The Golden Subspace: Where Efficiency Meets Generalization in Continual Test-Time Adaptation

Continual Test-Time Adaptation (CTTA) aims to enable models to adapt online to unlabeled data streams under distribution shift without accessing source data. Existing CTTA methods face an efficiency-generalization trade-off: updating more parameters improves adaptation but severely reduces online inference efficiency. An ideal solution is to achieve comparable adaptation with minimal feature updates; we call this minimal subspace the golden subspace. We prove its existence in a single-step adaptation setting and show that it coincides with the row space of the pretrained classifier. To enable online maintenance of this subspace, we introduce the sample-wise Average Gradient Outer Product (AGOP) as an efficient proxy for estimating the classifier weights without retraining. Building on these insights, we propose Guided Online Low-rank Directional adaptation (GOLD), which uses a lightweight adapter to project features onto the golden subspace and learns a compact scaling vector while the subspace is dynamically updated via AGOP. Extensive experiments on classification and segmentation benchmarks, including autonomous-driving scenarios, demonstrate that GOLD attains superior efficiency, stability, and overall performance. Our code is available at https://github.com/AIGNLAI/GOLD.

CORAL: Scalable Multi-Task Robot Learning via LoRA Experts

Deploying Vision-Language-Action (VLA) models in real-world robotics exposes a core multi-task learning challenge: reconciling task interference in multi-task robotic learning. When multiple tasks are jointly fine-tuned in a single stage, gradients from different tasks can conflict, causing negative transfer and reducing per-task performance. Yet maintaining a separate full checkpoint per task is often storage- and deployment-prohibitive. To address this dilemma, we present CORAL, a backbone- and embodiment-agnostic framework designed primarily to mitigate multi-task interference while remaining naturally extensible to a continuous stream of new tasks. CORAL freezes a single pre-trained VLA backbone and attaches one lightweight Low-Rank Adaptation (LoRA) expert per task; at runtime, a dynamic inference engine (the CORAL Manager) routes language instructions to the appropriate expert and swaps experts on the fly with zero inference overhead. This strict parameter isolation avoids complex gating networks and prevents parameter-level cross-task interference by construction; as an added capability, it also enables sequentially introducing new tasks without parameter overwriting caused by catastrophic forgetting. We validate CORAL on a real-world Galaxea R1 dual-arm mobile manipulator and three simulation benchmarks (LIBERO, WidowX, Google Robot), where CORAL overcomes fine-grained instructional ambiguity and substantially outperforms joint training, yielding a practical and scalable system for lifelong multi-task robot learning. Website: https://frontierrobo.github.io/CORAL

DreamOn: Diffusion Language Models For Code Infilling Beyond Fixed-size Canvas

Diffusion Language Models (DLMs) present a compelling alternative to autoregressive models, offering flexible, any-order infilling without specialized prompting design. However, their practical utility is blocked by a critical limitation: the requirement of a fixed-length masked sequence for generation. This constraint severely degrades code infilling performance when the predefined mask size mismatches the ideal completion length. To address this, we propose DreamOn, a novel diffusion framework that enables dynamic, variable-length generation. DreamOn augments the diffusion process with two length control states, allowing the model to autonomously expand or contract the output length based solely on its own predictions. We integrate this mechanism into existing DLMs with minimal modifications to the training objective and no architectural changes. Built upon Dream-Coder-7B and DiffuCoder-7B, DreamOn achieves infilling performance on par with state-of-the-art autoregressive models on HumanEval-Infilling and SantaCoder-FIM and matches oracle performance achieved with ground-truth length. Our work removes a fundamental barrier to the practical deployment of DLMs, significantly advancing their flexibility and applicability for variable-length generation. Our code is available at https://github.com/DreamLM/DreamOn.

SJD++: Improved Speculative Jacobi Decoding for Training-free Acceleration of Discrete Auto-regressive Text-to-Image Generation

Large autoregressive models can generate high-quality, high-resolution images but suffer from slow generation speed, because these models require hundreds to thousands of sequential forward passes for next-token prediction during inference. To accelerate autoregressive text-to-image generation, we propose Speculative Jacobi Decoding++ (SJD++), a training-free probabilistic parallel decoding algorithm. Unlike traditional next-token prediction, SJD++ performs multi-token prediction in each forward pass, drastically reducing generation steps. Specifically, it integrates the iterative multi-token prediction mechanism from Jacobi decoding, with the probabilistic drafting-and-verification mechanism from speculative sampling. More importantly, for further acceleration, SJD++ reuses high-confidence draft tokens after each verification phase instead of resampling them all. We conduct extensive experiments on several representative autoregressive text-to-image generation models and demonstrate that SJD++ achieves $2\times$ to $3\times$ inference latency reduction and $2\times$ to $7\times$ step compression, while preserving visual quality with no observable degradation.

Masked Diffusion Models as Energy Minimization

We present a systematic theoretical framework that interprets masked diffusion models (MDMs) as solutions to energy minimization problems in discrete optimal transport. Specifically, we prove that three distinct energy formulations--kinetic, conditional kinetic, and geodesic energy--are mathematically equivalent under the structure of MDMs, and that MDMs minimize all three when the mask schedule satisfies a closed-form optimality condition. This unification not only clarifies the theoretical foundations of MDMs, but also motivates practical improvements in sampling. By parameterizing interpolation schedules via Beta distributions, we reduce the schedule design space to a tractable 2D search, enabling efficient post-training tuning without model modification. Experiments on synthetic and real-world benchmarks demonstrate that our energy-inspired schedules outperform hand-crafted baselines, particularly in low-step sampling settings.

MESH -- Understanding Videos Like Human: Measuring Hallucinations in Large Video Models

Large Video Models (LVMs) build on the semantic capabilities of Large Language Models (LLMs) and vision modules by integrating temporal information to better understand dynamic video content. Despite their progress, LVMs are prone to hallucinations-producing inaccurate or irrelevant descriptions. Current benchmarks for video hallucination depend heavily on manual categorization of video content, neglecting the perception-based processes through which humans naturally interpret videos. We introduce MESH, a benchmark designed to evaluate hallucinations in LVMs systematically. MESH uses a Question-Answering framework with binary and multi-choice formats incorporating target and trap instances. It follows a bottom-up approach, evaluating basic objects, coarse-to-fine subject features, and subject-action pairs, aligning with human video understanding. We demonstrate that MESH offers an effective and comprehensive approach for identifying hallucinations in videos. Our evaluations show that while LVMs excel at recognizing basic objects and features, their susceptibility to hallucinations increases markedly when handling fine details or aligning multiple actions involving various subjects in longer videos.

Mathesis: Towards Formal Theorem Proving from Natural Languages

Recent advances in large language models show strong promise for formal reasoning. However, most LLM-based theorem provers have long been constrained by the need for expert-written formal statements as inputs, limiting their applicability to real-world problems expressed in natural language. We tackle this gap with Mathesis, the first end-to-end theorem proving pipeline processing informal problem statements. It contributes Mathesis-Autoformalizer, the first autoformalizer using reinforcement learning to enhance the formalization ability of natural language problems, aided by our novel LeanScorer framework for nuanced formalization quality assessment. It also proposes a Mathesis-Prover, which generates formal proofs from the formalized statements. To evaluate the real-world applicability of end-to-end formal theorem proving, we introduce Gaokao-Formal, a benchmark of 488 complex problems from China's national college entrance exam. Our approach is carefully designed, with a thorough study of each component. Experiments demonstrate Mathesis's effectiveness, with the autoformalizer outperforming the best baseline by 22% in pass-rate on Gaokao-Formal. The full system surpasses other model combinations, achieving 64% accuracy on MiniF2F with pass@32 and a state-of-the-art 18% on Gaokao-Formal.

Perceptual Decoupling for Scalable Multi-modal Reasoning via Reward-Optimized Captioning

Recent advances in slow-thinking language models (e.g., OpenAI-o1 and DeepSeek-R1) have demonstrated remarkable abilities in complex reasoning tasks by emulating human-like reflective cognition. However, extending such capabilities to multi-modal large language models (MLLMs) remains challenging due to the high cost of retraining vision-language alignments when upgrading the underlying reasoner LLMs. A straightforward solution is to decouple perception from reasoning, i.e., converting visual inputs into language representations (e.g., captions) that are then passed to a powerful text-only reasoner. However, this decoupling introduces a critical challenge: the visual extractor must generate descriptions that are both faithful to the image and informative enough to support accurate downstream reasoning. To address this, we propose Reasoning-Aligned Perceptual Decoupling via Caption Reward Optimization (RACRO) - a reasoning-guided reinforcement learning strategy that aligns the extractor's captioning behavior with the reasoning objective. By closing the perception-reasoning loop via reward-based optimization, RACRO significantly enhances visual grounding and extracts reasoning-optimized representations. Experiments on multi-modal math and science benchmarks show that the proposed RACRO method achieves state-of-the-art average performance while enabling superior scalability and plug-and-play adaptation to more advanced reasoning LLMs without the necessity for costly multi-modal re-alignment.

FUDOKI: Discrete Flow-based Unified Understanding and Generation via Kinetic-Optimal Velocities

The rapid progress of large language models (LLMs) has catalyzed the emergence of multimodal large language models (MLLMs) that unify visual understanding and image generation within a single framework. However, most existing MLLMs rely on autoregressive (AR) architectures, which impose inherent limitations on future development, such as the raster-scan order in image generation and restricted reasoning abilities in causal context modeling. In this work, we challenge the dominance of AR-based approaches by introducing FUDOKI, a unified multimodal model purely based on discrete flow matching, as an alternative to conventional AR paradigms. By leveraging metric-induced probability paths with kinetic optimal velocities, our framework goes beyond the previous masking-based corruption process, enabling iterative refinement with self-correction capability and richer bidirectional context integration during generation. To mitigate the high cost of training from scratch, we initialize FUDOKI from pre-trained AR-based MLLMs and adaptively transition to the discrete flow matching paradigm. Experimental results show that FUDOKI achieves performance comparable to state-of-the-art AR-based MLLMs across both visual understanding and image generation tasks, highlighting its potential as a foundation for next-generation unified multimodal models. Furthermore, we show that applying test-time scaling techniques to FUDOKI yields significant performance gains, further underscoring its promise for future enhancement through reinforcement learning.

Variational Autoencoding Discrete Diffusion with Enhanced Dimensional Correlations Modeling

Discrete diffusion models have recently shown great promise for modeling complex discrete data, with masked diffusion models (MDMs) offering a compelling trade-off between quality and generation speed. MDMs denoise by progressively unmasking multiple dimensions from an all-masked input, but their performance can degrade when using few denoising steps due to limited modeling of inter-dimensional dependencies. In this paper, we propose Variational Autoencoding Discrete Diffusion (VADD), a novel framework that enhances discrete diffusion with latent variable modeling to implicitly capture correlations among dimensions. By introducing an auxiliary recognition model, VADD enables stable training via variational lower bounds maximization and amortized inference over the training set. Our approach retains the efficiency of traditional MDMs while significantly improving sample quality, especially when the number of denoising steps is small. Empirical results on 2D toy data, pixel-level image generation, and text generation demonstrate that VADD consistently outperforms MDM baselines.