two-level structure that evaluates both atomic abilities and realistic application-level performance along five dimensions: perception, planning, reflection, execution, and evaluation. All data are collected and verified through multi-stage manual processes to ensure authenticity and reproducibility. Extensive experiments on 20 representative MLLMs and multi-agent systems show that while models such as Qwen2.5-VL and UI-TARS perform competitively, most MLLMs still exhibit clear weaknesses in reflective decision-making and post-action self-evaluation, limiting their reliability in real-world interactions. We hope GUI-CEval provides a comprehensive and interpretable benchmark to guide capability diagnosis and advance the development of Chinese mobile GUI agents.

Developing Foundation Models for Universal Segmentation from 3D Whole-Body Positron Emission Tomography

Positron emission tomography (PET) is a key nuclear medicine imaging modality that visualizes radiotracer distributions to quantify in vivo physiological and metabolic processes, playing an irreplaceable role in disease management. Despite its clinical importance, the development of deep learning models for quantitative PET image analysis remains severely limited, driven by both the inherent segmentation challenge from PET's paucity of anatomical contrast and the high costs of data acquisition and annotation. To bridge this gap, we develop generalist foundational models for universal segmentation from 3D whole-body PET imaging. We first build the largest and most comprehensive PET dataset to date, comprising 11041 3D whole-body PET scans with 59831 segmentation masks for model development. Based on this dataset, we present SegAnyPET, an innovative foundational model with general-purpose applicability to diverse segmentation tasks. Built on a 3D architecture with a prompt engineering strategy for mask generation, SegAnyPET enables universal and scalable organ and lesion segmentation, supports efficient human correction with minimal effort, and enables a clinical human-in-the-loop workflow. Extensive evaluations on multi-center, multi-tracer, multi-disease datasets demonstrate that SegAnyPET achieves strong zero-shot performance across a wide range of segmentation tasks, highlighting its potential to advance the clinical applications of molecular imaging.

PET-F2I: A Comprehensive Benchmark and Parameter-Efficient Fine-Tuning of LLMs for PET/CT Report Impression Generation

PET/CT imaging is pivotal in oncology and nuclear medicine, yet summarizing complex findings into precise diagnostic impressions is labor-intensive. While LLMs have shown promise in medical text generation, their capability in the highly specialized domain of PET/CT remains underexplored. We introduce PET-F2I-41K (PET Findings-to-Impression Benchmark), a large-scale benchmark for PET/CT impression generation using LLMs, constructed from over 41k real-world reports. Using PET-F2I-41K, we conduct a comprehensive evaluation of 27 models across proprietary frontier LLMs, open-source generalist models, and medical-domain LLMs, and we develop a domain-adapted 7B model (PET-F2I-7B) fine-tuned from Qwen2.5-7B-Instruct via LoRA. Beyond standard NLG metrics (e.g., BLEU-4, ROUGE-L, BERTScore), we propose three clinically grounded metrics - Entity Coverage Rate (ECR), Uncovered Entity Rate (UER), and Factual Consistency Rate (FCR) - to assess diagnostic completeness and factual reliability. Experiments reveal that neither frontier nor medical-domain LLMs perform adequately in zero-shot settings. In contrast, PET-F2I-7B achieves substantial gains (e.g., 0.708 BLEU-4) and a 3.0x improvement in entity coverage over the strongest baseline, while offering advantages in cost, latency, and privacy. Beyond this modeling contribution, PET-F2I-41K establishes a standardized evaluation framework to accelerate the development of reliable and clinically deployable reporting systems for PET/CT.

Rethinking Global Text Conditioning in Diffusion Transformers

Diffusion transformers typically incorporate textual information via attention layers and a modulation mechanism using a pooled text embedding. Nevertheless, recent approaches discard modulation-based text conditioning and rely exclusively on attention. In this paper, we address whether modulation-based text conditioning is necessary and whether it can provide any performance advantage. Our analysis shows that, in its conventional usage, the pooled embedding contributes little to overall performance, suggesting that attention alone is generally sufficient for faithfully propagating prompt information. However, we reveal that the pooled embedding can provide significant gains when used from a different perspective-serving as guidance and enabling controllable shifts toward more desirable properties. This approach is training-free, simple to implement, incurs negligible runtime overhead, and can be applied to various diffusion models, bringing improvements across diverse tasks, including text-to-image/video generation and image editing.

SSL: Sweet Spot Learning for Differentiated Guidance in Agentic Optimization

Reinforcement learning with verifiable rewards has emerged as a powerful paradigm for training intelligent agents. However, existing methods typically employ binary rewards that fail to capture quality differences among trajectories achieving identical outcomes, thereby overlooking potential diversity within the solution space. Inspired by the ``sweet spot'' concept in tennis-the racket's core region that produces optimal hitting effects, we introduce \textbf{S}weet \textbf{S}pot \textbf{L}earning (\textbf{SSL}), a novel framework that provides differentiated guidance for agent optimization. SSL follows a simple yet effective principle: progressively amplified, tiered rewards guide policies toward the sweet-spot region of the solution space. This principle naturally adapts across diverse tasks: visual perception tasks leverage distance-tiered modeling to reward proximity, while complex reasoning tasks reward incremental progress toward promising solutions. We theoretically demonstrate that SSL preserves optimal solution ordering and enhances the gradient signal-to-noise ratio, thereby fostering more directed optimization. Extensive experiments across GUI perception, short/long-term planning, and complex reasoning tasks show consistent improvements over strong baselines on 12 benchmarks, achieving up to 2.5X sample efficiency gains and effective cross-task transferability. Our work establishes SSL as a general principle for training capable and robust agents.

MiMo-V2-Flash Technical Report

We present MiMo-V2-Flash, a Mixture-of-Experts (MoE) model with 309B total parameters and 15B active parameters, designed for fast, strong reasoning and agentic capabilities. MiMo-V2-Flash adopts a hybrid attention architecture that interleaves Sliding Window Attention (SWA) with global attention, with a 128-token sliding window under a 5:1 hybrid ratio. The model is pre-trained on 27 trillion tokens with Multi-Token Prediction (MTP), employing a native 32k context length and subsequently extended to 256k. To efficiently scale post-training compute, MiMo-V2-Flash introduces a novel Multi-Teacher On-Policy Distillation (MOPD) paradigm. In this framework, domain-specialized teachers (e.g., trained via large-scale reinforcement learning) provide dense and token-level reward, enabling the student model to perfectly master teacher expertise. MiMo-V2-Flash rivals top-tier open-weight models such as DeepSeek-V3.2 and Kimi-K2, despite using only 1/2 and 1/3 of their total parameters, respectively. During inference, by repurposing MTP as a draft model for speculative decoding, MiMo-V2-Flash achieves up to 3.6 acceptance length and 2.6x decoding speedup with three MTP layers. We open-source both the model weights and the three-layer MTP weights to foster open research and community collaboration.

GenProve: Learning to Generate Text with Fine-Grained Provenance

Large language models (LLM) often hallucinate, and while adding citations is a common solution, it is frequently insufficient for accountability as users struggle to verify how a cited source supports a generated claim. Existing methods are typically coarse-grained and fail to distinguish between direct quotes and complex reasoning. In this paper, we introduce Generation-time Fine-grained Provenance, a task where models must generate fluent answers while simultaneously producing structured, sentence-level provenance triples. To enable this, we present ReFInE (Relation-aware Fine-grained Interpretability & Evidence), a dataset featuring expert verified annotations that distinguish between Quotation, Compression, and Inference. Building on ReFInE, we propose GenProve, a framework that combines Supervised Fine-Tuning (SFT) with Group Relative Policy Optimization (GRPO). By optimizing a composite reward for answer fidelity and provenance correctness, GenProve significantly outperforms 14 strong LLMs in joint evaluation. Crucially, our analysis uncovers a reasoning gap where models excel at surface-level quotation but struggle significantly with inference-based provenance, suggesting that verifiable reasoning remains a frontier challenge distinct from surface-level citation.

CCAD: Compressed Global Feature Conditioned Anomaly Detection

Anomaly detection holds considerable industrial significance, especially in scenarios with limited anomalous data. Currently, reconstruction-based and unsupervised representation-based approaches are the primary focus. However, unsupervised representation-based methods struggle to extract robust features under domain shift, whereas reconstruction-based methods often suffer from low training efficiency and performance degradation due to insufficient constraints. To address these challenges, we propose a novel method named Compressed Global Feature Conditioned Anomaly Detection (CCAD). CCAD synergizes the strengths of both paradigms by adapting global features as a new modality condition for the reconstruction model. Furthermore, we design an adaptive compression mechanism to enhance both generalization and training efficiency. Extensive experiments demonstrate that CCAD consistently outperforms state-of-the-art methods in terms of AUC while achieving faster convergence. In addition, we contribute a reorganized and re-annotated version of the DAGM 2007 dataset with new annotations to further validate our method's effectiveness. The code for reproducing main results is available at https://github.com/chloeqxq/CCAD.

SemCovert: Secure and Covert Video Transmission via Deep Semantic-Level Hiding

Video semantic communication, praised for its transmission efficiency, still faces critical challenges related to privacy leakage. Traditional security techniques like steganography and encryption are challenging to apply since they are not inherently robust against semantic-level transformations and abstractions. Moreover, the temporal continuity of video enables framewise statistical modeling over extended periods, which increases the risk of exposing distributional anomalies and reconstructing hidden content. To address these challenges, we propose SemCovert, a deep semantic-level hiding framework for secure and covert video transmission. SemCovert introduces a pair of co-designed models, namely the semantic hiding model and the secret semantic extractor, which are seamlessly integrated into the semantic communication pipeline. This design enables authorized receivers to reliably recover hidden information, while keeping it imperceptible to regular users. To further improve resistance to analysis, we introduce a randomized semantic hiding strategy, which breaks the determinism of embedding and introduces unpredictable distribution patterns. The experimental results demonstrate that SemCovert effectively mitigates potential eavesdropping and detection risks while reliably concealing secret videos during transmission. Meanwhile, video quality suffers only minor degradation, preserving transmission fidelity. These results confirm SemCovert's effectiveness in enabling secure and covert transmission without compromising semantic communication performance.