ExGRPO: Learning to Reason from Experience

Reinforcement learning from verifiable rewards (RLVR) is an emerging paradigm for improving the reasoning ability of large language models. However, standard on-policy training discards rollout experiences after a single update, leading to computational inefficiency and instability. While prior work on RL has highlighted the benefits of reusing past experience, the role of experience characteristics in shaping learning dynamics of large reasoning models remains underexplored. In this paper, we are the first to investigate what makes a reasoning experience valuable and identify rollout correctness and entropy as effective indicators of experience value. Based on these insights, we propose ExGRPO (Experiential Group Relative Policy Optimization), a framework that organizes and prioritizes valuable experiences, and employs a mixed-policy objective to balance exploration with experience exploitation. Experiments on five backbone models (1.5B-8B parameters) show that ExGRPO consistently improves reasoning performance on mathematical/general benchmarks, with an average gain of +3.5/7.6 points over on-policy RLVR. Moreover, ExGRPO stabilizes training on both stronger and weaker models where on-policy methods fail. These results highlight principled experience management as a key ingredient for efficient and scalable RLVR.

CoBel-World: Harnessing LLM Reasoning to Build a Collaborative Belief World for Optimizing Embodied Multi-Agent Collaboration

Effective real-world multi-agent collaboration requires not only accurate planning but also the ability to reason about collaborators' intents -- a crucial capability for avoiding miscoordination and redundant communication under partial observable environments. Due to their strong planning and reasoning capabilities, large language models (LLMs) have emerged as promising autonomous agents for collaborative task solving. However, existing collaboration frameworks for LLMs overlook their reasoning potential for dynamic intent inference, and thus produce inconsistent plans and redundant communication, reducing collaboration efficiency. To bridge this gap, we propose CoBel-World, a novel framework that equips LLM agents with a collaborative belief world -- an internal representation jointly modeling the physical environment and collaborators' mental states. CoBel-World enables agents to parse open-world task knowledge into structured beliefs via a symbolic belief language, and perform zero-shot Bayesian-style belief updates through LLM reasoning. This allows agents to proactively detect potential miscoordination (e.g., conflicting plans) and communicate adaptively. Evaluated on challenging embodied benchmarks (i.e., TDW-MAT and C-WAH), CoBel-World significantly reduces communication costs by 22-60% and improves task completion efficiency by 4-28% compared to the strongest baseline. Our results show that explicit, intent-aware belief modeling is essential for efficient and human-like collaboration in LLM-based multi-agent systems.

Annotation-Free Open-Vocabulary Segmentation for Remote-Sensing Images

Semantic segmentation of remote sensing (RS) images is pivotal for comprehensive Earth observation, but the demand for interpreting new object categories, coupled with the high expense of manual annotation, poses significant challenges. Although open-vocabulary semantic segmentation (OVSS) offers a promising solution, existing frameworks designed for natural images are insufficient for the unique complexities of RS data. They struggle with vast scale variations and fine-grained details, and their adaptation often relies on extensive, costly annotations. To address this critical gap, this paper introduces SegEarth-OV, the first framework for annotation-free open-vocabulary segmentation of RS images. Specifically, we propose SimFeatUp, a universal upsampler that robustly restores high-resolution spatial details from coarse features, correcting distorted target shapes without any task-specific post-training. We also present a simple yet effective Global Bias Alleviation operation to subtract the inherent global context from patch features, significantly enhancing local semantic fidelity. These components empower SegEarth-OV to effectively harness the rich semantics of pre-trained VLMs, making OVSS possible in optical RS contexts. Furthermore, to extend the framework's universality to other challenging RS modalities like SAR images, where large-scale VLMs are unavailable and expensive to create, we introduce AlignEarth, which is a distillation-based strategy and can efficiently transfer semantic knowledge from an optical VLM encoder to an SAR encoder, bypassing the need to build SAR foundation models from scratch and enabling universal OVSS across diverse sensor types. Extensive experiments on both optical and SAR datasets validate that SegEarth-OV can achieve dramatic improvements over the SOTA methods, establishing a robust foundation for annotation-free and open-world Earth observation.

Generative molecule evolution using 3D pharmacophore for efficient Structure-Based Drug Design

Recent advances in generative models, particularly diffusion and auto-regressive models, have revolutionized fields like computer vision and natural language processing. However, their application to structure-based drug design (SBDD) remains limited due to critical data constraints. To address the limitation of training data for models targeting SBDD tasks, we propose an evolutionary framework named MEVO, which bridges the gap between billion-scale small molecule dataset and the scarce protein-ligand complex dataset, and effectively increase the abundance of training data for generative SBDD models. MEVO is composed of three key components: a high-fidelity VQ-VAE for molecule representation in latent space, a diffusion model for pharmacophore-guided molecule generation, and a pocket-aware evolutionary strategy for molecule optimization with physics-based scoring function. This framework efficiently generate high-affinity binders for various protein targets, validated with predicted binding affinities using free energy perturbation (FEP) methods. In addition, we showcase the capability of MEVO in designing potent inhibitors to KRAS$^{\textrm{G12D}}$, a challenging target in cancer therapeutics, with similar affinity to the known highly active inhibitor evaluated by FEP calculations. With high versatility and generalizability, MEVO offers an effective and data-efficient model for various tasks in structure-based ligand design.

Accelerating Parallel Diffusion Model Serving with Residual Compression

Diffusion models produce realistic images and videos but require substantial computational resources, necessitating multi-accelerator parallelism for real-time deployment. However, parallel inference introduces significant communication overhead from exchanging large activations between devices, limiting efficiency and scalability. We present CompactFusion, a compression framework that significantly reduces communication while preserving generation quality. Our key observation is that diffusion activations exhibit strong temporal redundancy-adjacent steps produce highly similar activations, saturating bandwidth with near-duplicate data carrying little new information. To address this inefficiency, we seek a more compact representation that encodes only the essential information. CompactFusion achieves this via Residual Compression that transmits only compressed residuals (step-wise activation differences). Based on empirical analysis and theoretical justification, we show that it effectively removes redundant data, enabling substantial data reduction while maintaining high fidelity. We also integrate lightweight error feedback to prevent error accumulation. CompactFusion establishes a new paradigm for parallel diffusion inference, delivering lower latency and significantly higher generation quality than prior methods. On 4xL20, it achieves 3.0x speedup while greatly improving fidelity. It also uniquely supports communication-heavy strategies like sequence parallelism on slow networks, achieving 6.7x speedup over prior overlap-based method. CompactFusion applies broadly across diffusion models and parallel settings, and integrates easily without requiring pipeline rework. Portable implementation demonstrated on xDiT is publicly available at https://github.com/Cobalt-27/CompactFusion

DeCo-SGD: Joint Optimization of Delay Staleness and Gradient Compression Ratio for Distributed SGD

Distributed machine learning in high end-to-end latency and low, varying bandwidth network environments undergoes severe throughput degradation. Due to its low communication requirements, distributed SGD (D-SGD) remains the mainstream optimizer in such challenging networks, but it still suffers from significant throughput reduction. To mitigate these limitations, existing approaches typically employ gradient compression and delayed aggregation to alleviate low bandwidth and high latency, respectively. To address both challenges simultaneously, these strategies are often combined, introducing a complex three-way trade-off among compression ratio, staleness (delayed synchronization steps), and model convergence rate. To achieve the balance under varying bandwidth conditions, an adaptive policy is required to dynamically adjust these parameters. Unfortunately, existing works rely on static heuristic strategies due to the lack of theoretical guidance, which prevents them from achieving this goal. This study fills in this theoretical gap by introducing a new theoretical tool, decomposing the joint optimization problem into a traditional convergence rate analysis with multiple analyzable noise terms. We are the first to reveal that staleness exponentially amplifies the negative impact of gradient compression on training performance, filling a critical gap in understanding how compressed and delayed gradients affect training. Furthermore, by integrating the convergence rate with a network-aware time minimization condition, we propose DeCo-SGD, which dynamically adjusts the compression ratio and staleness based on the real-time network condition and training task. DeCo-SGD achieves up to 5.07 and 1.37 speed-ups over D-SGD and static strategy in high-latency and low, varying bandwidth networks, respectively.

SD-GS: Structured Deformable 3D Gaussians for Efficient Dynamic Scene Reconstruction

Current 4D Gaussian frameworks for dynamic scene reconstruction deliver impressive visual fidelity and rendering speed, however, the inherent trade-off between storage costs and the ability to characterize complex physical motions significantly limits the practical application of these methods. To tackle these problems, we propose SD-GS, a compact and efficient dynamic Gaussian splatting framework for complex dynamic scene reconstruction, featuring two key contributions. First, we introduce a deformable anchor grid, a hierarchical and memory-efficient scene representation where each anchor point derives multiple 3D Gaussians in its local spatiotemporal region and serves as the geometric backbone of the 3D scene. Second, to enhance modeling capability for complex motions, we present a deformation-aware densification strategy that adaptively grows anchors in under-reconstructed high-dynamic regions while reducing redundancy in static areas, achieving superior visual quality with fewer anchors. Experimental results demonstrate that, compared to state-of-the-art methods, SD-GS achieves an average of 60\% reduction in model size and an average of 100\% improvement in FPS, significantly enhancing computational efficiency while maintaining or even surpassing visual quality.

Block-wise Adaptive Caching for Accelerating Diffusion Policy

Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redundancy across repetitive denoising steps, existing diffusion acceleration techniques fail to generalize to Diffusion Policy due to fundamental architectural and data divergences. In this paper, we propose Block-wise Adaptive Caching(BAC), a method to accelerate Diffusion Policy by caching intermediate action features. BAC achieves lossless action generation acceleration by adaptively updating and reusing cached features at the block level, based on a key observation that feature similarities vary non-uniformly across timesteps and locks. To operationalize this insight, we first propose the Adaptive Caching Scheduler, designed to identify optimal update timesteps by maximizing the global feature similarities between cached and skipped features. However, applying this scheduler for each block leads to signiffcant error surges due to the inter-block propagation of caching errors, particularly within Feed-Forward Network (FFN) blocks. To mitigate this issue, we develop the Bubbling Union Algorithm, which truncates these errors by updating the upstream blocks with signiffcant caching errors before downstream FFNs. As a training-free plugin, BAC is readily integrable with existing transformer-based Diffusion Policy and vision-language-action models. Extensive experiments on multiple robotic benchmarks demonstrate that BAC achieves up to 3x inference speedup for free.

SP-VLA: A Joint Model Scheduling and Token Pruning Approach for VLA Model Acceleration

Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities. However, their high computational cost and low execution frequency hinder their suitability for real-time tasks such as robotic manipulation and autonomous navigation. Existing VLA acceleration methods primarily focus on structural optimization, overlooking the fact that these models operate in sequential decision-making environments. As a result, temporal redundancy in sequential action generation and spatial redundancy in visual input remain unaddressed. To this end, we propose SP-VLA, a unified framework that accelerates VLA models by jointly scheduling models and pruning tokens. Specifically, we design an action-aware model scheduling mechanism that reduces temporal redundancy by dynamically switching between VLA model and a lightweight generator. Inspired by the human motion pattern of focusing on key decision points while relying on intuition for other actions, we categorize VLA actions into deliberative and intuitive, assigning the former to the VLA model and the latter to the lightweight generator, enabling frequency-adaptive execution through collaborative model scheduling. To address spatial redundancy, we further develop a spatio-semantic dual-aware token pruning method. Tokens are classified into spatial and semantic types and pruned based on their dual-aware importance to accelerate VLA inference. These two mechanisms work jointly to guide the VLA in focusing on critical actions and salient visual information, achieving effective acceleration while maintaining high accuracy. Experimental results demonstrate that our method achieves up to 1.5$\times$ acceleration with less than 3% drop in accuracy, outperforming existing approaches in multiple tasks.

Feature-Based Instance Neighbor Discovery: Advanced Stable Test-Time Adaptation in Dynamic World

Despite progress, deep neural networks still suffer performance declines under distribution shifts between training and test domains, leading to a substantial decrease in Quality of Experience (QoE) for applications. Existing test-time adaptation (TTA) methods are challenged by dynamic, multiple test distributions within batches. We observe that feature distributions across different domains inherently cluster into distinct groups with varying means and variances. This divergence reveals a critical limitation of previous global normalization strategies in TTA, which inevitably distort the original data characteristics. Based on this insight, we propose Feature-based Instance Neighbor Discovery (FIND), which comprises three key components: Layer-wise Feature Disentanglement (LFD), Feature Aware Batch Normalization (FABN) and Selective FABN (S-FABN). LFD stably captures features with similar distributions at each layer by constructing graph structures. While FABN optimally combines source statistics with test-time distribution specific statistics for robust feature representation. Finally, S-FABN determines which layers require feature partitioning and which can remain unified, thereby enhancing inference efficiency. Extensive experiments demonstrate that FIND significantly outperforms existing methods, achieving a 30\% accuracy improvement in dynamic scenarios while maintaining computational efficiency.