Daily Papers

Vision-Language-Action (VLA) models have shown great promise for embodied AI, yet the heavy computational cost of processing continuous visual streams severely limits their real-time deployment. Token pruning (keeping salient visual tokens and dropping redundant ones) has emerged as an effective approach for accelerating Vision-Language Models (VLMs), offering a solution for efficient VLA. However, these VLM-specific token pruning methods select tokens based solely on semantic salience metrics (e.g., prefill attention), while overlooking the VLA's intrinsic dual-system nature of high-level semantic understanding and low-level action execution. Consequently, these methods bias token retention toward semantic cues, discard critical information for action generation, and significantly degrade VLA performance. To bridge this gap, we propose VLA-Pruner, a versatile plug-and-play VLA-specific token prune method that aligns with the dual-system nature of VLA models and exploits the temporal continuity in robot manipulation. Specifically, VLA-Pruner adopts a dual-level importance criterion for visual token retention: vision-language prefill attention for semantic-level relevance and action decode attention, estimated via temporal smoothing, for action-level importance. Based on this criterion, VLA-Pruner proposes a novel dual-level token selection strategy that adaptively preserves a compact, informative set of visual tokens for both semantic understanding and action execution under given compute budget. Experiments show that VLA-Pruner achieves state-of-the-art performance across multiple VLA architectures and diverse robotic tasks.

Current Vision-Language-Action (VLA) models are often constrained by a rigid, static interaction paradigm, which lacks the ability to see, hear, speak, and act concurrently as well as handle real-time user interruptions dynamically. This hinders seamless embodied collaboration, resulting in an inflexible and unresponsive user experience. To address these limitations, we introduce VITA-E, a novel embodied interaction framework designed for both behavioral concurrency and nearly real-time interruption. The core of our approach is a dual-model architecture where two parallel VLA instances operate as an ``Active Model'' and a ``Standby Model'', allowing the embodied agent to observe its environment, listen to user speech, provide verbal responses, and execute actions, all concurrently and interruptibly, mimicking human-like multitasking capabilities. We further propose a ``model-as-controller'' paradigm, where we fine-tune the VLM to generate special tokens that serve as direct system-level commands, coupling the model's reasoning with the system's behavior. Experiments conducted on a physical humanoid platform demonstrate that VITA-E can reliably handle complex interactive scenarios. Our framework is compatible with various dual-system VLA models, achieving an extremely high success rate on emergency stops and speech interruptions while also successfully performing concurrent speech and action. This represents a significant step towards more natural and capable embodied assistants.

Large language models (LLMs) are increasingly expected to go beyond simple factual queries toward Deep Research-tasks that require decomposing questions into sub-problems, coordinating multi-step reasoning, and synthesizing evidence from diverse sources. We formalize Deep Research tasks with verifiable answers as Hierarchical Constraint Satisfaction Problems (HCSPs), which are fundamentally different from single-constraint, multi-hop, or flat CSP formulations. However, existing benchmarks (e.g., Natural Questions, HotpotQA) fail to capture this complexity, while recent synthetic datasets often introduce shortcut reasoning, knowledge leakage, or lack sufficient structural depth. To address this gap, we introduce InfoSeek, a scalable framework for synthesizing complex Deep Research tasks. InfoSeek uses a dual-agent system to recursively build a Research Tree from large-scale webpages, blurring intermediate nodes into valid sub-problems, and converting these trees into natural language questions that require traversing the full hierarchy. It also enables rapid scaling, yielding over 50K training examples, a curated test set, and reasoning trajectories generated via reject sampling. Experiments show that models trained on InfoSeek consistently outperform strong baselines. On a challenging benchmark BrowseComp-Plus, 3B LLMs optimized with InfoSeek surpass much larger 32B models and lightweight commercial APIs (e.g., Gemini2.5-Flash), while achieving performance comparable to stronger APIs (e.g., Gemini2.5-Pro). By preserving meta-information such as intermediate steps and retrieval labels, InfoSeek further supports advanced optimization strategies, including compound reward design and trajectory-level exploration. We provide our codes and datasets in https://github.com/VectorSpaceLab/InfoSeek{this repository}.

Traditional recommender systems rely on passive feedback mechanisms that limit users to simple choices such as like and dislike. However, these coarse-grained signals fail to capture users' nuanced behavior motivations and intentions. In turn, current systems cannot also distinguish which specific item attributes drive user satisfaction or dissatisfaction, resulting in inaccurate preference modeling. These fundamental limitations create a persistent gap between user intentions and system interpretations, ultimately undermining user satisfaction and harming system effectiveness. To address these limitations, we introduce the Interactive Recommendation Feed (IRF), a pioneering paradigm that enables natural language commands within mainstream recommendation feeds. Unlike traditional systems that confine users to passive implicit behavioral influence, IRF empowers active explicit control over recommendation policies through real-time linguistic commands. To support this paradigm, we develop RecBot, a dual-agent architecture where a Parser Agent transforms linguistic expressions into structured preferences and a Planner Agent dynamically orchestrates adaptive tool chains for on-the-fly policy adjustment. To enable practical deployment, we employ simulation-augmented knowledge distillation to achieve efficient performance while maintaining strong reasoning capabilities. Through extensive offline and long-term online experiments, RecBot shows significant improvements in both user satisfaction and business outcomes.

Audio-driven portrait animation aims to synthesize portrait videos that are conditioned by given audio. Animating high-fidelity and multimodal video portraits has a variety of applications. Previous methods have attempted to capture different motion modes and generate high-fidelity portrait videos by training different models or sampling signals from given videos. However, lacking correlation learning between lip-sync and other movements (e.g., head pose/eye blinking) usually leads to unnatural results. In this paper, we propose a unified system for multi-person, diverse, and high-fidelity talking portrait generation. Our method contains three stages, i.e., 1) Mapping-Once network with Dual Attentions (MODA) generates talking representation from given audio. In MODA, we design a dual-attention module to encode accurate mouth movements and diverse modalities. 2) Facial composer network generates dense and detailed face landmarks, and 3) temporal-guided renderer syntheses stable videos. Extensive evaluations demonstrate that the proposed system produces more natural and realistic video portraits compared to previous methods.

Verifiable formal languages like Lean have profoundly impacted mathematical reasoning, particularly through the use of large language models (LLMs) for automated reasoning. A significant challenge in training LLMs for these formal languages is the lack of parallel datasets that align natural language with formal language proofs. To address this challenge, this paper introduces a novel framework for translating the Mathlib4 corpus (a unified library of mathematics in formal language Lean 4) into natural language. Building upon this, we employ a dual augmentation strategy that combines tactic-based and informal-based approaches, leveraging the Lean-jixia system, a Lean 4 analyzer. We present the results of this pipeline on Mathlib4 as Herald (Hierarchy and Retrieval-based Translated Lean Dataset). We also propose the Herald Translator, which is fine-tuned on Herald. Herald translator achieves a 93.2% accuracy (Pass@128) on formalizing statements in the miniF2F-test and a 22.5% accuracy on our internal graduate-level textbook dataset, outperforming InternLM2-Math-Plus-7B (74.0% and 7.5%) and TheoremLlama (50.1% and 4.0%). Furthermore, we propose a section-level translation framework for real-world applications. As a direct application of Herald translator, we have successfully translated a template section in the Stack project, marking a notable progress in the automatic formalization of graduate-level mathematical literature. Our model, along with the datasets, will be open-sourced to the public soon.

A pooling mechanism is essential for mean opinion score (MOS) prediction, facilitating the transformation of variable-length audio features into a concise fixed-size representation that effectively encodes speech quality. Existing pooling methods typically operate at a singular granularity, concentrating either on a comprehensive global perspective or a detailed frame-level analysis, which may overlook complementary perceptual insights. To address this limitation, we introduce the Dual-Resolution Attentive Statistics Pooling (DRASP) framework. DRASP integrates both coarse-grained, global statistical summaries and fine-grained, attentive analyses of perceptually significant segments. This dual-view architecture empowers our model to formulate a more thorough and robust representation, capturing both the overarching structural context and salient local details concurrently. Extensive experiments validate the effectiveness and strong generalization ability of the proposed framework. It consistently outperforms various baseline methods across diverse datasets (MusicEval and AES-Natural), MOS prediction backbones (including a CLAP-based model and AudioBox-Aesthetics), and different audio generation systems, achieving a relative improvement of 10.39% in system-level Spearman's rank correlation coefficient (SRCC) over the widely-used average pooling approach.

Current dialogue generation approaches typically require the complete dialogue text before synthesis and produce a single, inseparable speech containing all voices, making them unsuitable for interactive chat; moreover, they suffer from unstable synthesis, inaccurate speaker transitions, and incoherent prosody. In this work, we present FireRedTTS-2, a long-form streaming TTS system for multi-speaker dialogue generation, delivering stable, natural speech with reliable speaker switching and context-aware prosody. A new 12.5Hz streaming speech tokenizer accelerates training and inference, extends maximum dialogue length, encodes richer semantics to stabilize text-to-token modeling and supports high-fidelity streaming generation for real-time applications. We adopt a text-speech interleaved format, concatenating speaker-labeled text with aligned speech tokens in chronological order, and model it with a dual-transformer: a large decoder-only transformer predicts tokens at the first layer, and a smaller one completes subsequent layers. Experimental results show that FireRedTTS-2 integrates seamlessly with chat frameworks and, with minimal fine-tuning, produces emotionally expressive speech guided by implicit contextual cues. In podcast generation, it surpasses existing systems including MoonCast, Zipvoice-Dialogue, and MOSS-TTSD in objective intelligibility, speaker-turn reliability, and perceived naturalness with context-consistent prosody. Our demos are available at https://fireredteam.github.io/demos/firered_tts_2.

This is an essay in what might be called ``mathematical metaphysics.'' There is a fundamental duality that run through mathematics and the natural sciences. The duality starts as the logical level; it is represented by the Boolean logic of subsets and the logic of partitions since subsets and partitions are category-theoretic dual concepts. In more basic terms, it starts with the duality between the elements (Its) of subsets and the distinctions (Dits, i.e., ordered pairs of elements in different blocks) of a partition. Mathematically, the Its & Dits duality is fully developed in category theory as the reverse-the-arrows duality. The quantitative versions of subsets and partitions are developed as probability theory and information theory (based on logical entropy). Classical physics was based on a view of reality as definite all the way down. In contrast, quantum physics embodies (objective) indefiniteness. And finally, there are the two fundamental dual mechanisms at work in biology, the selectionist mechanism and the generative mechanism, two mechanisms that embody the fundamental duality.

Activity difference based learning algorithms-such as contrastive Hebbian learning and equilibrium propagation-have been proposed as biologically plausible alternatives to error back-propagation. However, on traditional digital chips these algorithms suffer from having to solve a costly inference problem twice, making these approaches more than two orders of magnitude slower than back-propagation. In the analog realm equilibrium propagation may be promising for fast and energy efficient learning, but states still need to be inferred and stored twice. Inspired by lifted neural networks and compartmental neuron models we propose a simple energy based compartmental neuron model, termed dual propagation, in which each neuron is a dyad with two intrinsic states. At inference time these intrinsic states encode the error/activity duality through their difference and their mean respectively. The advantage of this method is that only a single inference phase is needed and that inference can be solved in layerwise closed-form. Experimentally we show on common computer vision datasets, including Imagenet32x32, that dual propagation performs equivalently to back-propagation both in terms of accuracy and runtime.

Dual-system VLA (Vision-Language-Action) architectures have become a hot topic in embodied intelligence research, but there is a lack of sufficient open-source work for further performance analysis and optimization. To address this problem, this paper will summarize and compare the structural designs of existing dual-system architectures, and conduct systematic empirical evaluations on the core design elements of existing dual-system architectures. Ultimately, it will provide a low-cost open-source model for further exploration. Of course, this project will continue to update with more experimental conclusions and open-source models with improved performance for everyone to choose from. Project page: https://openhelix-robot.github.io/.

While recent large vision-language models (VLMs) have improved generalization in vision-language navigation (VLN), existing methods typically rely on end-to-end pipelines that map vision-language inputs directly to short-horizon discrete actions. Such designs often produce fragmented motions, incur high latency, and struggle with real-world challenges like dynamic obstacle avoidance. We propose DualVLN, the first dual-system VLN foundation model that synergistically integrates high-level reasoning with low-level action execution. System 2, a VLM-based global planner, "grounds slowly" by predicting mid-term waypoint goals via image-grounded reasoning. System 1, a lightweight, multi-modal conditioning Diffusion Transformer policy, "moves fast" by leveraging both explicit pixel goals and latent features from System 2 to generate smooth and accurate trajectories. The dual-system design enables robust real-time control and adaptive local decision-making in complex, dynamic environments. By decoupling training, the VLM retains its generalization, while System 1 achieves interpretable and effective local navigation. DualVLN outperforms prior methods across all VLN benchmarks and real-world experiments demonstrate robust long-horizon planning and real-time adaptability in dynamic environments.

This study explores the interference in temporal processing within a dual-task paradigm from an artificial intelligence (AI) perspective. In this context, the dual-task setup is implemented as a simplified version of the Overcooked environment with two variations, single task (T) and dual task (T+N). Both variations involve an embedded time production task, but the dual task (T+N) additionally involves a concurrent number comparison task. Two deep reinforcement learning (DRL) agents were separately trained for each of these tasks. These agents exhibited emergent behavior consistent with human timing research. Specifically, the dual task (T+N) agent exhibited significant overproduction of time relative to its single task (T) counterpart. This result was consistent across four target durations. Preliminary analysis of neural dynamics in the agents' LSTM layers did not reveal any clear evidence of a dedicated or intrinsic timer. Hence, further investigation is needed to better understand the underlying time-keeping mechanisms of the agents and to provide insights into the observed behavioral patterns. This study is a small step towards exploring parallels between emergent DRL behavior and behavior observed in biological systems in order to facilitate a better understanding of both.

We introduce DualMind, a generalist agent designed to tackle various decision-making tasks that addresses challenges posed by current methods, such as overfitting behaviors and dependence on task-specific fine-tuning. DualMind uses a novel "Dual-phase" training strategy that emulates how humans learn to act in the world. The model first learns fundamental common knowledge through a self-supervised objective tailored for control tasks and then learns how to make decisions based on different contexts through imitating behaviors conditioned on given prompts. DualMind can handle tasks across domains, scenes, and embodiments using just a single set of model weights and can execute zero-shot prompting without requiring task-specific fine-tuning. We evaluate DualMind on MetaWorld and Habitat through extensive experiments and demonstrate its superior generalizability compared to previous techniques, outperforming other generalist agents by over 50% and 70% on Habitat and MetaWorld, respectively. On the 45 tasks in MetaWorld, DualMind achieves over 30 tasks at a 90% success rate.

Living systems face both environmental complexity and limited access to free-energy resources. Survival under these conditions requires a control system that can activate, or deploy, available perception and action resources in a context specific way. We show here that when systems are described as executing active inference driven by the free-energy principle (and hence can be considered Bayesian prediction-error minimizers), their control flow systems can always be represented as tensor networks (TNs). We show how TNs as control systems can be implmented within the general framework of quantum topological neural networks, and discuss the implications of these results for modeling biological systems at multiple scales.

Dynamical systems with complex behaviours, e.g. immune system cells interacting with a pathogen, are commonly modelled by splitting the behaviour into different regimes, or modes, each with simpler dynamics, and then learning the switching behaviour from one mode to another. Switching Dynamical Systems (SDS) are a powerful tool that automatically discovers these modes and mode-switching behaviour from time series data. While effective, these methods focus on independent objects, where the modes of one object are independent of the modes of the other objects. In this paper, we focus on the more general interacting object setting for switching dynamical systems, where the per-object dynamics also depends on an unknown and dynamically changing subset of other objects and their modes. To this end, we propose a novel graph-based approach for switching dynamical systems, GRAph Switching dynamical Systems (GRASS), in which we use a dynamic graph to characterize interactions between objects and learn both intra-object and inter-object mode-switching behaviour. We introduce two new datasets for this setting, a synthesized ODE-driven particles dataset and a real-world Salsa Couple Dancing dataset. Experiments show that GRASS can consistently outperforms previous state-of-the-art methods.

With the development in cognitive science and Large Language Models (LLMs), increasing connections have come to light between these two distinct fields. Building upon these connections, we propose a conjecture suggesting the existence of a duality between LLMs and Tulving's theory of memory. We identify a potential correspondence between Tulving's synergistic ecphory model (SEM) of retrieval and the emergent abilities observed in LLMs, serving as supporting evidence for our conjecture. Furthermore, we speculate that consciousness may be considered a form of emergent ability based on this duality. We also discuss how other theories of consciousness intersect with our research.

The emergence and impact of tipping points have garnered significant interest in both the social and natural sciences. Despite widespread recognition of the importance of feedbacks between human and natural systems, it is often assumed that the observed nonlinear dynamics in these coupled systems rests within either underlying human or natural processes, rather than the rates at which they interact. Using adoption of agricultural diversification practices as a case study, we show how two stable management paradigms (one dominated by conventional, homogeneous practices, the other by diversified practices) can emerge purely from temporal feedbacks between human decisions and ecological responses. We explore how this temporal mechanism of tipping points provides insight into designing more effective interventions that promote farmers transitions towards sustainable agriculture. Moreover, our flexible modeling framework could be applied to other cases to provide insight into numerous questions in social-ecological systems research and environmental policy.

In human cognition theory, human thinking is governed by two systems: the fast and intuitive System 1 and the slower but more deliberative System 2. Recent studies have shown that incorporating System 2 process into Transformers including large language models (LLMs), significantly enhances their reasoning capabilities. Nevertheless, models that purely resemble System 2 thinking require substantially higher computational costs and are much slower to respond. To address this challenge, we present Dualformer, a single Transformer model that seamlessly integrates both the fast and slow reasoning modes. Dualformer is obtained by training on data with randomized reasoning traces, where different parts of the traces are dropped during training. The dropping strategies are specifically tailored according to the trace structure, analogous to analyzing our thinking process and creating shortcuts with patterns. At inference time, our model can be configured to output only the solutions (fast mode) or both the reasoning chain and the final solution (slow mode), or automatically decide which mode to engage (auto mode). In all cases, Dualformer outperforms the corresponding baseline models in both performance and computational efficiency: (1) in slow mode, Dualformer optimally solves unseen 30 x 30 maze navigation tasks 97.6% of the time, surpassing the Searchformer (trained on data with complete reasoning traces) baseline performance of 93.3%, while only using 45.5% fewer reasoning steps; (2) in fast mode, Dualformer completes those tasks with an 80% optimal rate, significantly outperforming the Solution-Only model (trained on solution-only data), which has an optimal rate of only 30%. For math problems, our techniques have also achieved improved performance with LLM fine-tuning, showing its generalization beyond task-specific models.

In this paper, we discuss that an observable-based single-system Copenhagen and entanglement-based two-system von Neumann measurement protocols in quantum theory can be made equivalent by considering the second part of the two-system scheme to be a Dirac-type negative sea filling up the first system. Based on this equivalence, and by considering the universe as a computational process, the choice of the apparatus state in the two-system protocol can be identified with the choice of the observable in the single-system scheme as negative sea filling up the observable universe. In particular, the measuring party's state is considered to be evolving backwards in time to the big bang as a nondeterministic computational process, which chooses the acceptable path as a time-reversal process of irreversible computation. The suggested model proposes that the prepared microstate of the universe, or reality, corresponds to the observer's choice, therefore, subjective reality. Thus, this effectively provides a specific description of the subjective universe model previously proposed, which is based on the symmetry breakdown between the Schrodinger and the Heisenberg pictures of quantum theory.

Noise is a ubiquitous feature of the physical world. As a result, the first prerequisite of life is fault tolerance: maintaining integrity of state despite external bombardment. Recent experimental advances have revealed that biological systems achieve fault tolerance by implementing mathematically intricate error-correcting codes and by organizing in a modular fashion that physically separates functionally distinct subsystems. These elaborate structures represent a vanishing volume in the massive genetic configuration space. How is it possible that the primitive process of evolution, by which all biological systems evolved, achieved such unusual results? In this work, through experiments in Boolean networks, we show that the simultaneous presence of error correction and modularity in biological systems is no coincidence. Rather, it is a typical co-occurrence in noisy dynamic systems undergoing evolution. From this, we deduce the principle of error correction enhanced evolvability: systems possessing error-correcting codes are more effectively improved by evolution than those without.

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from challenges such as limited mutual understanding of capabilities between systems and latency issues. This paper introduces OneTwoVLA, a single unified vision-language-action model that can perform both acting (System One) and reasoning (System Two). Crucially, OneTwoVLA adaptively switches between two modes: explicitly reasoning at critical moments during task execution, and generating actions based on the most recent reasoning at other times. To further unlock OneTwoVLA's reasoning and generalization capabilities, we design a scalable pipeline for synthesizing embodied reasoning-centric vision-language data, used for co-training with robot data. We validate OneTwoVLA's effectiveness through extensive experiments, highlighting its superior performance across four key capabilities: long-horizon task planning, error detection and recovery, natural human-robot interaction, and generalizable visual grounding, enabling the model to perform long-horizon, highly dexterous manipulation tasks such as making hotpot or mixing cocktails.

The objective of personalized medicine is to tailor interventions to an individual patient's unique characteristics. A key technology for this purpose involves medical digital twins, computational models of human biology that can be personalized and dynamically updated to incorporate patient-specific data collected over time. Certain aspects of human biology, such as the immune system, are not easily captured with physics-based models, such as differential equations. Instead, they are often multi-scale, stochastic, and hybrid. This poses a challenge to existing model-based control and optimization approaches that cannot be readily applied to such models. Recent advances in automatic differentiation and neural-network control methods hold promise in addressing complex control problems. However, the application of these approaches to biomedical systems is still in its early stages. This work introduces dynamics-informed neural-network controllers as an alternative approach to control of medical digital twins. As a first use case for this method, the focus is on agent-based models, a versatile and increasingly common modeling platform in biomedicine. The effectiveness of the proposed neural-network control method is illustrated and benchmarked against other methods with two widely-used agent-based model types. The relevance of the method introduced here extends beyond medical digital twins to other complex dynamical systems.

Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the large-scale consistent plan for the whole activity and (2) the small-scale children interactive actions that start and end along the timeline. While neuroscience and cognitive science have confirmed this multi-mechanism nature of human behavior, machine modeling approaches for human motion are trailing behind. While attempted to use gradually morphing structures (e.g., graph attention networks) to model the dynamic HOI patterns, they miss the expeditious and discrete mode-switching nature of the human motion. To bridge that gap, this work proposes to model two concurrent mechanisms that jointly control human motion: the Persistent process that runs continually on the global scale, and the Transient sub-processes that operate intermittently on the local context of the human while interacting with objects. These two mechanisms form an interactive Persistent-Transient Duality that synergistically governs the activity sequences. We model this conceptual duality by a parent-child neural network of Persistent and Transient channels with a dedicated neural module for dynamic mechanism switching. The framework is trialed on HOI motion forecasting. On two rich datasets and a wide variety of settings, the model consistently delivers superior performances, proving its suitability for the challenge.

Vision transformers have significantly advanced the field of computer vision, offering robust modeling capabilities and global receptive field. However, their high computational demands limit their applicability in processing long sequences. To tackle this issue, State Space Models (SSMs) have gained prominence in vision tasks as they offer linear computational complexity. Recently, State Space Duality (SSD), an improved variant of SSMs, was introduced in Mamba2 to enhance model performance and efficiency. However, the inherent causal nature of SSD/SSMs restricts their applications in non-causal vision tasks. To address this limitation, we introduce Visual State Space Duality (VSSD) model, which has a non-causal format of SSD. Specifically, we propose to discard the magnitude of interactions between the hidden state and tokens while preserving their relative weights, which relieves the dependencies of token contribution on previous tokens. Together with the involvement of multi-scan strategies, we show that the scanning results can be integrated to achieve non-causality, which not only improves the performance of SSD in vision tasks but also enhances its efficiency. We conduct extensive experiments on various benchmarks including image classification, detection, and segmentation, where VSSD surpasses existing state-of-the-art SSM-based models. Code and weights are available at https://github.com/YuHengsss/VSSD.

Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance remains challenging due to the high computational demands of existing models. To overcome this, we propose Dual Process VLA (DP-VLA), a hierarchical framework inspired by dual-process theory. DP-VLA utilizes a Large System 2 Model (L-Sys2) for complex reasoning and decision-making, while a Small System 1 Model (S-Sys1) handles real-time motor control and sensory processing. By leveraging Vision-Language Models (VLMs), the L-Sys2 operates at low frequencies, reducing computational overhead, while the S-Sys1 ensures fast and accurate task execution. Experimental results on the RoboCasa dataset demonstrate that DP-VLA achieves faster inference and higher task success rates, providing a scalable solution for advanced robotic applications.

The emergence of multi-agent systems built from large language models (LLMs) offers a promising paradigm for scalable collective intelligence and self-evolution. Ideally, such systems would achieve continuous self-improvement in a fully closed loop while maintaining robust safety alignment--a combination we term the self-evolution trilemma. However, we demonstrate both theoretically and empirically that an agent society satisfying continuous self-evolution, complete isolation, and safety invariance is impossible. Drawing on an information-theoretic framework, we formalize safety as the divergence degree from anthropic value distributions. We theoretically demonstrate that isolated self-evolution induces statistical blind spots, leading to the irreversible degradation of the system's safety alignment. Empirical and qualitative results from an open-ended agent community (Moltbook) and two closed self-evolving systems reveal phenomena that align with our theoretical prediction of inevitable safety erosion. We further propose several solution directions to alleviate the identified safety concern. Our work establishes a fundamental limit on the self-evolving AI societies and shifts the discourse from symptom-driven safety patches to a principled understanding of intrinsic dynamical risks, highlighting the need for external oversight or novel safety-preserving mechanisms.

Neo-Darwinian evolutionary theory explains how the appearance of purposive design in the sophisticated adaptations of living organisms can have come about without their intentionally being designed. The explanation relies crucially on the possibility of certain physical processes: mainly, gene replication and natural selection. In this paper I show that for those processes to be possible without the design of biological adaptations being encoded in the laws of physics, those laws must have certain other properties. The theory of what these properties are is not part of evolution theory proper, and has not been developed, yet without it the neo-Darwinian theory does not fully achieve its purpose of explaining the appearance of design. To this end I apply Constructor Theory's new mode of explanation to provide an exact formulation of the appearance of design, of no-design laws, and of the logic of self-reproduction and natural selection, within fundamental physics. I conclude that self-reproduction, replication and natural selection are possible under no-design laws, the only non-trivial condition being that they allow digital information to be physically instantiated. This has an exact characterisation in the constructor theory of information. I also show that under no-design laws an accurate replicator requires the existence of a "vehicle" constituting, together with the replicator, a self-reproducer.

We consider a biological population whose environment varies periodically in time, exhibiting two very different "seasons" : one is favorable and the other one is unfavorable. For monotone differential models with concave nonlinearities, we address the following question: the system's period being fixed, under what conditions does there exist a critical duration for the unfavorable season? By "critical duration" we mean that above some threshold, the population cannot sustain and extincts, while below this threshold, the system converges to a unique periodic and positive solution. We term this a "sharp seasonal threshold property" (SSTP, for short). Building upon a previous result, we obtain sufficient conditions for SSTP in any dimension and apply our criterion to a two-dimensional model featuring juvenile and adult populations of insects.

Artificial neural networks achieve strong performance on benchmark tasks but remain fundamentally brittle under perturbations, limiting their deployment in real-world settings. In contrast, biological nervous systems sustain reliable function across decades through homeostatic regulation coordinated across multiple temporal scales. Inspired by this principle, this presents Multi-Scale Temporal Homeostasis (MSTH), a biologically grounded framework that integrates ultra-fast (5-ms), fast (2-s), medium (5-min) and slow (1-hrs) regulation into artificial networks. MSTH implements the cross-scale coordination system for artificial neural networks, providing a unified temporal hierarchy that moves beyond superficial biomimicry. The cross-scale coordination enhances computational efficiency through evolutionary-refined optimization mechanisms. Experiments across molecular, graph and image classification benchmarks show that MSTH consistently improves accuracy, eliminates catastrophic failures and enhances recovery from perturbations. Moreover, MSTH outperforms both single-scale bio-inspired models and established state-of-the-art methods, demonstrating generality across diverse domains. These findings establish cross-scale temporal coordination as a core principle for stabilizing artificial neural systems, positioning MSTH as a foundation for building robust, resilient and biologically faithful intelligence.

Agents built on large language models (LLMs) have excelled in turn-by-turn human-AI collaboration but struggle with simultaneous tasks requiring real-time interaction. Latency issues and the challenge of inferring variable human strategies hinder their ability to make autonomous decisions without explicit instructions. Through experiments with current independent System 1 and System 2 methods, we validate the necessity of using Dual Process Theory (DPT) in real-time tasks. We propose DPT-Agent, a novel language agent framework that integrates System 1 and System 2 for efficient real-time simultaneous human-AI collaboration. DPT-Agent's System 1 uses a Finite-state Machine (FSM) and code-as-policy for fast, intuitive, and controllable decision-making. DPT-Agent's System 2 integrates Theory of Mind (ToM) and asynchronous reflection to infer human intentions and perform reasoning-based autonomous decisions. We demonstrate the effectiveness of DPT-Agent through further experiments with rule-based agents and human collaborators, showing significant improvements over mainstream LLM-based frameworks. To the best of our knowledge, DPT-Agent is the first language agent framework that achieves successful real-time simultaneous human-AI collaboration autonomously. Code of DPT-Agent can be found in https://github.com/sjtu-marl/DPT-Agent.

We propose a formal reconstruction of quantum mechanics grounded not in external mathematical abstractions, but in the structured dynamics of subjective experience. The Qualia Abstraction Language (QAL) models physical systems as evolving streams of introspective units, structured sequences of modality, shape, and functional effect, rather than as state vectors in Hilbert space. This approach reimagines core quantum concepts: superposition becomes a form of structured ambiguity; collapse is reframed as an introspective contraction; and entanglement is modeled as semantic resonance across streams of qualia. Drawing on insights from nominalist philosophy and oversight theoretic limits in AI, we argue that the observer paradox in quantum mechanics reflects not an ontological lacuna, but a linguistic one: the absence of a formal vocabulary for modeling first person structure. QAL introduces such a vocabulary, providing a morphodynamic framework that embeds the observer within the system and replaces abstract projection with endogenous transformation. We analyze the alignment of QAL with endophysical approaches, contrast it with standard interpretations of quantum theory, and explore its implications for a post Platonist, introspectively grounded physics.

Developing embodied agents capable of performing complex interactive tasks in real-world scenarios remains a fundamental challenge in embodied AI. Although recent advances in simulation platforms have greatly enhanced task diversity to train embodied Vision Language Models (VLMs), most platforms rely on simplified robot morphologies and bypass the stochastic nature of low-level execution, which limits their transferability to real-world robots. To address these issues, we present a physics-based simulation platform DualTHOR for complex dual-arm humanoid robots, built upon an extended version of AI2-THOR. Our simulator includes real-world robot assets, a task suite for dual-arm collaboration, and inverse kinematics solvers for humanoid robots. We also introduce a contingency mechanism that incorporates potential failures through physics-based low-level execution, bridging the gap to real-world scenarios. Our simulator enables a more comprehensive evaluation of the robustness and generalization of VLMs in household environments. Extensive evaluations reveal that current VLMs struggle with dual-arm coordination and exhibit limited robustness in realistic environments with contingencies, highlighting the importance of using our simulator to develop more capable VLMs for embodied tasks. The code is available at https://github.com/ds199895/DualTHOR.git.

While Transformers have been the main architecture behind deep learning's success in language modeling, state-space models (SSMs) such as Mamba have recently been shown to match or outperform Transformers at small to medium scale. We show that these families of models are actually quite closely related, and develop a rich framework of theoretical connections between SSMs and variants of attention, connected through various decompositions of a well-studied class of structured semiseparable matrices. Our state space duality (SSD) framework allows us to design a new architecture (Mamba-2) whose core layer is an a refinement of Mamba's selective SSM that is 2-8X faster, while continuing to be competitive with Transformers on language modeling.

Complex hierarchical structures composed of simple nanoscale building blocks form the basis of most biological materials. Here we demonstrate how analogies between seemingly different fields enable the understanding of general principles by which functional properties in hierarchical systems emerge, similar to an analogy learning process. Specifically, natural hierarchical materials like spider silk exhibit properties comparable to classical music in terms of their hierarchical structure and function. As a comparative tool here we apply hierarchical ontology logs (olog) that follow a rigorous mathematical formulation based on category theory to provide an insightful system representation by expressing knowledge in a conceptual map. We explain the process of analogy creation, draw connections at several levels of hierarchy and identify similar patterns that govern the structure of the hierarchical systems silk and music and discuss the impact of the derived analogy for nanotechnology.