An Intelligent-Cloud Edge Multimodal Interaction System for Robots

Robust human-robot interaction in complex environments requires accurate gesture perception, semantic scene understanding, and reliable task planning under limited onboard computing resources. This paper presents a cloud-edge multimodal interaction framework that integrates an enhanced YOLO-based gesture detector with coordinated large language model (LLM) and vision-language model (VLM) agents. The proposed detector, incorporates the Convolutional Block Attention Module (CBAM) into the neck and replaces the baseline bounding-box regression objective with Distance-IoU (DIoU) loss. These modifications improve feature discrimination and localization for small or partially occluded gestures in complex backgrounds. The cloud layer performs gesture detection, scene understanding, multimodal fusion, and action planning, whereas the TonyPi robot locally handles data acquisition, communication, action execution, and feedback. Experiments on a public gesture dataset and a custom dataset show that YOLO-DC achieves precision values of 98.9% and 95.0%, with mAP@0.5 values of 90.7% and 92.7%, respectively. System-level evaluation yields success rates of 95%, 88%, and 82% for single-action, composite-action, and vision-dependent tasks. A 30 participant evaluation yields an overall mean satisfaction score of 3.69 out of 5. These results demonstrate the feasibility of combining refined gesture detection with multimodal agents for resource-constrained robotic interaction.

Clarus: Coordinating Autonomous Research Agents toward Web-Scale Scientific Collaboration

Existing autonomous research agents can support parts of the research process, but most systems still treat research as either an isolated assistant task or a closed workflow. Therefore, autonomous science needs a collaboration infrastructure that coordinates projects, agents, and digital and physical resources. We identify this as a shift from code-centered execution loops to research-oriented collaboration processes, where questions, evidence, participants, and resources must be coordinated under uncertainty. In this framing, an agent may be an AI system, a human researcher, a team, a laboratory, or an organization-backed participant. To this end, we present Clarus, a collaboration infrastructure for coordinating autonomous research agents toward web-scale scientific collaboration. Clarus reformulates research as an open, auditable, attributable, and resource-aware multi-phase collaboration process. It defines a minimal project-agent-resource object model and organizes scientific collaboration through four layers including Research Application, Digital Collaboration, Physical Substrate, and Physical World. Core modules are implemented as pluggable mechanisms, allowing Clarus to adapt to task risk, collaboration structure, and resource constraints. Through a controlled paper-generation case study, we show that Clarus can organize a research goal into a traceable, reviewable, attributable, and accumulative collaboration network across phases, tasks, and participants. Together, the object model, collaboration protocol, trust mechanisms, and prototype validation provide an initial foundation for open research networks. Clarus is now available at clarus.holosai.io.

SkillJuror: Measuring How Agent Skill Organization Changes Runtime Behavior

Agent Skills augment large language model (LLM) agents with procedural knowledge at inference time, but current benchmarks rarely distinguish what a Skill says from how it is organized. We study this distinction through Progressive Disclosure, where a concise root file points agents to supporting resources on demand, and compare it with a normalized flat baseline. We present SkillJuror, a framework for evaluating Skill writing paradigms through semantically controlled variants, matched multi-trial evaluations, and trajectory evidence while holding task knowledge fixed. In an 82-task SkillsBench study, Progressive Disclosure changes runtime behavior before aggregate outcomes: distinct Skill resources touched per trajectory rise from 1.18 to 3.85, and effective uptake events rise from 1.33 to 3.92. It also yields 17 additional verifier-passing trials out of 410 matched trials (+4.1%) over the normalized flat baseline. The benefit is task-dependent. Progressive Disclosure helps when supporting resources guide implementation, checking, or repair, but is weaker when success hinges on exact output conventions, numerical thresholds, or long artifact-generation pipelines. These results show that Skill organization is not mere presentation: it can change how agents search and apply procedural knowledge, while outcome gains depend on whether the exposed resources are actionable for the task. Code is available at https://github.com/zhiyuchen-ai/skill-juror.

LatentSkill: From In-Context Textual Skills to In-Weight Latent Skills for LLM Agents

Agent systems increasingly use textual skills to encode reusable task procedures, but injecting these skills into the prompt at every step incurs substantial context overhead and exposes skill content as plaintext. We present LatentSkill, a framework that converts textual skills into plug-and-play LoRA adapters through a pretrained hypernetwork. LatentSkill stores skill knowledge in weight space rather than context space, removing per-step skill tokens while preserving modular loading, scaling, and composition. On ALFWorld and Search-QA, LatentSkill outperforms the corresponding in-context skill baseline while using substantially fewer prefill tokens: it improves ALFWorld success by 21.4 and 13.4 points on the seen and unseen splits with 64.1% fewer prefill tokens, and improves Search-QA exact match by 3.0 points with 72.2% lower skill-token overhead. Further analysis shows that generated skill LoRAs form a structured semantic geometry, can be precisely controlled via the LoRA scaling coefficient, and can be composed through parameter-space arithmetic when skill components are aligned. These findings suggest that weight-space skills provide an efficient, modular, and less exposed substrate for extending LLM agents.

SkillPager: Query-Adaptive Intra-Skill Navigation via Semantic Node Retrieval

Skill-based LLM agents increasingly rely on long procedural documents, but full-document prompting wastes tokens and dilutes information critical to execution. We study this setting as intra-skill retrieval, where the goal is to select a minimal, execution-sufficient context from a known skill document given a query. We present SkillPager, a two-stage framework that parses each Markdown skill into typed semantic nodes offline and leverages Maximal Marginal Relevance (MMR) to perform global, query-conditioned node selection online. On a benchmark of 395 skills and 1,975 queries, SkillPager achieves 78.89% LLM-judged context sufficiency, compared to 82.23% for the exhaustive full-document baseline, while reducing prompt tokens by 47.04%. A granularity ablation shows that applying the same retrieval algorithm to raw fixed-length chunks reaches a comparable 81.77% sufficiency but increases token cost by 28.81%, demonstrating that efficiency gains are driven by typed semantic granularity rather than the retrieval algorithm alone. Among graph-based baselines, SkillPager outperforms the strongest baseline by a margin of 12.16%. Further ablations show that supporting content is most effective when retained in the candidate pool and selected adaptively rather than removed by static heuristics. These results identify typed intra-document retrieval as a distinct access problem for skill-based agents.

ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots

In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alternative to co-design algorithms that either train an individual policy for every robot, which is inefficient, or a monolithic universal controller for all robots, which results in overly conservative structures and behaviors. Our approach lies somewhere between these two extremes, preserving ancestral knowledge in a unified yet modular framework in which different body plans activate and deactivate different combinations of learned sensorimotor circuits for goal-directed behavior. This allows one part of the controller to be overhauled to better suit new species of designs as they emerge without disrupting the hard-earned knowledge contained within other expert modules. It also allows pretrained expert policies to be directly plugged into the mixture, which can steer evolution into otherwise unexplored areas of latent space containing desired morphological traits. We refer to this process as "evo by demo" and explore how it may be used to guide freeform evolution toward canonical structures defined by the pretrained model. Videos and code can be found at: https://eco-moe.github.io.

OptArgus: A Multi-Agent System to Detect Hallucinations in LLM-based Optimization Modeling

Large language models (LLMs) are increasingly used to translate natural-language optimization problems into mathematical formulations and solver code, but matching the reference objective value is not a reliable test of correctness: an artifact may agree numerically while still changing the underlying optimization semantics. We formulate this issue as \emph{optimization-modeling hallucination detection}, namely structural consistency auditing over the problem description, symbolic model, and solver implementation. We develop, to our knowledge, the first fine-grained hallucination taxonomy specifically for optimization modeling, spanning objective, variable, constraint, and implementation failures. We use this taxonomy to design OptArgus, a multi-agent detector with conductor routing, specialist auditors, and evidence consolidation. To evaluate this setting, we introduce a three-part benchmark suite with $484$ clean artifacts, $1266$ controlled injected artifacts, and $6292$ natural LLM-generated artifacts. Against a matched single-agent baseline, OptArgus produces fewer false alarms on clean artifacts, more accurate top-ranked localization on controlled single-error cases, and stronger detection on natural model outputs. Together, these contributions turn optimization-modeling hallucination detection into a concrete empirical problem and suggest that modular, taxonomy-grounded auditing is a practical route to more reliable optimization modeling.

SMSP: A Plug-and-Play Strategy of Multi-Scale Perception for MLLMs to Perceive Visual Illusions

Recent works have shown that Multimodal Large Language Models (MLLMs) are highly vulnerable to hidden-pattern visual illusions, where the hidden content is imperceptible to models but obvious to humans. This deficiency highlights a perceptual misalignment between current MLLMs and humans, and also introduces potential safety concerns. To systematically investigate this failure, we introduce IlluChar, a comprehensive and challenging illusion dataset, and uncover a key underlying mechanism for the models' failure: high-frequency attention bias, where the models are easily distracted by high-frequency background textures in illusion images, causing them to overlook hidden patterns. To address the issue, we propose the Strategy of Multi-Scale Perception (SMSP), a plug-and-play framework that aligns with human visual perceptual strategies. By suppressing distracting high-frequency backgrounds, SMSP generates images closer to human perception. Our experiments demonstrate that SMSP significantly improves the performance of all evaluated MLLMs on illusion images, for instance, increasing the accuracy of Qwen3-VL-8B-Instruct from 13.0% to 84.0%. Our work provides novel insights into MLLMs' visual perception, and offers a practical and robust solution to enhance it. Our code is publicly available at https://github.com/Tujz2023/SMSP.

Creating manufacturable blueprints for coarse-grained virtual robots

Over the past three decades, countless embodied yet virtual agents have freely evolved inside computer simulations, but vanishingly few were realized as physical robots. This is because evolution was conducted at a level of abstraction that was convenient for freeform body generation (creation, mutation, recombination) but swept away almost all of the physical details of functional body parts. The resulting designs were crude and underdetermined, requiring considerable effort and expertise to convert into a manufacturable format. Here, we automate this mapping from simplified design spaces that are readily evolvable to complete blueprints that can be directly followed by a builder. The pipeline incrementally resolves manufacturing constraints by embedding the structural and functional semantics of motors, electronics, batteries, and wiring into the abstract virtual design. In lieu of evolution, a user-defined or AI-generated ``sketch'' of a body plan can also be fed as input to the pipeline, providing a versatile framework for accelerating the design of novel robots.

Thinking with Geometry: Active Geometry Integration for Spatial Reasoning

Recent progress in spatial reasoning with Multimodal Large Language Models (MLLMs) increasingly leverages geometric priors from 3D encoders. However, most existing integration strategies remain passive: geometry is exposed as a global stream and fused in an indiscriminate manner, which often induces semantic-geometry misalignment and redundant signals. We propose GeoThinker, a framework that shifts the paradigm from passive fusion to active perception. Instead of feature mixing, GeoThinker enables the model to selectively retrieve geometric evidence conditioned on its internal reasoning demands. GeoThinker achieves this through Spatial-Grounded Fusion applied at carefully selected VLM layers, where semantic visual priors selectively query and integrate task-relevant geometry via frame-strict cross-attention, further calibrated by Importance Gating that biases per-frame attention toward task-relevant structures. Comprehensive evaluation results show that GeoThinker sets a new state-of-the-art in spatial intelligence, achieving a peak score of 72.6 on the VSI-Bench. Furthermore, GeoThinker demonstrates robust generalization and significantly improved spatial perception across complex downstream scenarios, including embodied referring and autonomous driving. Our results indicate that the ability to actively integrate spatial structures is essential for next-generation spatial intelligence. Code can be found at https://github.com/Li-Hao-yuan/GeoThinker.