ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/

Spatial 3D-LLM: Exploring Spatial Awareness in 3D Vision-Language Models

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting independent objects to perform these tasks, which limits their spatial awareness due to insufficient representation of the richness inherent in 3D scenes. To overcome these limitations, we propose Spatial 3D-LLM, a 3D MLLM specifically designed to enhance spatial awareness for 3D vision-language tasks by enriching the spatial embeddings of 3D scenes. Spatial 3D-LLM integrates an LLM backbone with a progressive spatial awareness scheme that progressively captures spatial information as the perception field expands, generating location-enriched 3D scene embeddings to serve as visual prompts. Furthermore, we introduce two novel tasks: 3D object distance measurement and 3D layout editing, and construct a 3D instruction dataset, MODEL, to evaluate the model's spatial awareness capabilities. Experimental results demonstrate that Spatial 3D-LLM achieves state-of-the-art performance across a wide range of 3D vision-language tasks, revealing the improvements stemmed from our progressive spatial awareness scheme of mining more profound spatial information. Our code is available at https://github.com/bjshuyuan/Spatial-3D-LLM.

Solve-Detect-Verify: Inference-Time Scaling with Flexible Generative Verifier

Large Language Model (LLM) reasoning for complex tasks inherently involves a trade-off between solution accuracy and computational efficiency. The subsequent step of verification, while intended to improve performance, further complicates this landscape by introducing its own challenging trade-off: sophisticated Generative Reward Models (GenRMs) can be computationally prohibitive if naively integrated with LLMs at test-time, while simpler, faster methods may lack reliability. To overcome these challenges, we introduce FlexiVe, a novel generative verifier that flexibly balances computational resources between rapid, reliable fast thinking and meticulous slow thinking using a Flexible Allocation of Verification Budget strategy. We further propose the Solve-Detect-Verify pipeline, an efficient inference-time scaling framework that intelligently integrates FlexiVe, proactively identifying solution completion points to trigger targeted verification and provide focused solver feedback. Experiments show FlexiVe achieves superior accuracy in pinpointing errors within reasoning traces on ProcessBench. Furthermore, on challenging mathematical reasoning benchmarks (AIME 2024, AIME 2025, and CNMO), our full approach outperforms baselines like self-consistency in reasoning accuracy and inference efficiency. Our system offers a scalable and effective solution to enhance LLM reasoning at test time.

DeepCircuitX: A Comprehensive Repository-Level Dataset for RTL Code Understanding, Generation, and PPA Analysis

This paper introduces DeepCircuitX, a comprehensive repository-level dataset designed to advance RTL (Register Transfer Level) code understanding, generation, and power-performance-area (PPA) analysis. Unlike existing datasets that are limited to either file-level RTL code or physical layout data, DeepCircuitX provides a holistic, multilevel resource that spans repository, file, module, and block-level RTL code. This structure enables more nuanced training and evaluation of large language models (LLMs) for RTL-specific tasks. DeepCircuitX is enriched with Chain of Thought (CoT) annotations, offering detailed descriptions of functionality and structure at multiple levels. These annotations enhance its utility for a wide range of tasks, including RTL code understanding, generation, and completion. Additionally, the dataset includes synthesized netlists and PPA metrics, facilitating early-stage design exploration and enabling accurate PPA prediction directly from RTL code. We demonstrate the dataset's effectiveness on various LLMs finetuned with our dataset and confirm the quality with human evaluations. Our results highlight DeepCircuitX as a critical resource for advancing RTL-focused machine learning applications in hardware design automation.Our data is available at https://zeju.gitbook.io/lcm-team.

DeepRTL: Bridging Verilog Understanding and Generation with a Unified Representation Model

Recent advancements in large language models (LLMs) have shown significant potential for automating hardware description language (HDL) code generation from high-level natural language instructions. While fine-tuning has improved LLMs' performance in hardware design tasks, prior efforts have largely focused on Verilog generation, overlooking the equally critical task of Verilog understanding. Furthermore, existing models suffer from weak alignment between natural language descriptions and Verilog code, hindering the generation of high-quality, synthesizable designs. To address these issues, we present DeepRTL, a unified representation model that excels in both Verilog understanding and generation. Based on CodeT5+, DeepRTL is fine-tuned on a comprehensive dataset that aligns Verilog code with rich, multi-level natural language descriptions. We also introduce the first benchmark for Verilog understanding and take the initiative to apply embedding similarity and GPT Score to evaluate the models' understanding capabilities. These metrics capture semantic similarity more accurately than traditional methods like BLEU and ROUGE, which are limited to surface-level n-gram overlaps. By adapting curriculum learning to train DeepRTL, we enable it to significantly outperform GPT-4 in Verilog understanding tasks, while achieving performance on par with OpenAI's o1-preview model in Verilog generation tasks.

Learning Label Refinement and Threshold Adjustment for Imbalanced Semi-Supervised Learning

Semi-supervised learning (SSL) algorithms struggle to perform well when exposed to imbalanced training data. In this scenario, the generated pseudo-labels can exhibit a bias towards the majority class, and models that employ these pseudo-labels can further amplify this bias. Here we investigate pseudo-labeling strategies for imbalanced SSL including pseudo-label refinement and threshold adjustment, through the lens of statistical analysis. We find that existing SSL algorithms which generate pseudo-labels using heuristic strategies or uncalibrated model confidence are unreliable when imbalanced class distributions bias pseudo-labels. To address this, we introduce SEmi-supervised learning with pseudo-label optimization based on VALidation data (SEVAL) to enhance the quality of pseudo-labelling for imbalanced SSL. We propose to learn refinement and thresholding parameters from a partition of the training dataset in a class-balanced way. SEVAL adapts to specific tasks with improved pseudo-labels accuracy and ensures pseudo-labels correctness on a per-class basis. Our experiments show that SEVAL surpasses state-of-the-art SSL methods, delivering more accurate and effective pseudo-labels in various imbalanced SSL situations. SEVAL, with its simplicity and flexibility, can enhance various SSL techniques effectively. The code is publicly available~\footnote{\url{https://github.com/ZerojumpLine/SEVAL}}.

3DMIT: 3D Multi-modal Instruction Tuning for Scene Understanding

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D counterparts, coupled with the inadequacy of existing approaches in understanding of 3D scenes by LLMs, poses a significant challenge. In response, we collect and construct an extensive dataset comprising 75K instruction-response pairs tailored for 3D scenes. This dataset addresses tasks related to 3D VQA, 3D grounding, and 3D conversation. To further enhance the integration of 3D spatial information into LLMs, we introduce a novel and efficient prompt tuning paradigm, 3DMIT. This paradigm eliminates the alignment stage between 3D scenes and language and extends the instruction prompt with the 3D modality information including the entire scene and segmented objects. We evaluate the effectiveness of our method across diverse tasks in the 3D scene domain and find that our approach serves as a strategic means to enrich LLMs' comprehension of the 3D world. Our code is available at https://github.com/staymylove/3DMIT.

Post-Deployment Adaptation with Access to Source Data via Federated Learning and Source-Target Remote Gradient Alignment

Deployment of Deep Neural Networks in medical imaging is hindered by distribution shift between training data and data processed after deployment, causing performance degradation. Post-Deployment Adaptation (PDA) addresses this by tailoring a pre-trained, deployed model to the target data distribution using limited labelled or entirely unlabelled target data, while assuming no access to source training data as they cannot be deployed with the model due to privacy concerns and their large size. This makes reliable adaptation challenging due to limited learning signal. This paper challenges this assumption and introduces FedPDA, a novel adaptation framework that brings the utility of learning from remote data from Federated Learning into PDA. FedPDA enables a deployed model to obtain information from source data via remote gradient exchange, while aiming to optimize the model specifically for the target domain. Tailored for FedPDA, we introduce a novel optimization method StarAlign (Source-Target Remote Gradient Alignment) that aligns gradients between source-target domain pairs by maximizing their inner product, to facilitate learning a target-specific model. We demonstrate the method's effectiveness using multi-center databases for the tasks of cancer metastases detection and skin lesion classification, where our method compares favourably to previous work. Code is available at: https://github.com/FelixWag/StarAlign

Robustness Stress Testing in Medical Image Classification

Deep neural networks have shown impressive performance for image-based disease detection. Performance is commonly evaluated through clinical validation on independent test sets to demonstrate clinically acceptable accuracy. Reporting good performance metrics on test sets, however, is not always a sufficient indication of the generalizability and robustness of an algorithm. In particular, when the test data is drawn from the same distribution as the training data, the iid test set performance can be an unreliable estimate of the accuracy on new data. In this paper, we employ stress testing to assess model robustness and subgroup performance disparities in disease detection models. We design progressive stress testing using five different bidirectional and unidirectional image perturbations with six different severity levels. As a use case, we apply stress tests to measure the robustness of disease detection models for chest X-ray and skin lesion images, and demonstrate the importance of studying class and domain-specific model behaviour. Our experiments indicate that some models may yield more robust and equitable performance than others. We also find that pretraining characteristics play an important role in downstream robustness. We conclude that progressive stress testing is a viable and important tool and should become standard practice in the clinical validation of image-based disease detection models.

Joint Optimization of Class-Specific Training- and Test-Time Data Augmentation in Segmentation

This paper presents an effective and general data augmentation framework for medical image segmentation. We adopt a computationally efficient and data-efficient gradient-based meta-learning scheme to explicitly align the distribution of training and validation data which is used as a proxy for unseen test data. We improve the current data augmentation strategies with two core designs. First, we learn class-specific training-time data augmentation (TRA) effectively increasing the heterogeneity within the training subsets and tackling the class imbalance common in segmentation. Second, we jointly optimize TRA and test-time data augmentation (TEA), which are closely connected as both aim to align the training and test data distribution but were so far considered separately in previous works. We demonstrate the effectiveness of our method on four medical image segmentation tasks across different scenarios with two state-of-the-art segmentation models, DeepMedic and nnU-Net. Extensive experimentation shows that the proposed data augmentation framework can significantly and consistently improve the segmentation performance when compared to existing solutions. Code is publicly available.