Adapt as You Say: Online Interactive Bimanual Skill Adaptation via Human Language Feedback

Developing general-purpose robots capable of autonomously operating in human living environments requires the ability to adapt to continuously evolving task conditions. However, adapting high-dimensional coordinated bimanual skills to novel task variations at deployment remains a fundamental challenge. In this work, we present BiSAIL (Bimanual Skill Adaptation via Interactive Language), a novel framework that enables zero-shot online adaptation of offline-learned bimanual skills through interactive language feedback. The key idea of BiSAIL is to adopt a hierarchical reason-then-modulate paradigm, which first infers generalized adaptation objectives from multimodal task variations, and then adapts bimanual motions via diffusion modulation to achieve the inferred objectives. Extensive real-robot experiments across six bimanual tasks and two dual-arm platforms demonstrate that BiSAIL significantly outperforms existing methods in human-in-the-loop adaptability, task generalization and cross-embodiment scalability. This work enables the development of adaptive bimanual assistants that can be flexibly customized by non-expert users via intuitive verbal corrections. Experimental videos and code are available at https://rip4kobe.github.io/BiSAIL/.

Trace2Skill: Distill Trajectory-Local Lessons into Transferable Agent Skills

Equipping Large Language Model (LLM) agents with domain-specific skills is critical for tackling complex tasks. Yet, manual authoring creates a severe scalability bottleneck. Conversely, automated skill generation often yields fragile or fragmented results because it either relies on shallow parametric knowledge or sequentially overfits to non-generalizable trajectory-local lessons. To overcome this, we introduce Trace2Skill, a framework that mirrors how human experts author skills: by holistically analyzing broad execution experience before distilling it into a single, comprehensive guide. Instead of reacting sequentially to individual trajectories, Trace2Skill dispatches a parallel fleet of sub-agents to analyze a diverse pool of executions. It extracts trajectory-specific lessons and hierarchically consolidates them into a unified, conflict-free skill directory via inductive reasoning. Trace2Skill supports both deepening existing human-written skills and creating new ones from scratch. Experiments in challenging domains, such as spreadsheet, VisionQA and math reasoning, show that Trace2Skill significantly improves upon strong baselines, including Anthropic's official xlsx skills. Crucially, this trajectory-grounded evolution does not merely memorize task instances or model-specific quirks: evolved skills transfer across LLM scales and generalize to OOD settings. For example, skills evolved by Qwen3.5-35B on its own trajectories improved a Qwen3.5-122B agent by up to 57.65 absolute percentage points on WikiTableQuestions. Ultimately, our results demonstrate that complex agent experience can be packaged into highly transferable, declarative skills -- requiring no parameter updates, no external retrieval modules, and utilizing open-source models as small as 35B parameters.

Face2Parts: Exploring Coarse-to-Fine Inter-Regional Facial Dependencies for Generalized Deepfake Detection

Multimedia data, particularly images and videos, is integral to various applications, including surveillance, visual interaction, biometrics, evidence gathering, and advertising. However, amateur or skilled counterfeiters can simulate them to create deepfakes, often for slanderous motives. To address this challenge, several forensic methods have been developed to ensure the authenticity of the content. The effectiveness of these methods depends on their focus, with challenges arising from the diverse nature of manipulations. In this article, we analyze existing forensic methods and observe that each method has unique strengths in detecting deepfake traces by focusing on specific facial regions, such as the frame, face, lips, eyes, or nose. Considering these insights, we propose a novel hybrid approach called Face2Parts based on hierarchical feature representation ($HFR$) that takes advantage of coarse-to-fine information to improve deepfake detection. The proposed method involves extracting features from the frame, face, and key facial regions (i.e., lips, eyes, and nose) separately to explore the coarse-to-fine relationships. This approach enables us to capture inter-dependencies among facial regions using a channel-attention mechanism and deep triplet learning. We evaluated the proposed method on benchmark deepfake datasets in both intra-, inter-dataset, and inter-manipulation settings. The proposed method achieves an average AUC of 98.42\% on FF++, 79.80\% on CDF1, 85.34\% on CDF2, 89.41\% on DFD, 84.07\% on DFDC, 95.62\% on DTIM, 80.76\% on PDD, and 100\% on WLDR, respectively. The results demonstrate that our approach generalizes effectively and achieves promising performance to outperform the existing methods.

SportSkills: Physical Skill Learning from Sports Instructional Videos

Current large-scale video datasets focus on general human activity, but lack depth of coverage on fine-grained activities needed to address physical skill learning. We introduce SportSkills, the first large-scale sports dataset geared towards physical skill learning with in-the-wild video. SportSkills has more than 360k instructional videos containing more than 630k visual demonstrations paired with instructional narrations explaining the know-how behind the actions from 55 varied sports. Through a suite of experiments, we show that SportSkills unlocks the ability to understand fine-grained differences between physical actions. Our representation achieves gains of up to 4x with the same model trained on traditional activity-centric datasets. Crucially, building on SportSkills, we introduce the first large-scale task formulation of mistake-conditioned instructional video retrieval, bridging representation learning and actionable feedback generation (e.g., "here's my execution of a skill; which video clip should I watch to improve it?"). Formal evaluations by professional coaches show our retrieval approach significantly advances the ability of video models to personalize visual instructions for a user query.

Process-Aware AI for Rainfall-Runoff Modeling: A Mass-Conserving Neural Framework with Hydrological Process Constraints

Machine learning models can achieve high predictive accuracy in hydrological applications but often lack physical interpretability. The Mass-Conserving Perceptron (MCP) provides a physics-aware artificial intelligence (AI) framework that enforces conservation principles while allowing hydrological process relationships to be learned from data. In this study, we investigate how progressively embedding physically meaningful representations of hydrological processes within a single MCP storage unit improves predictive skill and interpretability in rainfall-runoff modeling. Starting from a minimal MCP formulation, we sequentially introduce bounded soil storage, state-dependent conductivity, variable porosity, infiltration capacity, surface ponding, vertical drainage, and nonlinear water-table dynamics. The resulting hierarchy of process-aware MCP models is evaluated across 15 catchments spanning five hydroclimatic regions of the continental United States using daily streamflow prediction as the target. Results show that progressively augmenting the internal physical structure of the MCP unit generally improves predictive performance. The influence of these process representations is strongly hydroclimate dependent: vertical drainage substantially improves model skill in arid and snow-dominated basins but reduces performance in rainfall-dominated regions, while surface ponding has comparatively small effects. The best-performing MCP configurations approach the predictive skill of a Long Short-Term Memory benchmark while maintaining explicit physical interpretability. These results demonstrate that embedding hydrological process constraints within AI architectures provides a promising pathway toward interpretable and process-aware rainfall-runoff modeling.

SHANDS: A Multi-View Dataset and Benchmark for Surgical Hand-Gesture and Error Recognition Toward Medical Training

In surgical training for medical students, proficiency development relies on expert-led skill assessment, which is costly, time-limited, difficult to scale, and its expertise remains confined to institutions with available specialists. Automated AI-based assessment offers a viable alternative, but progress is constrained by the lack of datasets containing realistic trainee errors and the multi-view variability needed to train robust computer vision approaches. To address this gap, we present Surgical-Hands (SHands), a large-scale multi-view video dataset for surgical hand-gesture and error recognition for medical training. \textsc{SHands} captures linear incision and suturing using five RGB cameras from complementary viewpoints, performed by 52 participants (20 experts and 32 trainees), each completing three standardized trials per procedure. The videos are annotated at the frame level with 15 gesture primitives and include a validated taxonomy of 8 trainee error types, enabling both gesture recognition and error detection. We further define standardized evaluation protocols for single-view, multi-view, and cross-view generalization, and benchmark state-of-the-art deep learning models on the dataset. SHands is publicly released to support the development of robust and scalable AI systems for surgical training grounded in clinically curated domain knowledge.

SoftMimicGen: A Data Generation System for Scalable Robot Learning in Deformable Object Manipulation

Large-scale robot datasets have facilitated the learning of a wide range of robot manipulation skills, but these datasets remain difficult to collect and scale further, owing to the intractable amount of human time, effort, and cost required. Simulation and synthetic data generation have proven to be an effective alternative to fuel this need for data, especially with the advent of recent work showing that such synthetic datasets can dramatically reduce real-world data requirements and facilitate generalization to novel scenarios unseen in real-world demonstrations. However, this paradigm has been limited to rigid-body tasks, which are easy to simulate. Deformable object manipulation encompasses a large portion of real-world manipulation and remains a crucial gap to address towards increasing adoption of the synthetic simulation data paradigm. In this paper, we introduce SoftMimicGen, an automated data generation pipeline for deformable object manipulation tasks. We introduce a suite of high-fidelity simulation environments that encompasses a wide range of deformable objects (stuffed animal, rope, tissue, towel) and manipulation behaviors (high-precision threading, dynamic whipping, folding, pick-and-place), across four robot embodiments: a single-arm manipulator, bimanual arms, a humanoid, and a surgical robot. We apply SoftMimicGen to generate datasets across the task suite, train high-performing policies from the data, and systematically analyze the data generation system. Project website: \href{https://softmimicgen.github.io}{softmimicgen.github.io}.

Think 360°: Evaluating the Width-centric Reasoning Capability of MLLMs Beyond Depth

In this paper, we present a holistic multimodal benchmark that evaluates the reasoning capabilities of MLLMs with an explicit focus on reasoning width, a complementary dimension to the more commonly studied reasoning depth. Specifically, reasoning depth measures the model's ability to carry out long-chain, sequential reasoning in which each step is tightly and rigorously linked to the next. Reasoning width tends to focus more on the model's capacity for broad trial-and-error search or multi-constrained optimization: it must systematically traverse many possible and parallelized reasoning paths, apply diverse constraints to prune unpromising branches, and identify valid solution routes for efficient iteration or backtracking. To achieve it, we carefully curate 1200+ high-quality multimodal cases spanning heterogeneous domains, and propose a fine-grained tree-of-thought evaluation protocol that jointly quantifies reasoning width and depth. We evaluate 12 major model families (over 30 advanced MLLMs) across difficulty tiers, question types, and required skills. Results show that while current models exhibit strong performance on general or common-sense VQA tasks, they still struggle to combine deep sequential thought chains with wide exploratory search to perform genuine insight-based reasoning. Finally, we analyze characteristic failure modes to provide possible directions for building MLLMs that reason not only deeper but also wider.

Cognitive Training for Language Models: Towards General Capabilities via Cross-Entropy Games

Defining a constructive process to build general capabilities for language models in an automatic manner is considered an open problem in artificial intelligence. Towards this, we consider the problem of building a curriculum of tasks that grows a model via relevant skill discovery. We provide a concrete framework for this task, using a family of tasks called cross-entropy games, which we postulate is universal in a suitable sense. We show that if it is possible to grow the curriculum for relevant skill discovery by iterating a greedy optimization algorithm, then, under natural assumptions, there is essentially only one meta-objective possible (up to a few hyperparameters). We call the resulting process cognitive training. We postulate that, given sufficiently capable language models as players and meta-samplers and sufficient training time, cognitive training provides a principled way to relevant skill discovery; and hence to the extent general capabilities are achievable via greedy curriculum learning, cognitive training would be a solution.

Getting to the Point: Why Pointing Improves LVLMs

Pointing increases the accuracy and explainability of Large Vision-Language Models (LVLMs) by modeling grounding and reasoning as explicit sequential steps. The model grounds the objects mentioned in the natural-language query by predicting their coordinates, and then generates an answer conditioned on these points. While pointing has been shown to increase LVLMs' accuracy, it is unclear which mechanism supports these gains and its relevance in cognitive tasks. In addition, the reliability of the intermediate points remains understudied, limiting their use as visual explanations. In this work, we study the role of pointing in a cognitive task: zero-shot counting from a visual scene. We fine-tune state-of-the-art LVLMs following two approaches: Direct Counting, where models only predict the total number of objects, and Point-then-Count, where LVLMs generate the target objects' coordinates followed by their count. The results show that Point-then-Count achieves higher out-of-distribution generalization, suggesting that coordinates help LVLMs learn skills rather than overfitting on narrow tasks. Although predicted points are accurately grounded in the image in over 89\% of cases (as measured by F1), performance varies across image regions, revealing spatial biases. Finally, mechanistic analyses show that gains in counting arise from the spatial information encoded in the coordinates.