Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation

Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dominant approach has been to scale vision-language-action (VLA) foundation models on ever-larger collections of robot trajectories. This paper argues that, for navigation specifically, generality can be obtained structurally, not only through data scale. The underlying decision structure of navigation reduces to a single Language-Vision-Robot Actions Translation. The language action emits semantic-level directional command and the vision action emits a pixel-level visual target. Both outputs lie inside the natural output manifold of pretrained multimodal large language models (MLLMs), so the task can be reasoned about by an agent rather than learned from robot data. Therefore, we present Uni-LaViRA, a unified agentic architecture that extends the same insight to four task families (VLN-CE, ObjectNav, EQA, and Aerial-VLN) and to four heterogeneous real robots (Wheeled, Quadruped, Humanoid robot, and a self-built UAV) in a zero-shot manner. Two agent-loop mechanisms make this unification practical. TODO List Memory (TDM) rewrites a structured checklist of pending sub-goals at every step, reciting the unfinished items back into the agent's most recent attention window. Second Chance Backtrack (SCB) rolls the robot back to the pre-error state and conditions the agent's next plan on the failed sub-trajectory, turning single-pass navigation into a self-correcting process. With zero training effort, Uni-LaViRA reaches 60.7% SR on VLN-CE R2R, 51.3% on VLN-CE RxR, 77.7% on HM3D-v2, 60.0% on HM3D-OVON, 54.7% on MP3D-EQA, and 40.0% on OpenUAV, matching or even surpassing recent training navigation foundation models that consume millions of samples and thousands of GPU-hours.

IterInject: Indirect Prompt Injection Against LLM Agents via Feedback-Guided Iterative Optimization

LLM-based agents are increasingly deployed for complex tasks requiring planning, tool use, and interaction with external services. Their reliance on untrusted external content exposes them to indirect prompt injection (IPI), in which adversarial instructions embedded in retrieved data hijack agent behavior. Existing attacks rely on static payloads that cannot adapt to agent-specific defenses; even recent adaptive methods lack structured feedback to guide optimization. We introduce \oursys, a feedback-guided iterative framework that closes the loop between injection, diagnosis, and refinement: a rule-based diagnoser produces structured outcome labels with behavioral descriptions, and an LLM-based optimizer refines payloads conditioned on the full optimization history. A synthesis step generates new disguise seeds from failure patterns, enabling the strategy space to self-evolve. On AgentDojo and InjectAgent, \oursys substantially outperforms static baselines and existing adaptive methods across four victim models. Extension experiments on Claude Code, a production-grade coding agent with layered defenses, show that optimized payloads achieve full success on 5 of 9 targets; even those that resist full exploitation exhibit measurable improvement from iterative refinement. We further present a mechanistic analysis of IPI, identifying an attention-mediated threshold mechanism in mid-to-late layers; three causal interventions validate this finding and point to concrete defense directions.

Knowing but Not Correcting: Routine Task Requests Suppress Factual Correction in LLMs

LLMs reliably correct false claims when presented in isolation, yet when the same claims are embedded in task-oriented requests, they often comply rather than correct. We term this failure mode \emph{correction suppression} and construct a benchmark of 300 false premises to systematically evaluate it across eight models. Suppression rates range from 19\% to 90\%, with four models exceeding 80\%, establishing correction suppression as a prevalent and severe phenomenon. Mechanistic analysis reveals that suppression is not a knowledge failure: the model registers the error internally but task context diverts early-layer attention from the false claim as output intent crystallizes toward compliance at middle layers. We characterize this as \emph{knowing but not correcting} -- suppression occurs at response selection rather than knowledge encoding. Guided by this mechanism, we propose two training-free interventions. Correction Direction Steering (CDS) estimates a correction-compliance direction from matched pairs and injects it at middle layers before output intent crystallizes. Dynamic Payload Amplification (DPA) localizes payload tokens via attention divergence between early and late layers and amplifies their representation at the final layer, requiring no calibration data. Experiments on Qwen3.5-9B and LLaMA3.1-8B show both methods substantially improve factual strictness. CDS achieves the highest correction rate on Qwen3.5-9B (0\%$\to$58.2\%). DPA is the only method that preserves or improves reasoning capability on both models. These findings introduce \emph{factual strictness} -- the willingness to uphold accuracy against contextual pressures -- as a new dimension of model reliability.

Coral: Cost-Efficient Multi-LLM Serving over Heterogeneous Cloud GPUs

The usage of large language models (LLMs) has grown increasingly fragmented, with no single model dominating. Meanwhile, cloud providers offer a wide range of mid-tier and older-generation GPUs that enjoy better availability and deliver comparable performance per dollar to top-tier hardware. To efficiently harness these heterogeneous resources for serving multiple LLMs concurrently, we introduce Coral, an adaptive heterogeneity-aware multi-LLM serving system. The key idea behind Coral is to jointly optimize resource allocation and the serving strategy of each model replica across all models. To keep pace with shifting throughput demand and resource availability, Coral applies a lossless two-stage decomposition that preserves joint optimality while cutting online solve time from hours to tens of seconds. Our evaluation across 6 models and 20 GPU configurations shows that Coral reduces serving cost by up to 2.79$\times$ over the best baseline, and delivers up to 2.39$\times$ higher goodput under scarce resource availability.

MO-RiskVAE: A Multi-Omics Variational Autoencoder for Survival Risk Modeling in Multiple MyelomaMO-RiskVAE

Multimodal variational autoencoders (VAEs) have emerged as a powerful framework for survival risk modeling in multiple myeloma by integrating heterogeneous omics and clinical data. However, when trained under survival supervision, standard latent regularization strategies often fail to preserve prognostically relevant variation, leading to unstable or overly constrained representations. Despite numerous proposed variants, it remains unclear which aspects of latent design fundamentally govern performance in this setting. In this work, we conduct a controlled investigation of latent modeling choices for multimodal survival prediction within a unified extension of the MyeVAE framework. By systematically isolating regularization scale, posterior geometry, and latent space structure under identical architectures and optimization protocols, we show that survival-driven training is primarily sensitive to the magnitude and structure of latent regularization rather than the specific divergence formulation. In particular, moderate relaxation of KL regularization consistently improves survival discrimination, while alternative divergence mechanisms such as MMD and HSIC provide limited benefit without appropriate scaling. We further demonstrate that structuring the latent space can improve alignment between learned representations and survival risk gradients. A hybrid continuous--discrete formulation based on Gumbel--Softmax enhances global risk ordering in the continuous latent subspace, even though stable discrete subtype discovery does not emerge under survival supervision. Guided by these findings, we instantiate a robust multimodal survival model, termed MO-RiskVAE, which consistently improves risk stratification over the original MyeVAE without introducing additional supervision or complex training heuristics.

V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors

Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fixed asset libraries and manual heuristics. To bridge this gap, we present V-Dreamer, a fully automated framework that generates open-vocabulary, simulation-ready manipulation environments and executable expert trajectories directly from natural language instructions. V-Dreamer employs a novel generative pipeline that constructs physically grounded 3D scenes using large language models and 3D generative models, validated by geometric constraints to ensure stable, collision-free layouts. Crucially, for behavior synthesis, we leverage video generation models as rich motion priors. These visual predictions are then mapped into executable robot trajectories via a robust Sim-to-Gen visual-kinematic alignment module utilizing CoTracker3 and VGGT. This pipeline supports high visual diversity and physical fidelity without manual intervention. To evaluate the generated data, we train imitation learning policies on synthesized trajectories encompassing diverse object and environment variations. Extensive evaluations on tabletop manipulation tasks using the Piper robotic arm demonstrate that our policies robustly generalize to unseen objects in simulation and achieve effective sim-to-real transfer, successfully manipulating novel real-world objects.

Unified Removal of Raindrops and Reflections: A New Benchmark and A Novel Pipeline

When capturing images through glass surfaces or windshields on rainy days, raindrops and reflections frequently co-occur to significantly reduce the visibility of captured images. This practical problem lacks attention and needs to be resolved urgently. Prior de-raindrop, de-reflection, and all-in-one models have failed to address this composite degradation. To this end, we first formally define the unified removal of raindrops and reflections (UR$^3$) task for the first time and construct a real-shot dataset, namely RainDrop and ReFlection (RDRF), which provides a new benchmark with substantial, high-quality, diverse image pairs. Then, we propose a novel diffusion-based framework (i.e., DiffUR$^3$) with several target designs to address this challenging task. By leveraging the powerful generative prior, DiffUR$^3$ successfully removes both types of degradations. Extensive experiments demonstrate that our method achieves state-of-the-art performance on our benchmark and on challenging in-the-wild images. The RDRF dataset and the codes will be made public upon acceptance.

ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulation

Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically use 2D representations to connect high-level reasoning with low-level control, but lack depth awareness and temporal consistency, limiting robustness in complex 3D scenes. We propose ST-VLA, a hierarchical VLA framework using a unified 3D-4D representation to bridge perception and action. ST-VLA converts 2D guidance into 3D trajectories and generates smooth spatial masks that capture 4D spatio-temporal context, providing a stable interface between semantic reasoning and continuous control. To enable effective learning of such representations, we introduce ST-Human, a large-scale human manipulation dataset with 14 tasks and 300k episodes, annotated with 2D, 3D, and 4D supervision via a semi-automated pipeline. Using ST-Human, we train ST-VLM, a spatio-temporal vision-language model that generates spatially grounded and temporally coherent 3D representations to guide policy execution. The smooth spatial masks focus on task-relevant geometry and stabilize latent representations, enabling online replanning and long-horizon reasoning. Experiments on RLBench and real-world manipulation tasks show that \method significantly outperforms state-of-the-art baselines, improving zero-shot success rates by 44.6% and 30.3%. These results demonstrate that offloading spatio-temporal reasoning to VLMs with unified 3D-4D representations substantially improves robustness and generalization for open-world robotic manipulation. Project website: https://oucx117.github.io/ST-VLA/.

AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments

In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strategies may compromise safety. Enabling robots to adaptively decide whether to clear surrounding objects or directly grasp the target is therefore crucial for robust manipulation. We propose AdaClearGrasp, a closed-loop decision-execution framework for adaptive clearing and zero-shot dexterous grasping in densely cluttered environments. The framework formulates manipulation as a controllable high-level decision process that determines whether to directly grasp the target or first clear surrounding objects. A pretrained vision-language model (VLM) interprets visual observations and language task descriptions to reason about grasp interference and generate a high-level planning skeleton, which invokes structured atomic skills through a unified action interface. For dexterous grasping, we train a reinforcement learning policy with a relative hand-object distance representation, enabling zero-shot generalization across diverse object geometries and physical properties. During execution, visual feedback monitors outcomes and triggers replanning upon failures, forming a closed-loop correction mechanism. To evaluate language-conditioned dexterous grasping in clutter, we introduce Clutter-Bench, the first simulation benchmark with graded clutter complexity. It includes seven target objects across three clutter levels, yielding 210 task scenarios. We further perform sim-to-real experiments on three objects under three clutter levels (18 scenarios). Results demonstrate that AdaClearGrasp significantly improves grasp success rates in densely cluttered environments. For more videos and code, please visit our project website: https://chenzixuan99.github.io/adaclear-grasp.github.io/.

MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation

Indoor mobile manipulation (MoMA) enables robots to translate natural language instructions into physical actions, yet long-horizon execution remains challenging due to cascading errors and limited generalization across diverse environments. Learning-based approaches often fail to maintain logical consistency over extended horizons, while methods relying on explicit scene representations impose rigid structural assumptions that reduce adaptability in dynamic settings. To address these limitations, we propose MoMaStage, a structured vision-language framework for long-horizon MoMA that eliminates the need for explicit scene mapping. MoMaStage grounds a Vision-Language Model (VLM) within a Hierarchical Skill Library and a topology-aware Skill-State Graph, constraining task decomposition and skill composition within a feasible transition space. This structured grounding ensures that generated plans remain logically consistent and topologically valid with respect to the agent's evolving physical state. To enhance robustness, MoMaStage incorporates a closed-loop execution mechanism that monitors proprioceptive feedback and triggers graph-constrained semantic replanning when deviations are detected, maintaining alignment between planned skills and physical outcomes. Extensive experiments in physics-rich simulations and real-world environments demonstrate that MoMaStage outperforms state-of-the-art baselines, achieving substantially higher planning success, reducing token overhead, and significantly improving overall task success rates in long-horizon mobile manipulation. Video demonstrations are available on the project website: https://chenxuli-cxli.github.io/MoMaStage/.