Daily Papers

We propose GoalFlow, an end-to-end autonomous driving method for generating high-quality multimodal trajectories. In autonomous driving scenarios, there is rarely a single suitable trajectory. Recent methods have increasingly focused on modeling multimodal trajectory distributions. However, they suffer from trajectory selection complexity and reduced trajectory quality due to high trajectory divergence and inconsistencies between guidance and scene information. To address these issues, we introduce GoalFlow, a novel method that effectively constrains the generative process to produce high-quality, multimodal trajectories. To resolve the trajectory divergence problem inherent in diffusion-based methods, GoalFlow constrains the generated trajectories by introducing a goal point. GoalFlow establishes a novel scoring mechanism that selects the most appropriate goal point from the candidate points based on scene information. Furthermore, GoalFlow employs an efficient generative method, Flow Matching, to generate multimodal trajectories, and incorporates a refined scoring mechanism to select the optimal trajectory from the candidates. Our experimental results, validated on the NavsimDauner2024_navsim, demonstrate that GoalFlow achieves state-of-the-art performance, delivering robust multimodal trajectories for autonomous driving. GoalFlow achieved PDMS of 90.3, significantly surpassing other methods. Compared with other diffusion-policy-based methods, our approach requires only a single denoising step to obtain excellent performance. The code is available at https://github.com/YvanYin/GoalFlow.

Vision language models (VLMs) are increasingly deployed as controllers with access to external tools for complex reasoning and decision-making, yet their effectiveness remains limited by the scarcity of high-quality multimodal trajectories and the cost of manual annotation. We address this challenge with a vision-centric agent tuning framework that automatically synthesizes multimodal trajectories, generates step-wise preference pairs, and trains a VLM controller for robust tool-use reasoning. Our pipeline first constructs M-TRACE, a large-scale dataset of 28.5K multimodal tasks with 177K verified trajectories, enabling imitation-based trajectory tuning. Building on this, we develop MATRIX Agent, a controller finetuned on M-TRACE for step-wise tool reasoning. To achieve finer alignment, we further introduce Pref-X, a set of 11K automatically generated preference pairs, and optimize MATRIX on it via step-wise preference learning. Across three benchmarks, Agent-X, GTA, and GAIA, MATRIX consistently surpasses both open- and closed-source VLMs, demonstrating scalable and effective multimodal tool use. Our data and code is avaliable at https://github.com/mbzuai-oryx/MATRIX.

Vision-language models (VLMs) excel at multimodal understanding, yet their text-only decoding forces them to verbalize visual reasoning, limiting performance on tasks that demand visual imagination. Recent attempts train VLMs to render explicit images, but the heavy image-generation pre-training often hinders the reasoning ability. Inspired by the way humans reason with mental imagery-the internal construction and manipulation of visual cues-we investigate whether VLMs can reason through interleaved multimodal trajectories without producing explicit images. To this end, we present a Machine Mental Imagery framework, dubbed as Mirage, which augments VLM decoding with latent visual tokens alongside ordinary text. Concretely, whenever the model chooses to ``think visually'', it recasts its hidden states as next tokens, thereby continuing a multimodal trajectory without generating pixel-level images. Begin by supervising the latent tokens through distillation from ground-truth image embeddings, we then switch to text-only supervision to make the latent trajectory align tightly with the task objective. A subsequent reinforcement learning stage further enhances the multimodal reasoning capability. Experiments on diverse benchmarks demonstrate that Mirage unlocks stronger multimodal reasoning without explicit image generation.

Web agents such as Deep Research have demonstrated superhuman cognitive abilities, capable of solving highly challenging information-seeking problems. However, most research remains primarily text-centric, overlooking visual information in the real world. This makes multimodal Deep Research highly challenging, as such agents require much stronger reasoning abilities in perception, logic, knowledge, and the use of more sophisticated tools compared to text-based agents. To address this limitation, we introduce WebWatcher, a multi-modal Agent for Deep Research equipped with enhanced visual-language reasoning capabilities. It leverages high-quality synthetic multimodal trajectories for efficient cold start training, utilizes various tools for deep reasoning, and further enhances generalization through reinforcement learning. To better evaluate the capabilities of multimodal agents, we propose BrowseComp-VL, a benchmark with BrowseComp-style that requires complex information retrieval involving both visual and textual information. Experimental results show that WebWatcher significantly outperforms proprietary baseline, RAG workflow and open-source agents in four challenging VQA benchmarks, which paves the way for solving complex multimodal information-seeking tasks.

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other. Despite increased attention to this issue, most approaches in trajectory prediction do not consider all of these factors sufficiently. We present SemanticFormer, an approach for predicting multimodal trajectories by reasoning over a semantic traffic scene graph using a hybrid approach. It utilizes high-level information in the form of meta-paths, i.e. trajectories on which an agent is allowed to drive from a knowledge graph which is then processed by a novel pipeline based on multiple attention mechanisms to predict accurate trajectories. SemanticFormer comprises a hierarchical heterogeneous graph encoder to capture spatio-temporal and relational information across agents as well as between agents and road elements. Further, it includes a predictor to fuse different encodings and decode trajectories with probabilities. Finally, a refinement module assesses permitted meta-paths of trajectories and speed profiles to obtain final predicted trajectories. Evaluation of the nuScenes benchmark demonstrates improved performance compared to several SOTA methods. In addition, we demonstrate that our knowledge graph can be easily added to two graph-based existing SOTA methods, namely VectorNet and Laformer, replacing their original homogeneous graphs. The evaluation results suggest that by adding our knowledge graph the performance of the original methods is enhanced by 5% and 4%, respectively.

Large language models are transitioning from generalpurpose knowledge engines to realworld problem solvers, yet optimizing them for deep search tasks remains challenging. The central bottleneck lies in the extreme sparsity of highquality search trajectories and reward signals, arising from the difficulty of scalable longhorizon task construction and the high cost of interactionheavy rollouts involving external tool calls. To address these challenges, we propose REDSearcher, a unified framework that codesigns complex task synthesis, midtraining, and posttraining for scalable searchagent optimization. Specifically, REDSearcher introduces the following improvements: (1) We frame task synthesis as a dualconstrained optimization, where task difficulty is precisely governed by graph topology and evidence dispersion, allowing scalable generation of complex, highquality tasks. (2) We introduce toolaugmented queries to encourage proactive tool use rather than passive recall.(3) During midtraining, we strengthen core atomic capabilities knowledge, planning, and function calling substantially reducing the cost of collecting highquality trajectories for downstream training. (4) We build a local simulated environment that enables rapid, lowcost algorithmic iteration for reinforcement learning experiments. Across both textonly and multimodal searchagent benchmarks, our approach achieves stateoftheart performance. To facilitate future research on longhorizon search agents, we will release 10K highquality complex text search trajectories, 5K multimodal trajectories and 1K text RL query set, and together with code and model checkpoints.

Recent success in large multimodal models (LMMs) has sparked promising applications of agents capable of autonomously completing complex web tasks. While open-source LMM agents have made significant advances in offline evaluation benchmarks, their performance still falls substantially short of human-level capabilities in more realistic online settings. A key bottleneck is the lack of diverse and large-scale trajectory-level datasets across various domains, which are expensive to collect. In this paper, we address this challenge by developing a scalable recipe to synthesize the largest and most diverse trajectory-level dataset to date, containing over 94K successful multimodal web trajectories, spanning 49K unique URLs, 720K screenshots, and 33M web elements. In particular, we leverage extensive web exploration and refinement to obtain diverse task intents. The average cost is 28 cents per successful trajectory, making it affordable to a wide range of users in the community. Leveraging this dataset, we train Explorer, a multimodal web agent, and demonstrate strong performance on both offline and online web agent benchmarks such as Mind2Web-Live, Multimodal-Mind2Web, and MiniWob++. Additionally, our experiments highlight data scaling as a key driver for improving web agent capabilities. We hope this study makes state-of-the-art LMM-based agent research at a larger scale more accessible.

Recent advances in DeepResearch-style agents have demonstrated strong capabilities in autonomous information acquisition and synthesize from real-world web environments. However, existing approaches remain fundamentally limited to text modality. Extending autonomous information-seeking agents to multimodal settings introduces critical challenges: the specialization-generalization trade-off that emerges when training models for multimodal tool-use at scale, and the severe scarcity of training data capturing complex, multi-step multimodal search trajectories. To address these challenges, we propose M^3Searcher, a modular multimodal information-seeking agent that explicitly decouples information acquisition from answer derivation. M^3Searcher is optimized with a retrieval-oriented multi-objective reward that jointly encourages factual accuracy, reasoning soundness, and retrieval fidelity. In addition, we develop MMSearchVQA, a multimodal multi-hop dataset to support retrieval centric RL training. Experimental results demonstrate that M^3Searcher outperforms existing approaches, exhibits strong transfer adaptability and effective reasoning in complex multimodal tasks.

There has been increasing research interest in building unified multimodal understanding and generation models, among which Show-o stands as a notable representative, demonstrating great promise for both text-to-image and image-to-text generation. The inference of Show-o involves progressively denoising image tokens and autoregressively decoding text tokens, and hence, unfortunately, suffers from inefficiency issues from both sides. This paper introduces Show-o Turbo to bridge the gap. We first identify a unified denoising perspective for the generation of images and text in Show-o based on the parallel decoding of text tokens. We then propose to extend consistency distillation (CD), a qualified approach for shortening the denoising process of diffusion models, to the multimodal denoising trajectories of Show-o. We introduce a trajectory segmentation strategy and a curriculum learning procedure to improve the training convergence. Empirically, in text-to-image generation, Show-o Turbo displays a GenEval score of 0.625 at 4 sampling steps without using classifier-free guidance (CFG), outperforming that of the original Show-o with 8 steps and CFG; in image-to-text generation, Show-o Turbo exhibits a 1.5x speedup without significantly sacrificing performance. The code is available at https://github.com/zhijie-group/Show-o-Turbo.

Enhancing the multimodal reasoning capabilities of Multimodal Large Language Models (MLLMs) is a challenging task that has attracted increasing attention in the community. Recently, several studies have applied Reinforcement Learning with Verifiable Rewards (RLVR) to the multimodal domain in order to enhance the reasoning abilities of MLLMs. However, these works largely overlook the enhancement of multimodal perception capabilities in MLLMs, which serve as a core prerequisite and foundational component of complex multimodal reasoning. Through McNemar's test, we find that existing RLVR method fails to effectively enhance the multimodal perception capabilities of MLLMs, thereby limiting their further improvement in multimodal reasoning. To address this limitation, we propose Perception-R1, which introduces a novel visual perception reward that explicitly encourages MLLMs to perceive the visual content accurately, thereby can effectively incentivizing both their multimodal perception and reasoning capabilities. Specifically, we first collect textual visual annotations from the CoT trajectories of multimodal problems, which will serve as visual references for reward assignment. During RLVR training, we employ a judging LLM to assess the consistency between the visual annotations and the responses generated by MLLM, and assign the visual perception reward based on these consistency judgments. Extensive experiments on several multimodal reasoning benchmarks demonstrate the effectiveness of our Perception-R1, which achieves state-of-the-art performance on most benchmarks using only 1,442 training data.

We present Game-TARS, a generalist game agent trained with a unified, scalable action space anchored to human-aligned native keyboard-mouse inputs. Unlike API- or GUI-based approaches, this paradigm enables large-scale continual pre-training across heterogeneous domains, including OS, web, and simulation games. Game-TARS is pre-trained on over 500B tokens with diverse trajectories and multimodal data. Key techniques include a decaying continual loss to reduce causal confusion and an efficient Sparse-Thinking strategy that balances reasoning depth and inference cost. Experiments show that Game-TARS achieves about 2 times the success rate over the previous sota model on open-world Minecraft tasks, is close to the generality of fresh humans in unseen web 3d games, and outperforms GPT-5, Gemini-2.5-Pro, and Claude-4-Sonnet in FPS benchmarks. Scaling results on training-time and test-time confirm that the unified action space sustains improvements when scaled to cross-game and multimodal data. Our results demonstrate that simple, scalable action representations combined with large-scale pre-training provide a promising path toward generalist agents with broad computer-use abilities.

We present WorldCanvas, a framework for promptable world events that enables rich, user-directed simulation by combining text, trajectories, and reference images. Unlike text-only approaches and existing trajectory-controlled image-to-video methods, our multimodal approach combines trajectories -- encoding motion, timing, and visibility -- with natural language for semantic intent and reference images for visual grounding of object identity, enabling the generation of coherent, controllable events that include multi-agent interactions, object entry/exit, reference-guided appearance and counterintuitive events. The resulting videos demonstrate not only temporal coherence but also emergent consistency, preserving object identity and scene despite temporary disappearance. By supporting expressive world events generation, WorldCanvas advances world models from passive predictors to interactive, user-shaped simulators. Our project page is available at: https://worldcanvas.github.io/.

Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking (RTC) alleviates this issue but is external to the policy, leading to spurious multimodal switching and trajectories that are not intrinsically smooth. We propose Legato, a training-time continuation method for action-chunked flow-based VLA policies. Specifically, Legato initializes denoising from a schedule-shaped mixture of known actions and noise, exposing the model to partial action information. Moreover, Legato reshapes the learned flow dynamics to ensure that the denoising process remains consistent between training and inference under per-step guidance. Legato further uses randomized schedule condition during training to support varying inference delays and achieve controllable smoothness. Empirically, Legato produces smoother trajectories and reduces spurious multimodal switching during execution, leading to less hesitation and shorter task completion time. Extensive real-world experiments show that Legato consistently outperforms RTC across five manipulation tasks, achieving approximately 10% improvements in both trajectory smoothness and task completion time.

Large-scale generative language and vision-language models (LLMs and VLMs) excel in few-shot in-context learning for decision making and instruction following. However, they require high-quality exemplar demonstrations to be included in their context window. In this work, we ask: Can LLMs and VLMs generate their own prompt examples from generic, sub-optimal demonstrations? We propose In-Context Abstraction Learning (ICAL), a method that builds a memory of multimodal experience insights from sub-optimal demonstrations and human feedback. Given a noisy demonstration in a new domain, VLMs abstract the trajectory into a general program by fixing inefficient actions and annotating cognitive abstractions: task relationships, object state changes, temporal subgoals, and task construals. These abstractions are refined and adapted interactively through human feedback while the agent attempts to execute the trajectory in a similar environment. The resulting abstractions, when used as exemplars in the prompt, significantly improve decision-making in retrieval-augmented LLM and VLM agents. Our ICAL agent surpasses the state-of-the-art in dialogue-based instruction following in TEACh, multimodal web agents in VisualWebArena, and action anticipation in Ego4D. In TEACh, we achieve a 12.6% improvement in goal-condition success. In VisualWebArena, our task success rate improves over the SOTA from 14.3% to 22.7%. In Ego4D action forecasting, we improve over few-shot GPT-4V and remain competitive with supervised models. We show finetuning our retrieval-augmented in-context agent yields additional improvements. Our approach significantly reduces reliance on expert-crafted examples and consistently outperforms in-context learning from action plans that lack such insights.

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built on a multi-modal large language model foundation, EMMA directly maps raw camera sensor data into various driving-specific outputs, including planner trajectories, perception objects, and road graph elements. EMMA maximizes the utility of world knowledge from the pre-trained large language models, by representing all non-sensor inputs (e.g. navigation instructions and ego vehicle status) and outputs (e.g. trajectories and 3D locations) as natural language text. This approach allows EMMA to jointly process various driving tasks in a unified language space, and generate the outputs for each task using task-specific prompts. Empirically, we demonstrate EMMA's effectiveness by achieving state-of-the-art performance in motion planning on nuScenes as well as competitive results on the Waymo Open Motion Dataset (WOMD). EMMA also yields competitive results for camera-primary 3D object detection on the Waymo Open Dataset (WOD). We show that co-training EMMA with planner trajectories, object detection, and road graph tasks yields improvements across all three domains, highlighting EMMA's potential as a generalist model for autonomous driving applications. However, EMMA also exhibits certain limitations: it can process only a small amount of image frames, does not incorporate accurate 3D sensing modalities like LiDAR or radar and is computationally expensive. We hope that our results will inspire further research to mitigate these issues and to further evolve the state of the art in autonomous driving model architectures.

Different modalities hold considerable gaps in optimization trajectories, including speeds and paths, which lead to modality laziness and modality clash when jointly training multimodal models, resulting in insufficient and imbalanced multimodal learning. Existing methods focus on enforcing the weak modality by adding modality-specific optimization objectives, aligning their optimization speeds, or decomposing multimodal learning to enhance unimodal learning. These methods fail to achieve both unimodal sufficiency and multimodal balance. In this paper, we, for the first time, address both concerns by proposing multimodal Data Remixing, including decoupling multimodal data and filtering hard samples for each modality to mitigate modality imbalance; and then batch-level reassembling to align the gradient directions and avoid cross-modal interference, thus enhancing unimodal learning sufficiency. Experimental results demonstrate that our method can be seamlessly integrated with existing approaches, improving accuracy by approximately 6.50%uparrow on CREMAD and 3.41%uparrow on Kinetic-Sounds, without training set expansion or additional computational overhead during inference. The source code is available at https://github.com/MatthewMaxy/Remix_ICML2025.

Unified models can handle both multimodal understanding and generation within a single architecture, yet they typically operate in a single pass without iteratively refining their outputs. Many multimodal tasks, especially those involving complex spatial compositions, multiple interacting objects, or evolving instructions, require decomposing instructions, verifying intermediate results, and making iterative corrections. While test-time scaling (TTS) has demonstrated that allocating additional inference compute for iterative reasoning substantially improves language model performance, extending this paradigm to unified multimodal models remains an open challenge. We introduce UniT, a framework for multimodal chain-of-thought test-time scaling that enables a single unified model to reason, verify, and refine across multiple rounds. UniT combines agentic data synthesis, unified model training, and flexible test-time inference to elicit cognitive behaviors including verification, subgoal decomposition, and content memory. Our key findings are: (1) unified models trained on short reasoning trajectories generalize to longer inference chains at test time; (2) sequential chain-of-thought reasoning provides a more scalable and compute-efficient TTS strategy than parallel sampling; (3) training on generation and editing trajectories improves out-of-distribution visual reasoning. These results establish multimodal test-time scaling as an effective paradigm for advancing both generation and understanding in unified models.

MLLMs exhibit strong reasoning on isolated queries, yet they operate de novo -- solving each problem independently and often repeating the same mistakes. Existing memory-augmented agents mainly store past trajectories for reuse. However, trajectory-based memory suffers from brevity bias, gradually losing essential domain knowledge. More critically, even in truly multimodal problem-solving settings, it records only a single-modality trace of past behavior, failing to preserve how visual attention and logical reasoning jointly contributed to the solution. This is fundamentally misaligned with human cognition: semantic memory is both multimodal and integrated, preserving visual and abstract knowledge through coordinated but distinct representational streams. We thus introduce ViLoMem, a dual-stream memory framework that constructs compact, schema-based memory. It separately encodes visual distraction patterns and logical reasoning errors, enabling MLLMs to learn from their successful and failed experiences. Following a grow-and-refine principle, the system incrementally accumulates and updates multimodal semantic knowledge -- preserving stable, generalizable strategies while avoiding catastrophic forgetting. Across six multimodal benchmarks, ViLoMem consistently improves pass@1 accuracy and substantially reduces repeated visual and logical errors. Ablations confirm the necessity of dual-stream memory with explicit distraction--hallucination separation, demonstrating the value of error-aware multimodal memory for lifelong and cross-domain agentic learning. Our project page will be available at https://weihao-bo.github.io/ViLoMeo-page.

Recent efforts to leverage the Multi-modal Large Language Model (MLLM) as GUI agents have yielded promising outcomes. However, these agents still struggle with long-horizon tasks in online environments, primarily due to insufficient knowledge and the inherent gap between offline and online domains. In this paper, inspired by how humans generalize knowledge in open-ended environments, we propose a Hierarchical Multimodal Skills (HMS) module to tackle the issue of insufficient knowledge. It progressively abstracts trajectories into execution skills, core skills, and ultimately meta-skills, providing a hierarchical knowledge structure for long-horizon task planning. To bridge the domain gap, we propose the Skill-Augmented Monte Carlo Tree Search (SA-MCTS) algorithm, which efficiently leverages skills acquired in offline environments to reduce the action search space during online tree exploration. Building on HMS, we propose Mirage-1, a multimodal, cross-platform, plug-and-play GUI agent. To validate the performance of Mirage-1 in real-world long-horizon scenarios, we constructed a new benchmark, AndroidLH. Experimental results show that Mirage-1 outperforms previous agents by 32\%, 19\%, 15\%, and 79\% on AndroidWorld, MobileMiniWob++, Mind2Web-Live, and AndroidLH, respectively. Project page: https://cybertronagent.github.io/Mirage-1.github.io/

Humans possess the remarkable ability to foresee the future to a certain extent based on present observations, a skill we term as foresight minds. However, this capability remains largely under explored within existing Multimodal Large Language Models (MLLMs), hindering their capacity to learn the fundamental principles of how things operate and the intentions behind the observed subjects. To address this issue, we introduce the integration of future modeling into the existing learning frameworks of MLLMs. By utilizing the subject trajectory, a highly structured representation of a consecutive frame sequence, as a learning objective, we aim to bridge the gap between the past and the future. We propose two innovative methods to empower MLLMs with foresight minds, Foresight Pre-Training (FPT) and Foresight Instruction-Tuning (FIT), which are inspired by the modern learning paradigm of LLMs. Specifically, FPT jointly training various tasks centered on trajectories, enabling MLLMs to learn how to attend and predict entire trajectories from a given initial observation. Then, FIT requires MLLMs to first predict trajectories of related objects and then reason about potential future events based on them. Aided by FPT and FIT, we build a novel and unified MLLM named Merlin that supports multi-images input and analysis about potential actions of multiple objects for the future reasoning. Experimental results show Merlin powerful foresight minds with impressive performance on both future reasoning and visual comprehension tasks.

Safety moderation is pivotal for identifying harmful content. Despite the success of textual safety moderation, its multimodal counterparts remain hindered by a dual sparsity of data and supervision. Conventional reliance on binary labels lead to shortcut learning, which obscures the intrinsic classification boundaries necessary for effective multimodal discrimination. Hence, we propose a novel learning paradigm (UniMod) that transitions from sparse decision-making to dense reasoning traces. By constructing structured trajectories encompassing evidence grounding, modality assessment, risk mapping, policy decision, and response generation, we reformulate monolithic decision tasks into a multi-dimensional boundary learning process. This approach forces the model to ground its decision in explicit safety semantics, preventing the model from converging on superficial shortcuts. To facilitate this paradigm, we develop a multi-head scalar reward model (UniRM). UniRM provides multi-dimensional supervision by assigning attribute-level scores to the response generation stage. Furthermore, we introduce specialized optimization strategies to decouple task-specific parameters and rebalance training dynamics, effectively resolving interference between diverse objectives in multi-task learning. Empirical results show UniMod achieves competitive textual moderation performance and sets a new multimodal benchmark using less than 40\% of the training data used by leading baselines. Ablations further validate our multi-attribute trajectory reasoning, offering an effective and efficient framework for multimodal moderation. Supplementary materials are available at https://trustworthylab.github.io/UniMod/{project website}.

The "thinking with images" paradigm represents a pivotal shift in the reasoning of Vision Language Models (VLMs), moving from text-dominant chain-of-thought to image-interactive reasoning. By invoking visual tools or generating intermediate visual representations, VLMs can iteratively attend to fine-grained regions, enabling deeper image understanding and more faithful multimodal reasoning. As an emerging paradigm, however, it still leaves substantial room for exploration in data construction accuracy, structural design, and broader application scenarios, which offer rich opportunities for advancing multimodal reasoning. To further advance this line of work, we present DeepSketcher, a comprehensive suite comprising both an image-text interleaved dataset and a self-contained model. The dataset contains 31k chain-of-thought (CoT) reasoning trajectories with diverse tool calls and resulting edited images, covering a wide range of data types and manipulation instructions with high annotation accuracy. Building on this resource, we design a model that performs interleaved image-text reasoning and natively generates "visual thoughts" by operating directly in the visual embedding space, rather than invoking external tools and repeatedly re-encoding generated images. This design enables tool-free and more flexible "thinking with images". Extensive experiments on multimodal reasoning benchmarks demonstrate strong performance, validating both the utility of the dataset and the effectiveness of the model design.

Interactive and embodied tasks pose at least two fundamental challenges to existing Vision & Language (VL) models, including 1) grounding language in trajectories of actions and observations, and 2) referential disambiguation. To tackle these challenges, we propose an Embodied MultiModal Agent (EMMA): a unified encoder-decoder model that reasons over images and trajectories, and casts action prediction as multimodal text generation. By unifying all tasks as text generation, EMMA learns a language of actions which facilitates transfer across tasks. Different to previous modular approaches with independently trained components, we use a single multitask model where each task contributes to goal completion. EMMA performs on par with similar models on several VL benchmarks and sets a new state-of-the-art performance (36.81% success rate) on the Dialog-guided Task Completion (DTC), a benchmark to evaluate dialog-guided agents in the Alexa Arena

Recent progress in large-scale reinforcement learning (RL) has notably enhanced the reasoning capabilities of large language models (LLMs), especially in mathematical domains. However, current multimodal LLMs (MLLMs) for mathematical reasoning often rely on one-to-one image-text pairs and single-solution supervision, overlooking the diversity of valid reasoning perspectives and internal reflections. In this work, we introduce MathV-DP, a novel dataset that captures multiple diverse solution trajectories for each image-question pair, fostering richer reasoning supervision. We further propose Qwen-VL-DP, a model built upon Qwen-VL, fine-tuned with supervised learning and enhanced via group relative policy optimization (GRPO), a rule-based RL approach that integrates correctness discrimination and diversity-aware reward functions. Our method emphasizes learning from varied reasoning perspectives and distinguishing between correct yet distinct solutions. Extensive experiments on the MathVista's minitest and Math-V benchmarks demonstrate that Qwen-VL-DP significantly outperforms prior base MLLMs in both accuracy and generative diversity, highlighting the importance of incorporating diverse perspectives and reflective reasoning in multimodal mathematical reasoning.

End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these candidates. While recent trajectory scorers focus on scoring either large sets of static trajectories or small sets of dynamically generated ones, both approaches face significant limitations in generalization. Static vocabularies provide effective coarse discretization but struggle to make fine-grained adaptation, while dynamic proposals offer detailed precision but fail to capture broader trajectory distributions. To overcome these challenges, we propose GTRS (Generalized Trajectory Scoring), a unified framework for end-to-end multi-modal planning that combines coarse and fine-grained trajectory evaluation. GTRS consists of three complementary innovations: (1) a diffusion-based trajectory generator that produces diverse fine-grained proposals; (2) a vocabulary generalization technique that trains a scorer on super-dense trajectory sets with dropout regularization, enabling its robust inference on smaller subsets; and (3) a sensor augmentation strategy that enhances out-of-domain generalization while incorporating refinement training for critical trajectory discrimination. As the winning solution of the Navsim v2 Challenge, GTRS demonstrates superior performance even with sub-optimal sensor inputs, approaching privileged methods that rely on ground-truth perception. Code will be available at https://github.com/NVlabs/GTRS.

Accurate prediction of major adverse cardiovascular events recurrence risk in acute myocardial infarction patients based on postoperative cardiac MRI and associated clinical notes is crucial for precision treatment and personalized intervention. Existing methods primarily focus on risk stratification capability while overlooking the need for intermediate robust reasoning and model interpretability in clinical practice. Moreover, end-to-end risk prediction using LLM/VLM faces significant challenges due to data limitations and modeling complexity. To bridge this gap, we propose CardioCoT, a novel two-stage hierarchical reasoning-enhanced survival analysis framework designed to enhance both model interpretability and predictive performance. In the first stage, we employ an evidence-augmented self-refinement mechanism to guide LLM/VLMs in generating robust hierarchical reasoning trajectories based on associated radiological findings. In the second stage, we integrate the reasoning trajectories with imaging data for risk model training and prediction. CardioCoT demonstrates superior performance in MACE recurrence risk prediction while providing interpretable reasoning processes, offering valuable insights for clinical decision-making.

The rapid development of large language and multimodal models has sparked significant interest in using proprietary models, such as GPT-4o, to develop autonomous agents capable of handling real-world scenarios like web navigation. Although recent open-source efforts have tried to equip agents with the ability to explore environments and continuously improve over time, they are building text-only agents in synthetic environments where the reward signals are clearly defined. Such agents struggle to generalize to realistic settings that require multimodal perception abilities and lack ground-truth signals. In this paper, we introduce an open-source framework designed to facilitate the development of multimodal web agent that can autonomously conduct real-world exploration and improve itself. We first train the base model with imitation learning to gain the basic abilities. We then let the agent explore the open web and collect feedback on its trajectories. After that, it further improves its policy by learning from well-performing trajectories judged by another general-purpose model. This exploration-feedback-optimization cycle can continue for several iterations. Experimental results show that our web agent successfully improves itself after each iteration, demonstrating strong performance across multiple test sets.

Multimodal Large Language Models (MLLMs) have achieved impressive performances in mathematical reasoning, yet they remain vulnerable to visual hallucinations and logical inconsistencies that standard outcome-based supervision fails to mitigate. While Process Reward Models (PRMs) promise step-by-step verification, current approaches typically operate as scalar scorers or generative critics that suffer from sycophancy, blindly validating the flawed hypotheses rather than grounding them in visual reality. To bridge this gap, we introduce TIM-PRM (Tool-Integrated Multimodal PRM), a novel agentic framework that transforms verification from a passive classification task into an active, tool-augmented investigation. TIM-PRM is trained to explicitly plan verification strategies and utilizes a mechanism of Independent Question Asking to query evidence via external tools, effectively decoupling verification from the reasoning context to eliminate confirmation bias. We instantiate this method by curating a high-quality dataset of tool-integrated verification trajectories. Extensive experiments on VisualProcessBench demonstrate that our 8B parameter model surpasses existing open-source multimodal PRMs, significantly outperforming much larger models like Qwen2.5-72B and InternVL-78B, while offering interpretable insights into the verification process.

Despite recent progress in multimodal agentic systems, existing approaches often treat image manipulation and web search as disjoint capabilities, rely heavily on costly reinforcement learning, and lack planning grounded in real tool-execution traces. To address these limitations, we present Skywork-R1V4, a 30B (A3B) parameter multimodal agentic model that unifies multimodal planning, active image manipulation ("thinking with images"), deep multimodal search, and, most critically, interleaved reasoning that dynamically alternates between visual operations and external knowledge retrieval. Trained solely via supervised fine-tuning on fewer than 30,000 high-quality, planning-execution-consistent trajectories and validated through stepwise consistency filtering, Skywork-R1V4 achieves state-of-the-art results across perception and multimodal search benchmarks: it scores 66.1 on MMSearch and 67.2 on FVQA, surpassing Gemini 2.5 Flash on all 11 metrics. Skywork-R1V4 exhibits emergent long-horizon reasoning at inference time, successfully orchestrating more than 10 tool calls to solve complex, multi-step tasks. Our results demonstrate that sophisticated agentic multimodal intelligence can be achieved through carefully curated supervised learning alone, without any reliance on reinforcement learning.

Humans are integral components of the transportation ecosystem, and understanding their behaviors is crucial to facilitating the development of safe driving systems. Although recent progress has explored various aspects of human behaviorx2014such as motion, trajectories, and intentionx2014a comprehensive benchmark for evaluating human behavior understanding in autonomous driving remains unavailable. In this work, we propose MMHU, a large-scale benchmark for human behavior analysis featuring rich annotations, such as human motion and trajectories, text description for human motions, human intention, and critical behavior labels relevant to driving safety. Our dataset encompasses 57k human motion clips and 1.73M frames gathered from diverse sources, including established driving datasets such as Waymo, in-the-wild videos from YouTube, and self-collected data. A human-in-the-loop annotation pipeline is developed to generate rich behavior captions. We provide a thorough dataset analysis and benchmark multiple tasksx2014ranging from motion prediction to motion generation and human behavior question answeringx2014thereby offering a broad evaluation suite. Project page : https://MMHU-Benchmark.github.io.

Multimodal Large Language Models (MLLMs) have powered Graphical User Interface (GUI) Agents, showing promise in automating tasks on computing devices. Recent works have begun exploring reasoning in GUI tasks with encouraging results. However, many current approaches rely on manually designed reasoning templates, which may result in reasoning that is not sufficiently robust and adaptive for complex GUI environments. Meanwhile, some existing agents continue to operate as Reactive Actors, relying primarily on implicit reasoning that may lack sufficient depth for GUI tasks demanding planning and error recovery. We argue that advancing these agents requires a shift from reactive acting towards acting based on deliberate reasoning. To facilitate this transformation, we introduce InfiGUI-R1, an MLLM-based GUI agent developed through our Actor2Reasoner framework, a reasoning-centric, two-stage training approach designed to progressively evolve agents from Reactive Actors to Deliberative Reasoners. The first stage, Reasoning Injection, focuses on establishing a basic reasoner. We employ Spatial Reasoning Distillation to transfer cross-modal spatial reasoning capabilities from teacher models to MLLMs through trajectories with explicit reasoning steps, enabling models to integrate GUI visual-spatial information with logical reasoning before action generation. The second stage, Deliberation Enhancement, refines the basic reasoner into a deliberative one using Reinforcement Learning. This stage introduces two approaches: Sub-goal Guidance, which rewards models for generating accurate intermediate sub-goals, and Error Recovery Scenario Construction, which creates failure-and-recovery training scenarios from identified prone-to-error steps. Experimental results show InfiGUI-R1 achieves strong performance in GUI grounding and trajectory tasks. Resources at https://github.com/Reallm-Labs/InfiGUI-R1.

Traditional reinforcement learning-based robotic control methods are often task-specific and fail to generalize across diverse environments or unseen objects and instructions. Visual Language Models (VLMs) demonstrate strong scene understanding and planning capabilities but lack the ability to generate actionable policies tailored to specific robotic embodiments. To address this, Visual-Language-Action (VLA) models have emerged, yet they face challenges in long-horizon spatial reasoning and grounded task planning. In this work, we propose the Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning, Emma-X. Emma-X leverages our constructed hierarchical embodiment dataset based on BridgeV2, containing 60,000 robot manipulation trajectories auto-annotated with grounded task reasoning and spatial guidance. Additionally, we introduce a trajectory segmentation strategy based on gripper states and motion trajectories, which can help mitigate hallucination in grounding subtask reasoning generation. Experimental results demonstrate that Emma-X achieves superior performance over competitive baselines, particularly in real-world robotic tasks requiring spatial reasoning.

Multimodal Large Language Models (MLLMs) have shown great potential in revolutionizing Graphical User Interface (GUI) automation. However, existing GUI models mostly rely on learning from nearly error-free offline trajectories, thus lacking reflection and error recovery capabilities. To bridge this gap, we propose GUI-Reflection, a novel framework that explicitly integrates self-reflection and error correction capabilities into end-to-end multimodal GUI models throughout dedicated training stages: GUI-specific pre-training, offline supervised fine-tuning (SFT), and online reflection tuning. GUI-reflection enables self-reflection behavior emergence with fully automated data generation and learning processes without requiring any human annotation. Specifically, 1) we first propose scalable data pipelines to automatically construct reflection and error correction data from existing successful trajectories. While existing GUI models mainly focus on grounding and UI understanding ability, we propose the GUI-Reflection Task Suite to learn and evaluate reflection-oriented abilities explicitly. 2) Furthermore, we built a diverse and efficient environment for online training and data collection of GUI models on mobile devices. 3) We also present an iterative online reflection tuning algorithm leveraging the proposed environment, enabling the model to continuously enhance its reflection and error correction abilities. Our framework equips GUI agents with self-reflection and correction capabilities, paving the way for more robust, adaptable, and intelligent GUI automation, with all data, models, environments, and tools to be released publicly.

Treating human motion and camera trajectory generation separately overlooks a core principle of cinematography: the tight interplay between actor performance and camera work in the screen space. In this paper, we are the first to cast this task as a text-conditioned joint generation, aiming to maintain consistent on-screen framing while producing two heterogeneous, yet intrinsically linked, modalities: human motion and camera trajectories. We propose a simple, model-agnostic framework that enforces multimodal coherence via an auxiliary modality: the on-screen framing induced by projecting human joints onto the camera. This on-screen framing provides a natural and effective bridge between modalities, promoting consistency and leading to more precise joint distribution. We first design a joint autoencoder that learns a shared latent space, together with a lightweight linear transform from the human and camera latents to a framing latent. We then introduce auxiliary sampling, which exploits this linear transform to steer generation toward a coherent framing modality. To support this task, we also introduce the PulpMotion dataset, a human-motion and camera-trajectory dataset with rich captions, and high-quality human motions. Extensive experiments across DiT- and MAR-based architectures show the generality and effectiveness of our method in generating on-frame coherent human-camera motions, while also achieving gains on textual alignment for both modalities. Our qualitative results yield more cinematographically meaningful framings setting the new state of the art for this task. Code, models and data are available in our https://www.lix.polytechnique.fr/vista/projects/2025_pulpmotion_courant/{project page}.

Understanding multimodal signals in egocentric vision, such as RGB video, depth, camera poses, and gaze, is essential for applications in augmented reality, robotics, and human-computer interaction, enabling systems to better interpret the camera wearer's actions, intentions, and surrounding environment. However, building large-scale egocentric multimodal and multitask models presents unique challenges. Egocentric data are inherently heterogeneous, with large variations in modality coverage across devices and settings. Generating pseudo-labels for missing modalities, such as gaze or head-mounted camera trajectories, is often infeasible, making standard supervised learning approaches difficult to scale. Furthermore, dynamic camera motion and the complex temporal and spatial structure of first-person video pose additional challenges for the direct application of existing multimodal foundation models. To address these challenges, we introduce a set of efficient temporal tokenizers and propose EgoM2P, a masked modeling framework that learns from temporally-aware multimodal tokens to train a large, general-purpose model for egocentric 4D understanding. This unified design supports multitasking across diverse egocentric perception and synthesis tasks, including gaze prediction, egocentric camera tracking, and monocular depth estimation from egocentric video, and also serves as a generative model for conditional egocentric video synthesis. Across these tasks, EgoM2P matches or outperforms specialist models while being an order of magnitude faster. We will fully open-source EgoM2P to support the community and advance egocentric vision research. Project page: https://egom2p.github.io/.

Multimodal Dataset Distillation (MDD) seeks to condense large-scale image-text datasets into compact surrogates while retaining their effectiveness for cross-modal learning. Despite recent progress, existing MDD approaches often suffer from \textbf{Modality Collapse}, characterized by over-concentrated intra-modal representations and enlarged distributional gap across modalities. In this paper, at the first time, we identify this issue as stemming from a fundamental conflict between the over-compression behavior inherent in dataset distillation and the cross-modal supervision imposed by contrastive objectives. To alleviate modality collapse, we introduce RepBlend, a novel MDD framework that weakens overdominant cross-modal supervision via representation blending, thereby significantly enhancing intra-modal diversity. Additionally, we observe that current MDD methods impose asymmetric supervision across modalities, resulting in biased optimization. To address this, we propose symmetric projection trajectory matching, which synchronizes the optimization dynamics using modality-specific projection heads, thereby promoting balanced supervision and enhancing cross-modal alignment. Experiments on Flickr-30K and MS-COCO show that RepBlend consistently outperforms prior state-of-the-art MDD methods, achieving significant gains in retrieval performance (e.g., +9.4 IR@10, +6.3 TR@10 under the 100-pair setting) and offering up to 6.7times distillation speedup.

The integration of reinforcement learning (RL) into the reasoning capabilities of Multimodal Large Language Models (MLLMs) has rapidly emerged as a transformative research direction. While MLLMs significantly extend Large Language Models (LLMs) to handle diverse modalities such as vision, audio, and video, enabling robust reasoning across multimodal inputs remains a major challenge. This survey systematically reviews recent advances in RL-based reasoning for MLLMs, covering key algorithmic designs, reward mechanism innovations, and practical applications. We highlight two main RL paradigms--value-free and value-based methods--and analyze how RL enhances reasoning abilities by optimizing reasoning trajectories and aligning multimodal information. Furthermore, we provide an extensive overview of benchmark datasets, evaluation protocols, and existing limitations, and propose future research directions to address current bottlenecks such as sparse rewards, inefficient cross-modal reasoning, and real-world deployment constraints. Our goal is to offer a comprehensive and structured guide to researchers interested in advancing RL-based reasoning in the multimodal era.

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control signals into the generation pipeline, leading to poor alignment between the control inputs and the implicit features of the 2D base generative model, which results in low-fidelity video outputs. Some methods use coarse textual commands or discrete vehicle control signals, which lack the precision to guide fine-grained, trajectory-specific video generation, making them unsuitable for evaluating actual autonomous driving algorithms. DriVerse introduces explicit trajectory guidance in two complementary forms: it tokenizes trajectories into textual prompts using a predefined trend vocabulary for seamless language integration, and converts 3D trajectories into 2D spatial motion priors to enhance control over static content within the driving scene. To better handle dynamic objects, we further introduce a lightweight motion alignment module, which focuses on the inter-frame consistency of dynamic pixels, significantly enhancing the temporal coherence of moving elements over long sequences. With minimal training and no need for additional data, DriVerse outperforms specialized models on future video generation tasks across both the nuScenes and Waymo datasets. The code and models will be released to the public.

Autonomous embodied agents live on an Internet of multimedia websites. Can they hop around multimodal websites to complete complex user tasks? Existing benchmarks fail to assess them in a realistic, evolving environment for their embodiment across websites. To answer this question, we present MMInA, a multihop and multimodal benchmark to evaluate the embodied agents for compositional Internet tasks, with several appealing properties: 1) Evolving real-world multimodal websites. Our benchmark uniquely operates on evolving real-world websites, ensuring a high degree of realism and applicability to natural user tasks. Our data includes 1,050 human-written tasks covering various domains such as shopping and travel, with each task requiring the agent to autonomously extract multimodal information from web pages as observations; 2) Multihop web browsing. Our dataset features naturally compositional tasks that require information from or actions on multiple websites to solve, to assess long-range reasoning capabilities on web tasks; 3) Holistic evaluation. We propose a novel protocol for evaluating an agent's progress in completing multihop tasks. We experiment with both standalone (multimodal) language models and heuristic-based web agents. Extensive experiments demonstrate that while long-chain multihop web tasks are easy for humans, they remain challenging for state-of-the-art web agents. We identify that agents are more likely to fail on the early hops when solving tasks of more hops, which results in lower task success rates. To address this issue, we propose a simple memory augmentation approach replaying past action trajectories to reflect. Our method significantly improved both the single-hop and multihop web browsing abilities of agents. See our code and data at https://mmina.cliangyu.com

We propose to extract meaning representations from autoregressive language models by considering the distribution of all possible trajectories extending an input text. This strategy is prompt-free, does not require fine-tuning, and is applicable to any pre-trained autoregressive model. Moreover, unlike vector-based representations, distribution-based representations can also model asymmetric relations (e.g., direction of logical entailment, hypernym/hyponym relations) by using algebraic operations between likelihood functions. These ideas are grounded in distributional perspectives on semantics and are connected to standard constructions in automata theory, but to our knowledge they have not been applied to modern language models. We empirically show that the representations obtained from large models align well with human annotations, outperform other zero-shot and prompt-free methods on semantic similarity tasks, and can be used to solve more complex entailment and containment tasks that standard embeddings cannot handle. Finally, we extend our method to represent data from different modalities (e.g., image and text) using multimodal autoregressive models. Our code is available at: https://github.com/tianyu139/meaning-as-trajectories

Generative models have had a profound impact on vision and language, paving the way for a new era of multimodal generative applications. While these successes have inspired researchers to explore using generative models in science and engineering to accelerate the design process and reduce the reliance on iterative optimization, challenges remain. Specifically, engineering optimization methods based on physics still outperform generative models when dealing with constrained environments where data is scarce and precision is paramount. To address these challenges, we introduce Diffusion Optimization Models (DOM) and Trajectory Alignment (TA), a learning framework that demonstrates the efficacy of aligning the sampling trajectory of diffusion models with the optimization trajectory derived from traditional physics-based methods. This alignment ensures that the sampling process remains grounded in the underlying physical principles. Our method allows for generating feasible and high-performance designs in as few as two steps without the need for expensive preprocessing, external surrogate models, or additional labeled data. We apply our framework to structural topology optimization, a fundamental problem in mechanical design, evaluating its performance on in- and out-of-distribution configurations. Our results demonstrate that TA outperforms state-of-the-art deep generative models on in-distribution configurations and halves the inference computational cost. When coupled with a few steps of optimization, it also improves manufacturability for out-of-distribution conditions. By significantly improving performance and inference efficiency, DOM enables us to generate high-quality designs in just a few steps and guide them toward regions of high performance and manufacturability, paving the way for the widespread application of generative models in large-scale data-driven design.

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E.

We propose PROSE-FD, a zero-shot multimodal PDE foundational model for simultaneous prediction of heterogeneous two-dimensional physical systems related to distinct fluid dynamics settings. These systems include shallow water equations and the Navier-Stokes equations with incompressible and compressible flow, regular and complex geometries, and different buoyancy settings. This work presents a new transformer-based multi-operator learning approach that fuses symbolic information to perform operator-based data prediction, i.e. non-autoregressive. By incorporating multiple modalities in the inputs, the PDE foundation model builds in a pathway for including mathematical descriptions of the physical behavior. We pre-train our foundation model on 6 parametric families of equations collected from 13 datasets, including over 60K trajectories. Our model outperforms popular operator learning, computer vision, and multi-physics models, in benchmark forward prediction tasks. We test our architecture choices with ablation studies.

Recent progress in large language models (LLMs) has enabled the development of autonomous web agents capable of navigating and interacting with real websites. However, evaluating such agents remains challenging due to the instability and inconsistency of existing benchmarks, which often rely on dynamic content or oversimplified simulations. In this work, we introduce WebArXiv, a static and time-invariant benchmark comprising 275 web-based tasks grounded in the arXiv platform. WebArXiv ensures reproducible and reliable evaluation by anchoring tasks in fixed web snapshots with deterministic ground truths and standardized action trajectories. Through behavioral analysis, we identify a common failure mode, Rigid History Reflection, where agents over-rely on fixed interaction histories. To address this, we propose a lightweight dynamic reflection mechanism that allows agents to selectively retrieve relevant past steps during decision-making. We evaluate ten state-of-the-art web agents on WebArXiv. Results demonstrate clear performance differences across agents and validate the effectiveness of our proposed reflection strategy.

MLLM agents demonstrate potential for complex embodied tasks by retrieving multimodal task-relevant trajectory data. However, current retrieval methods primarily focus on surface-level similarities of textual or visual cues in trajectories, neglecting their effectiveness for the specific task at hand. To address this issue, we propose a novel method, MLLM as ReTriever (MART), which enhances the performance of embodied agents by utilizing interaction data to fine-tune an MLLM retriever based on preference learning, such that the retriever fully considers the effectiveness of trajectories and prioritize them for unseen tasks. We also introduce Trajectory Abstraction, a mechanism that leverages MLLMs' summarization capabilities to represent trajectories with fewer tokens while preserving key information, enabling agents to better comprehend milestones in the trajectory. Experimental results across various environments demonstrate our method significantly improves task success rates in unseen scenes compared to baseline methods. This work presents a new paradigm for multimodal retrieval in embodied agents, by fine-tuning a general-purpose MLLM as the retriever to assess trajectory effectiveness. All benchmark task sets and simulator code modifications for action and observation spaces will be released.

End-to-end autonomous driving increasingly leverages self-supervised video pretraining to learn transferable planning representations. However, pretraining video world models for scene understanding has so far brought only limited improvements. This limitation is compounded by the inherent ambiguity of driving: each scene typically provides only a single human trajectory, making it difficult to learn multimodal behaviors. In this work, we propose Drive-JEPA, a framework that integrates Video Joint-Embedding Predictive Architecture (V-JEPA) with multimodal trajectory distillation for end-to-end driving. First, we adapt V-JEPA for end-to-end driving, pretraining a ViT encoder on large-scale driving videos to produce predictive representations aligned with trajectory planning. Second, we introduce a proposal-centric planner that distills diverse simulator-generated trajectories alongside human trajectories, with a momentum-aware selection mechanism to promote stable and safe behavior. When evaluated on NAVSIM, the V-JEPA representation combined with a simple transformer-based decoder outperforms prior methods by 3 PDMS in the perception-free setting. The complete Drive-JEPA framework achieves 93.3 PDMS on v1 and 87.8 EPDMS on v2, setting a new state-of-the-art.

Dashboards are powerful visualization tools for data-driven decision-making, integrating multiple interactive views that allow users to explore, filter, and navigate data. Unlike static charts, dashboards support rich interactivity, which is essential for uncovering insights in real-world analytical workflows. However, existing question-answering benchmarks for data visualizations largely overlook this interactivity, focusing instead on static charts. This limitation severely constrains their ability to evaluate the capabilities of modern multimodal agents designed for GUI-based reasoning. To address this gap, we introduce DashboardQA, the first benchmark explicitly designed to assess how vision-language GUI agents comprehend and interact with real-world dashboards. The benchmark includes 112 interactive dashboards from Tableau Public and 405 question-answer pairs with interactive dashboards spanning five categories: multiple-choice, factoid, hypothetical, multi-dashboard, and conversational. By assessing a variety of leading closed- and open-source GUI agents, our analysis reveals their key limitations, particularly in grounding dashboard elements, planning interaction trajectories, and performing reasoning. Our findings indicate that interactive dashboard reasoning is a challenging task overall for all the VLMs evaluated. Even the top-performing agents struggle; for instance, the best agent based on Gemini-Pro-2.5 achieves only 38.69% accuracy, while the OpenAI CUA agent reaches just 22.69%, demonstrating the benchmark's significant difficulty. We release DashboardQA at https://github.com/vis-nlp/DashboardQA

Reinforcement learning (RL) has emerged as an effective post-training paradigm for enhancing the reasoning capabilities of multimodal large language model (MLLM). However, current RL pipelines often suffer from training inefficiencies caused by two underexplored issues: Advantage Collapsing, where most advantages in a batch concentrate near zero, and Rollout Silencing, where the proportion of rollouts contributing non-zero gradients diminishes over time. These issues lead to suboptimal gradient updates and hinder long-term learning efficiency. To address these issues, we propose Shuffle-R1, a simple yet principled framework that improves RL fine-tuning efficiency by dynamically restructuring trajectory sampling and batch composition. It introduces (1) Pairwise Trajectory Sampling, which selects high-contrast trajectories with large advantages to improve gradient signal quality, and (2) Advantage-based Trajectory Shuffle, which increases exposure of valuable rollouts through informed batch reshuffling. Experiments across multiple reasoning benchmarks show that our framework consistently outperforms strong RL baselines with minimal overhead. These results highlight the importance of data-centric adaptations for more efficient RL training in MLLM.

Recent progress in multimodal large language models (MLLMs) has demonstrated promising performance on medical benchmarks and in preliminary trials as clinical assistants. Yet, our pilot audit of diagnostic cases uncovers a critical failure mode: instability in early evidence interpretation precedes hallucination, creating branching reasoning trajectories that cascade into globally inconsistent conclusions. This highlights the need for clinical reasoning agents that constrain stochasticity and hallucination while producing auditable decision flows. We introduce MedMMV, a controllable multimodal multi-agent framework for reliable and verifiable clinical reasoning. MedMMV stabilizes reasoning through diversified short rollouts, grounds intermediate steps in a structured evidence graph under the supervision of a Hallucination Detector, and aggregates candidate paths with a Combined Uncertainty scorer. On six medical benchmarks, MedMMV improves accuracy by up to 12.7% and, more critically, demonstrates superior reliability. Blind physician evaluations confirm that MedMMV substantially increases reasoning truthfulness without sacrificing informational content. By controlling instability through a verifiable, multi-agent process, our framework provides a robust path toward deploying trustworthy AI systems in high-stakes domains like clinical decision support.

Language models have demonstrated impressive ability in context understanding and generative performance. Inspired by the recent success of language foundation models, in this paper, we propose LMTraj (Language-based Multimodal Trajectory predictor), which recasts the trajectory prediction task into a sort of question-answering problem. Departing from traditional numerical regression models, which treat the trajectory coordinate sequence as continuous signals, we consider them as discrete signals like text prompts. Specially, we first transform an input space for the trajectory coordinate into the natural language space. Here, the entire time-series trajectories of pedestrians are converted into a text prompt, and scene images are described as text information through image captioning. The transformed numerical and image data are then wrapped into the question-answering template for use in a language model. Next, to guide the language model in understanding and reasoning high-level knowledge, such as scene context and social relationships between pedestrians, we introduce an auxiliary multi-task question and answering. We then train a numerical tokenizer with the prompt data. We encourage the tokenizer to separate the integer and decimal parts well, and leverage it to capture correlations between the consecutive numbers in the language model. Lastly, we train the language model using the numerical tokenizer and all of the question-answer prompts. Here, we propose a beam-search-based most-likely prediction and a temperature-based multimodal prediction to implement both deterministic and stochastic inferences. Applying our LMTraj, we show that the language-based model can be a powerful pedestrian trajectory predictor, and outperforms existing numerical-based predictor methods. Code is publicly available at https://github.com/inhwanbae/LMTrajectory .

Sports video understanding presents unique challenges, requiring models to perceive high-speed dynamics, comprehend complex rules, and reason over long temporal contexts. While Multimodal Large Language Models (MLLMs) have shown promise in genral domains, the current state of research in sports remains narrowly focused: existing approaches are either single-sport centric, limited to specific tasks, or rely on training-free paradigms that lack robust, learned reasoning process. To address this gap, we introduce DeepSport, the first end-to-end trained MLLM framework designed for multi-task, multi-sport video understanding. DeepSport shifts the paradigm from passive frame processing to active, iterative reasoning, empowering the model to ``think with videos'' by dynamically interrogating content via a specialized frame-extraction tool. To enable this, we propose a data distillation pipeline that synthesizes high-quality Chain-of-Thought (CoT) trajectories from 10 diverse data source, creating a unified resource of 78k training data. We then employ a two-stage training strategy, Supervised Fine-Tuning (SFT) followed by Reinforcement Learning (RL) with a novel gated tool-use reward, to optimize the model's reasoning process. Extensive experiments on the testing benchmark of 6.7k questions demonstrate that DeepSport achieves state-of-the-art performance, significantly outperforming baselines of both proprietary model and open-source models. Our work establishes a new foundation for domain-specific video reasoning to address the complexities of diverse sports.

Reinforcement learning (RL) has shown promise in enhancing the general Chain-of-Thought (CoT) reasoning capabilities of multimodal large language models (MLLMs). However, when applied to improve general CoT reasoning, existing RL frameworks often struggle to generalize beyond the training distribution. To address this, we propose NoisyGRPO, a systematic multimodal RL framework that introduces controllable noise into visual inputs for enhanced exploration and explicitly models the advantage estimation process via a Bayesian framework. Specifically, NoisyGRPO improves RL training by: (1) Noise-Injected Exploration Policy: Perturbing visual inputs with Gaussian noise to encourage exploration across a wider range of visual scenarios; and (2) Bayesian Advantage Estimation: Formulating advantage estimation as a principled Bayesian inference problem, where the injected noise level serves as a prior and the observed trajectory reward as the likelihood. This Bayesian modeling fuses both sources of information to compute a robust posterior estimate of trajectory advantage, effectively guiding MLLMs to prefer visually grounded trajectories over noisy ones. Experiments on standard CoT quality, general capability, and hallucination benchmarks demonstrate that NoisyGRPO substantially improves generalization and robustness, especially in RL settings with small-scale MLLMs such as Qwen2.5-VL 3B. The project page is available at https://artanic30.github.io/project_pages/NoisyGRPO/.

Humans rely on multisensory integration to perceive spatial environments, where auditory cues enable sound source localization in three-dimensional space. Despite the critical role of spatial audio in immersive technologies such as VR/AR, most existing multimodal datasets provide only monaural audio, which limits the development of spatial audio generation and understanding. To address these challenges, we introduce MRSAudio, a large-scale multimodal spatial audio dataset designed to advance research in spatial audio understanding and generation. MRSAudio spans four distinct components: MRSLife, MRSSpeech, MRSMusic, and MRSSing, covering diverse real-world scenarios. The dataset includes synchronized binaural and ambisonic audio, exocentric and egocentric video, motion trajectories, and fine-grained annotations such as transcripts, phoneme boundaries, lyrics, scores, and prompts. To demonstrate the utility and versatility of MRSAudio, we establish five foundational tasks: audio spatialization, and spatial text to speech, spatial singing voice synthesis, spatial music generation and sound event localization and detection. Results show that MRSAudio enables high-quality spatial modeling and supports a broad range of spatial audio research. Demos and dataset access are available at https://mrsaudio.github.io.

Recent advancements in large language models (LLMs) have expanded their capabilities beyond traditional text-based tasks to multimodal domains, integrating visual, auditory, and textual data. While multimodal LLMs have been extensively explored for high-level planning in domains like robotics and games, their potential as low-level controllers remains largely untapped. This paper explores the application of multimodal LLMs as low-level controllers in the domain of Atari video games, introducing Atari game performance as a new benchmark for evaluating the ability of multimodal LLMs to perform low-level control tasks. Unlike traditional reinforcement learning (RL) and imitation learning (IL) methods that require extensive computational resources as well as reward function specification, these LLMs utilize pre-existing multimodal knowledge to directly engage with game environments. Our study assesses multiple multimodal LLMs performance against traditional RL agents, human players, and random agents, focusing on their ability to understand and interact with complex visual scenes and formulate strategic responses. Additionally, we examine the impact of In-Context Learning (ICL) by incorporating human-demonstrated game-play trajectories to enhance the models contextual understanding. Through this investigation, we aim to determine the extent to which multimodal LLMs can leverage their extensive training to effectively function as low-level controllers, thereby redefining potential applications in dynamic and visually complex environments. Additional results and videos are available at our project webpage: https://sites.google.com/view/atari-gpt/.

Long-term memory is a critical capability for multimodal large language model (MLLM) agents, particularly in conversational settings where information accumulates and evolves over time. However, existing benchmarks either evaluate multi-session memory in text-only conversations or assess multimodal understanding within localized contexts, failing to evaluate how multimodal memory is preserved, organized, and evolved across long-term conversational trajectories. Thus, we introduce Mem-Gallery, a new benchmark for evaluating multimodal long-term conversational memory in MLLM agents. Mem-Gallery features high-quality multi-session conversations grounded in both visual and textual information, with long interaction horizons and rich multimodal dependencies. Building on this dataset, we propose a systematic evaluation framework that assesses key memory capabilities along three functional dimensions: memory extraction and test-time adaptation, memory reasoning, and memory knowledge management. Extensive benchmarking across thirteen memory systems reveals several key findings, highlighting the necessity of explicit multimodal information retention and memory organization, the persistent limitations in memory reasoning and knowledge management, as well as the efficiency bottleneck of current models.

We investigate the challenge of parametrizing policies for reinforcement learning (RL) in high-dimensional continuous action spaces. Our objective is to develop a multimodal policy that overcomes limitations inherent in the commonly-used Gaussian parameterization. To achieve this, we propose a principled framework that models the continuous RL policy as a generative model of optimal trajectories. By conditioning the policy on a latent variable, we derive a novel variational bound as the optimization objective, which promotes exploration of the environment. We then present a practical model-based RL method, called Reparameterized Policy Gradient (RPG), which leverages the multimodal policy parameterization and learned world model to achieve strong exploration capabilities and high data efficiency. Empirical results demonstrate that our method can help agents evade local optima in tasks with dense rewards and solve challenging sparse-reward environments by incorporating an object-centric intrinsic reward. Our method consistently outperforms previous approaches across a range of tasks. Code and supplementary materials are available on the project page https://haosulab.github.io/RPG/

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction following and task planning. However, not much attention has been paid to embodied tasks with multimodal prompts, combining vision signals with text descriptions. This type of task poses a major challenge to robots' capability to understand the interconnection and complementarity between vision and language signals. In this work, we introduce an effective framework that learns a policy to perform robot manipulation with multimodal prompts from multi-task expert trajectories. Our methods consist of a two-stage training pipeline that performs inverse dynamics pretraining and multi-task finetuning. To facilitate multimodal understanding, we design our multimodal prompt encoder by augmenting a pretrained LM with a residual connection to the visual input and model the dependencies among action dimensions. Empirically, we evaluate the efficacy of our method on the VIMA-BENCH and establish a new state-of-the-art (10% improvement in success rate). Moreover, we demonstrate that our model exhibits remarkable in-context learning ability.

Chain-of-thought (CoT) reasoning has been widely applied in the mathematical reasoning of Large Language Models (LLMs). Recently, the introduction of derivative process supervision on CoT trajectories has sparked discussions on enhancing scaling capabilities during test time, thereby boosting the potential of these models. However, in multimodal mathematical reasoning, the scarcity of high-quality CoT training data has hindered existing models from achieving high-precision CoT reasoning and has limited the realization of reasoning potential during test time. In this work, we propose a three-module synthesis strategy that integrates CoT distillation, trajectory-format rewriting, and format unification. It results in a high-quality CoT reasoning instruction fine-tuning dataset in multimodal mathematics, MMathCoT-1M. We comprehensively validate the state-of-the-art (SOTA) performance of the trained URSA-7B model on multiple multimodal mathematical benchmarks. For test-time scaling, we introduce a data synthesis strategy that automatically generates process annotation datasets, known as DualMath-1.1M, focusing on both interpretation and logic. By further training URSA-7B on DualMath-1.1M, we transition from CoT reasoning capabilities to robust supervision abilities. The trained URSA-RM-7B acts as a verifier, effectively enhancing the performance of URSA-7B at test time. URSA-RM-7B also demonstrates excellent out-of-distribution (OOD) verifying capabilities, showcasing its generalization. Model weights, training data and code will be open-sourced.

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

While Large Language Models (LLMs) have excelled in textual reasoning, they struggle with mathematical domains like geometry that intrinsically rely on visual aids. Existing approaches to Visual Chain-of-Thought (VCoT) are often limited by rigid external tools or fail to generate the high-fidelity, strategically-timed diagrams necessary for complex problem-solving. To bridge this gap, we introduce MathCanvas, a comprehensive framework designed to endow unified Large Multimodal Models (LMMs) with intrinsic VCoT capabilities for mathematics. Our approach consists of two phases. First, a Visual Manipulation stage pre-trains the model on a novel 15.2M-pair corpus, comprising 10M caption-to-diagram pairs (MathCanvas-Imagen) and 5.2M step-by-step editing trajectories (MathCanvas-Edit), to master diagram generation and editing. Second, a Strategic Visual-Aided Reasoning stage fine-tunes the model on MathCanvas-Instruct, a new 219K-example dataset of interleaved visual-textual reasoning paths, teaching it when and how to leverage visual aids. To facilitate rigorous evaluation, we introduce MathCanvas-Bench, a challenging benchmark with 3K problems that require models to produce interleaved visual-textual solutions. Our model, BAGEL-Canvas, trained under this framework, achieves an 86% relative improvement over strong LMM baselines on MathCanvas-Bench, demonstrating excellent generalization to other public math benchmarks. Our work provides a complete toolkit-framework, datasets, and benchmark-to unlock complex, human-like visual-aided reasoning in LMMs. Project Page: https://mathcanvas.github.io/

Prompt-based learning has emerged as a successful paradigm in natural language processing, where a single general-purpose language model can be instructed to perform any task specified by input prompts. Yet task specification in robotics comes in various forms, such as imitating one-shot demonstrations, following language instructions, and reaching visual goals. They are often considered different tasks and tackled by specialized models. This work shows that we can express a wide spectrum of robot manipulation tasks with multimodal prompts, interleaving textual and visual tokens. We design a transformer-based generalist robot agent, VIMA, that processes these prompts and outputs motor actions autoregressively. To train and evaluate VIMA, we develop a new simulation benchmark with thousands of procedurally-generated tabletop tasks with multimodal prompts, 600K+ expert trajectories for imitation learning, and four levels of evaluation protocol for systematic generalization. VIMA achieves strong scalability in both model capacity and data size. It outperforms prior SOTA methods in the hardest zero-shot generalization setting by up to 2.9times task success rate given the same training data. With 10times less training data, VIMA still performs 2.7times better than the top competing approach. We open-source all code, pretrained models, dataset, and simulation benchmark at https://vimalabs.github.io

In this work, we aim to incentivize the reasoning ability of Multimodal Large Language Models (MLLMs) via reinforcement learning (RL) and develop an effective approach that mitigates the sparse reward and advantage vanishing issues during RL. To this end, we propose Share-GRPO, a novel RL approach that tackle these issues by exploring and sharing diverse reasoning trajectories over expanded question space. Specifically, Share-GRPO first expands the question space for a given question via data transformation techniques, and then encourages MLLM to effectively explore diverse reasoning trajectories over the expanded question space and shares the discovered reasoning trajectories across the expanded questions during RL. In addition, Share-GRPO also shares reward information during advantage computation, which estimates solution advantages hierarchically across and within question variants, allowing more accurate estimation of relative advantages and improving the stability of policy training. Extensive evaluations over six widely-used reasoning benchmarks showcase the superior performance of our method. Code will be available at https://github.com/HJYao00/R1-ShareVL.

Multimodal agents, which integrate a controller e.g., a vision language model) with external tools, have demonstrated remarkable capabilities in tackling complex multimodal tasks. Existing approaches for training these agents, both supervised fine-tuning and reinforcement learning, depend on extensive human-annotated task-answer pairs and tool trajectories. However, for complex multimodal tasks, such annotations are prohibitively expensive or impractical to obtain. In this paper, we propose an iterative tool usage exploration method for multimodal agents without any pre-collected data, namely SPORT, via step-wise preference optimization to refine the trajectories of tool usage. Our method enables multimodal agents to autonomously discover effective tool usage strategies through self-exploration and optimization, eliminating the bottleneck of human annotation. SPORT has four iterative components: task synthesis, step sampling, step verification, and preference tuning. We first synthesize multimodal tasks using language models. Then, we introduce a novel trajectory exploration scheme, where step sampling and step verification are executed alternately to solve synthesized tasks. In step sampling, the agent tries different tools and obtains corresponding results. In step verification, we employ a verifier to provide AI feedback to construct step-wise preference data. The data is subsequently used to update the controller for tool usage through preference tuning, producing a SPORT agent. By interacting with real environments, the SPORT agent gradually evolves into a more refined and capable system. Evaluation in the GTA and GAIA benchmarks shows that the SPORT agent achieves 6.41% and 3.64% improvements, underscoring the generalization and effectiveness introduced by our method. The project page is https://SPORT-Agents.github.io.

Controllable image captioning is an emerging multimodal topic that aims to describe the image with natural language following human purpose, e.g., looking at the specified regions or telling in a particular text style. State-of-the-art methods are trained on annotated pairs of input controls and output captions. However, the scarcity of such well-annotated multimodal data largely limits their usability and scalability for interactive AI systems. Leveraging unimodal instruction-following foundation models is a promising alternative that benefits from broader sources of data. In this paper, we present Caption AnyThing (CAT), a foundation model augmented image captioning framework supporting a wide range of multimodel controls: 1) visual controls, including points, boxes, and trajectories; 2) language controls, such as sentiment, length, language, and factuality. Powered by Segment Anything Model (SAM) and ChatGPT, we unify the visual and language prompts into a modularized framework, enabling the flexible combination between different controls. Extensive case studies demonstrate the user intention alignment capabilities of our framework, shedding light on effective user interaction modeling in vision-language applications. Our code is publicly available at https://github.com/ttengwang/Caption-Anything.

Geometric Problem Solving (GPS) poses a unique challenge for Multimodal Large Language Models (MLLMs), requiring not only the joint interpretation of text and diagrams but also iterative visuospatial reasoning. While existing approaches process diagrams as static images, they lack the capacity for dynamic manipulation - a core aspect of human geometric reasoning involving auxiliary line construction and affine transformations. We present GeoSketch, a neural-symbolic framework that recasts geometric reasoning as an interactive perception-reasoning-action loop. GeoSketch integrates: (1) a Perception module that abstracts diagrams into structured logic forms, (2) a Symbolic Reasoning module that applies geometric theorems to decide the next deductive step, and (3) a Sketch Action module that executes operations such as drawing auxiliary lines or applying transformations, thereby updating the diagram in a closed loop. To train this agent, we develop a two-stage pipeline: supervised fine-tuning on 2,000 symbolic-curated trajectories followed by reinforcement learning with dense, symbolic rewards to enhance robustness and strategic exploration. To evaluate this paradigm, we introduce the GeoSketch Benchmark, a high-quality set of 390 geometry problems requiring auxiliary construction or affine transformations. Experiments on strong MLLM baselines demonstrate that GeoSketch significantly improves stepwise reasoning accuracy and problem-solving success over static perception methods. By unifying hierarchical decision-making, executable visual actions, and symbolic verification, GeoSketch advances multimodal reasoning from static interpretation to dynamic, verifiable interaction, establishing a new foundation for solving complex visuospatial problems.

Recent advancements in large language models (LLMs) have witnessed a surge in the development of advanced reasoning paradigms, which are now being integrated into multimodal large language models (MLLMs). However, existing approaches often fall short: methods solely employing reinforcement learning (RL) can struggle with sample inefficiency and activating entirely absent reasoning capabilities, while conventional pipelines that initiate with a cold-start supervised fine-tuning (SFT) phase before RL may restrict the model's exploratory capacity and face suboptimal convergence. In this work, we introduce Metis-RISE (RL Incentivizes and SFT Enhances) for multimodal reasoning model learning. Unlike conventional approaches, Metis-RISE distinctively omits an initial SFT stage, beginning instead with an RL phase (e.g., using a Group Relative Policy Optimization variant) to incentivize and activate the model's latent reasoning capacity. Subsequently, the targeted SFT stage addresses two key challenges identified during RL: (1) inefficient trajectory sampling for tasks where the model possesses but inconsistently applies correct reasoning, which we tackle using self-distilled reasoning trajectories from the RL model itself; and (2) fundamental capability absence, which we address by injecting expert-augmented knowledge for prompts where the model entirely fails. This strategic application of RL for incentivization followed by SFT for enhancement forms the core of Metis-RISE, leading to two versions of our MLLMs (7B and 72B parameters). Evaluations on the OpenCompass Multimodal Reasoning Leaderboard demonstrate that both models achieve state-of-the-art performance among similar-sized models, with the 72B version ranking fourth overall.

While Large Language Models (LLMs) excel at algorithmic code generation, they struggle with front-end development, where correctness is judged on rendered pixels and interaction. We present ReLook, an agentic, vision-grounded reinforcement learning framework that empowers an agent to close a robust generate--diagnose--refine loop by invoking a multimodal LLM (MLLM) as a tool. During training, the agent uses the MLLM-in-the-loop both as a visual critic--scoring code with screenshots--and as a source of actionable, vision-grounded feedback; a strict zero-reward rule for invalid renders anchors renderability and prevents reward hacking. To prevent behavioral collapse, we introduce Forced Optimization, a strict acceptance rule that admits only improving revisions, yielding monotonically better trajectories. At inference, we decouple the critic and run a lightweight, critic-free self-edit cycle, keeping latency comparable to base decoding while retaining most of the gains. Across three widely used benchmarks, ReLook consistently outperforms strong baselines in vision-grounded front-end code generation, highlighting the benefits of agentic perception, visual rewards, and training-inference decoupling.

Overview of the Proposed DECO Framework.} DECO is a DiT-based policy that decouples multimodal conditioning. Image and action tokens interact via joint self attention, while proprioceptive states and optional conditions are injected through adaptive layer normalization. Tactile signals are injected via cross attention, while a lightweight LoRA-based adapter is used to efficiently fine-tune the pretrained policy. DECO is also accompanied by DECO-50, a bimanual dexterous manipulation dataset with tactile sensing, consisting of 4 scenarios and 28 sub-tasks, covering more than 50 hours of data, approximately 5 million frames, and 8,000 successful trajectories.

The rapid advancements in Autonomous Driving Systems (ADS) have necessitated robust software testing to ensure safety and reliability. However, automating the generation of scalable and concrete test scenarios remains a significant challenge. Current scenario-based test case generation methods often face limitations, such as unrealistic scenes and inaccurate vehicle trajectories. These challenges largely result from the loss of map information during data extraction and the lack of an effective verification mechanism to mitigate hallucinations in large language models (LLMs). This paper introduces TRACE, a scenario-based ADS Test case Generation framework for Critical Scenarios. By leveraging multimodal data to extract challenging scenarios from real-world car crash reports, TRACE constructs numerous critical test cases with less data, significantly enhancing ADS bug detection efficiency. Using in-context learning, chain-of-thought prompting, and self-validation approaches, we use LLMs to extract environmental and road network information from crash reports. For vehicle trajectory planning, data containing map information and vehicle coordinates serves as a knowledge base to build a ChatGPT-based LLM with path-planning capabilities, which we named TrackMate. Based on 50 existing crash reports, our approach successfully tested three ADS models across two simulation platforms, MetaDrive and BeamNG. Of the 290 constructed test scenarios, 127 are identified as critical, as they resulted in vehicle collisions. Additionally, user feedback reveals that TRACE demonstrates superior scenario reconstruction accuracy, with 77.5% of the scenarios being rated as 'mostly or 'totally' consistent, compared to only 27% for the most related SOTA, LCTGen.

While Reinforcement Learning with Verifiable Rewards (RLVR) has advanced the reasoning capabilities of Large Vision-Language Models (LVLMs), most existing methods in multimodal reasoning neglect the critical role of visual perception within the RLVR optimization process. In this paper, we undertake a pioneering exploration of multimodal RLVR through the novel perspective of token perception, which measures the visual dependency of each generated token. With a granular analysis of Chain-of-Thought (CoT) processes, we uncover two key insights: first, token perception in a rollout trajectory is sparsely distributed, where only a small fraction of tokens have high visual dependency for visually-grounded reasoning; second, different trajectories exhibit significant divergence in their overall visual dependency. Based on these observations, we propose Visually-Perceptive Policy Optimization (VPPO), a novel policy gradient algorithm that explicitly leverages token perception to refine the learning signal. Specifically, VPPO achieves this through a dual mechanism: it reweights a trajectory's advantage by its overall visual dependency, and focuses policy updates exclusively on perceptually pivotal tokens. On a comprehensive suite of eight perception and reasoning benchmarks, VPPO demonstrates substantial gains over leading open-source RL-tuned models, with its effectiveness consistently validated across 7B and 32B model scales. Our findings not only establish a new token-level perceptual perspective for analyzing multimodal RLVR but also present a novel and effective optimization strategy to significantly enhance the multimodal reasoning capabilities of LVLMs.

While chain-of-thought (CoT) reasoning has substantially improved multimodal large language models (MLLMs) on complex reasoning tasks, existing approaches largely rely on long textual reasoning trajectories and provide limited mechanisms for learning stable visual attention policies. Our analysis shows that current MLLMs exhibit weak visual focus: early-stage visual misalignment is rarely corrected during subsequent reasoning, leading to error propagation and failed inferences. We argue that this limitation stems from inadequate credit assignment for visual attention during training. To address this issue, we propose SAYO, a visual reasoning model trained with a reinforcement learning (RL) framework that introduces a region-level visual attention-based reward. This reward explicitly aligns optimization signals with visually grounded reasoning steps, enabling the model to learn more reliable attention behaviors. Extensive experiments across multiple multimodal benchmarks demonstrate that SAYO consistently improves performance on diverse reasoning and perception tasks.

Recent advancements in text-to-video (T2V) diffusion models have significantly enhanced the visual quality of the generated videos. However, even recent T2V models find it challenging to follow text descriptions accurately, especially when the prompt requires accurate control of spatial layouts or object trajectories. A recent line of research uses layout guidance for T2V models that require fine-tuning or iterative manipulation of the attention map during inference time. This significantly increases the memory requirement, making it difficult to adopt a large T2V model as a backbone. To address this, we introduce Video-MSG, a training-free Guidance method for T2V generation based on Multimodal planning and Structured noise initialization. Video-MSG consists of three steps, where in the first two steps, Video-MSG creates Video Sketch, a fine-grained spatio-temporal plan for the final video, specifying background, foreground, and object trajectories, in the form of draft video frames. In the last step, Video-MSG guides a downstream T2V diffusion model with Video Sketch through noise inversion and denoising. Notably, Video-MSG does not need fine-tuning or attention manipulation with additional memory during inference time, making it easier to adopt large T2V models. Video-MSG demonstrates its effectiveness in enhancing text alignment with multiple T2V backbones (VideoCrafter2 and CogVideoX-5B) on popular T2V generation benchmarks (T2VCompBench and VBench). We provide comprehensive ablation studies about noise inversion ratio, different background generators, background object detection, and foreground object segmentation.

Multimodal Large Reasoning Models (MLRMs) demonstrate impressive cross-modal reasoning but often amplify safety risks under adversarial or unsafe prompts, a phenomenon we call the Reasoning Tax. Existing defenses mainly act at the output level and do not constrain the reasoning process, leaving models exposed to implicit risks. In this paper, we propose SaFeR-VLM, a safety-aligned reinforcement learning framework that embeds safety directly into multimodal reasoning. The framework integrates four components: (I) QI-Safe-10K, a curated dataset emphasizing safety-critical and reasoning-sensitive cases; (II) safety-aware rollout, where unsafe generations undergo reflection and correction instead of being discarded; (III) structured reward modeling with multi-dimensional weighted criteria and explicit penalties for hallucinations and contradictions; and (IV) GRPO optimization, which reinforces both safe and corrected trajectories. This unified design shifts safety from a passive safeguard to an active driver of reasoning, enabling scalable and generalizable safety-aware reasoning. SaFeR-VLM further demonstrates robustness against both explicit and implicit risks, supporting dynamic and interpretable safety decisions beyond surface-level filtering. SaFeR-VLM-3B achieves average performance 70.13 and 78.97 on safety and helpfulness across six benchmarks, surpassing both same-scale and >10times larger models such as Skywork-R1V3-38B, Qwen2.5VL-72B, and GLM4.5V-106B. Remarkably, SaFeR-VLM-7B benefits from its increased scale to surpass GPT-5-mini and Gemini-2.5-Flash by 6.47 and 16.76 points respectively on safety metrics, achieving this improvement without any degradation in helpfulness performance. Our codes are available at https://github.com/HarveyYi/SaFeR-VLM.

Advancing research in fields like Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on reliable and reproducible multimodal datasets. While several influential datasets have driven progress in these domains, they often suffer from limitations in sensing modalities, environmental diversity, and the reproducibility of the underlying hardware setups. To address these challenges, this paper introduces SMapper, a novel open-hardware, multi-sensor platform designed explicitly for, though not limited to, SLAM research. The device integrates synchronized LiDAR, multi-camera, and inertial sensing, supported by a robust calibration and synchronization pipeline that ensures precise spatio-temporal alignment across modalities. Its open and replicable design allows researchers to extend its capabilities and reproduce experiments across both handheld and robot-mounted scenarios. To demonstrate its practicality, we additionally release SMapper-light, a publicly available SLAM dataset containing representative indoor and outdoor sequences. The dataset includes tightly synchronized multimodal data and ground-truth trajectories derived from offline LiDAR-based SLAM with sub-centimeter accuracy, alongside dense 3D reconstructions. Furthermore, the paper contains benchmarking results on state-of-the-art LiDAR and visual SLAM frameworks using the SMapper-light dataset. By combining open-hardware design, reproducible data collection, and comprehensive benchmarking, SMapper establishes a robust foundation for advancing SLAM algorithm development, evaluation, and reproducibility.

Predicting disease trajectories from electronic health records (EHRs) is a complex task due to major challenges such as data non-stationarity, high granularity of medical codes, and integration of multimodal data. EHRs contain both structured data, such as diagnostic codes, and unstructured data, such as clinical notes, which hold essential information often overlooked. Current models, primarily based on structured data, struggle to capture the complete medical context of patients, resulting in a loss of valuable information. To address this issue, we propose an approach that integrates unstructured clinical notes into transformer-based deep learning models for sequential disease prediction. This integration enriches the representation of patients' medical histories, thereby improving the accuracy of diagnosis predictions. Experiments on MIMIC-IV datasets demonstrate that the proposed approach outperforms traditional models relying solely on structured data.

Vision-Language-Action (VLA) models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model (VLM) embeddings. Recent advancements have introduced explicit intermediary reasoning, such as sub-task prediction (language) or goal image synthesis (vision), to guide action generation. However, these intermediate reasoning are often indirect and inherently limited in their capacity to convey the full, granular information required for precise action execution. Instead, we posit that the most effective form of reasoning is one that deliberates directly in the action space. We introduce Action Chain-of-Thought (ACoT), a paradigm where the reasoning process itself is formulated as a structured sequence of coarse action intents that guide the final policy. In this paper, we propose ACoT-VLA, a novel architecture that materializes the ACoT paradigm. Specifically, we introduce two complementary components: an Explicit Action Reasoner (EAR) and Implicit Action Reasoner (IAR). The former proposes coarse reference trajectories as explicit action-level reasoning steps, while the latter extracts latent action priors from internal representations of multimodal input, co-forming an ACoT that conditions the downstream action head to enable grounded policy learning. Extensive experiments in real-world and simulation environments demonstrate the superiority of our proposed method, which achieves 98.5%, 84.1%, and 47.4% on LIBERO, LIBERO-Plus and VLABench, respectively.

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios where gathering multi-task data involving humans requires strenuous effort; second, effectively learning robot trajectories by grounding the visual affordance model. We tackle the first challenge by employing a parameter-efficient prompt tuning method that prepends learnable text prompts to the frozen vision model to predict manipulation affordances in multi-task scenarios. Then we propose to learn robot trajectories guided by affordances in a supervised Flow Matching method. Flow matching represents a robot visuomotor policy as a conditional process of flowing random waypoints to desired robot trajectories. Finally, we introduce a real-world dataset with 10 tasks across Activities of Daily Living to test our framework. Our extensive evaluation highlights that the proposed prompt tuning method for learning manipulation affordance with language prompter achieves competitive performance and even outperforms other finetuning protocols across data scales, while satisfying parameter efficiency. Learning multi-task robot trajectories with a single flow matching policy also leads to consistently better performance than alternative behavior cloning methods, especially given multimodal robot action distributions. Our framework seamlessly unifies affordance model learning and trajectory generation with flow matching for robot manipulation.

Current multimodal latent reasoning often relies on external supervision (e.g., auxiliary images), ignoring intrinsic visual attention dynamics. In this work, we identify a critical Perception Gap in distillation: student models frequently mimic a teacher's textual output while attending to fundamentally divergent visual regions, effectively relying on language priors rather than grounded perception. To bridge this, we propose LaViT, a framework that aligns latent visual thoughts rather than static embeddings. LaViT compels the student to autoregressively reconstruct the teacher's visual semantics and attention trajectories prior to text generation, employing a curriculum sensory gating mechanism to prevent shortcut learning. Extensive experiments show that LaViT significantly enhances visual grounding, achieving up to +16.9% gains on complex reasoning tasks and enabling a compact 3B model to outperform larger open-source variants and proprietary models like GPT-4o.

Graphical User Interfaces (GUIs) are critical to human-computer interaction, yet automating GUI tasks remains challenging due to the complexity and variability of visual environments. Existing approaches often rely on textual representations of GUIs, which introduce limitations in generalization, efficiency, and scalability. In this paper, we introduce Aguvis, a unified pure vision-based framework for autonomous GUI agents that operates across various platforms. Our approach leverages image-based observations, and grounding instructions in natural language to visual elements, and employs a consistent action space to ensure cross-platform generalization. To address the limitations of previous work, we integrate explicit planning and reasoning within the model, enhancing its ability to autonomously navigate and interact with complex digital environments. We construct a large-scale dataset of GUI agent trajectories, incorporating multimodal reasoning and grounding, and employ a two-stage training pipeline that first focuses on general GUI grounding, followed by planning and reasoning. Through comprehensive experiments, we demonstrate that Aguvis surpasses previous state-of-the-art methods in both offline and real-world online scenarios, achieving, to our knowledge, the first fully autonomous pure vision GUI agent capable of performing tasks independently without collaboration with external closed-source models. We open-sourced all datasets, models, and training recipes to facilitate future research at https://aguvis-project.github.io/.

Outcome-reward reinforcement learning (RL) is a common and increasingly significant way to refine the step-by-step reasoning of multimodal large language models (MLLMs). In the multiple-choice setting - a dominant format for multimodal reasoning benchmarks - the paradigm faces a significant yet often overlooked obstacle: unfaithful trajectories that guess the correct option after a faulty chain of thought receive the same reward as genuine reasoning, which is a flaw that cannot be ignored. We propose Self-Consistency Sampling (SCS) to correct this issue. For each question, SCS (i) introduces small visual perturbations and (ii) performs repeated truncation and resampling of an initial trajectory; agreement among the resulting trajectories yields a differentiable consistency score that down-weights unreliable traces during policy updates. Based on Qwen2.5-VL-7B-Instruct, plugging SCS into RLOO, GRPO, and REINFORCE++ series improves accuracy by up to 7.7 percentage points on six multimodal benchmarks with negligible extra computation. SCS also yields notable gains on both Qwen2.5-VL-3B-Instruct and InternVL3-8B, offering a simple, general remedy for outcome-reward RL in MLLMs.

Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency and limited sensor setup. While prior work has explored handheld paradigms, their rod-based mechanical structures remain rigid and unintuitive, providing limited tactile feedback and posing challenges for human operators. Motivated by the dexterity and force feedback of human motion, we propose FreeTacMan, a human-centric and robot-free data collection system for accurate and efficient robot manipulation. Concretely, we design a wearable gripper with dual visuo-tactile sensors for data collection, which can be worn by human fingers for intuitive control. A high-precision optical tracking system is introduced to capture end-effector poses while synchronizing visual and tactile feedback simultaneously. We leverage FreeTacMan to collect a large-scale multimodal dataset, comprising over 3000k paired visual-tactile images with end-effector poses, 10k demonstration trajectories across 50 diverse contact-rich manipulation tasks. FreeTacMan achieves multiple improvements in data collection performance compared to prior works, and enables effective policy learning for contact-rich manipulation tasks with self-collected dataset. The full suite of hardware specifications and the dataset will be released to facilitate reproducibility and support research in visuo-tactile manipulation.

The field of speech separation, addressing the "cocktail party problem", has seen revolutionary advances with DNNs. Speech separation enhances clarity in complex acoustic environments and serves as crucial pre-processing for speech recognition and speaker recognition. However, current literature focuses narrowly on specific architectures or isolated approaches, creating fragmented understanding. This survey addresses this gap by providing systematic examination of DNN-based speech separation techniques. Our work differentiates itself through: (I) Comprehensive perspective: We systematically investigate learning paradigms, separation scenarios with known/unknown speakers, comparative analysis of supervised/self-supervised/unsupervised frameworks, and architectural components from encoders to estimation strategies. (II) Timeliness: Coverage of cutting-edge developments ensures access to current innovations and benchmarks. (III) Unique insights: Beyond summarization, we evaluate technological trajectories, identify emerging patterns, and highlight promising directions including domain-robust frameworks, efficient architectures, multimodal integration, and novel self-supervised paradigms. (IV) Fair evaluation: We provide quantitative evaluations on standard datasets, revealing true capabilities and limitations of different methods. This comprehensive survey serves as an accessible reference for experienced researchers and newcomers navigating speech separation's complex landscape.

We present OmniJARVIS, a novel Vision-Language-Action (VLA) model for open-world instruction-following agents in open-world Minecraft. Compared to prior works that either emit textual goals to separate controllers or produce the control command directly, OmniJARVIS seeks a different path to ensure both strong reasoning and efficient decision-making capabilities via unified tokenization of multimodal interaction data. First, we introduce a self-supervised approach to learn a behavior encoder that produces discretized tokens for behavior trajectories tau = {o_0, a_0, dots} and an imitation learning (IL) policy decoder conditioned on these tokens. These additional behavior tokens will be augmented to the vocabulary of pretrained Multimodal Language Models (MLMs). With this encoder, we then pack long-term multimodal interactions involving task instructions, memories, thoughts, observations, textual responses, behavior trajectories, etc. into unified token sequences and model them with autoregressive transformers. Thanks to the semantically meaningful behavior tokens, the resulting VLA model, OmniJARVIS, can reason (by producing chain-of-thoughts), plan, answer questions, and act (by producing behavior tokens for the IL policy decoder). OmniJARVIS demonstrates excellent performances on a comprehensive collection of atomic, programmatic, and open-ended tasks in open-world Minecraft. Our analysis further unveils the crucial design principles in interaction data formation, unified tokenization, and its scaling potentials.

Escape rooms present a unique cognitive challenge that demands exploration-driven planning: players should actively search their environment, continuously update their knowledge based on new discoveries, and connect disparate clues to determine which elements are relevant to their objectives. Motivated by this, we introduce VisEscape, a benchmark of 20 virtual escape rooms specifically designed to evaluate AI models under these challenging conditions, where success depends not only on solving isolated puzzles but also on iteratively constructing and refining spatial-temporal knowledge of a dynamically changing environment. On VisEscape, we observed that even state-of-the-art multimodal models generally fail to escape the rooms, showing considerable variation in their levels of progress and trajectories. To address this issue, we propose VisEscaper, which effectively integrates Memory, Feedback, and ReAct modules, demonstrating significant improvements by performing 3.7 times more effectively and 5.0 times more efficiently on average.

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary robot arms, and the few existing humanoid datasets are either confined to fixed environments or limited in task diversity, often lacking human-humanoid interaction and lower-body locomotion. Moreover, there are a few standardized evaluation platforms for benchmarking learning-based policies on humanoid data. In this work, we present Humanoid Everyday, a large-scale and diverse humanoid manipulation dataset characterized by extensive task variety involving dextrous object manipulation, human-humanoid interaction, locomotion-integrated actions, and more. Leveraging a highly efficient human-supervised teleoperation pipeline, Humanoid Everyday aggregates high-quality multimodal sensory data, including RGB, depth, LiDAR, and tactile inputs, together with natural language annotations, comprising 10.3k trajectories and over 3 million frames of data across 260 tasks across 7 broad categories. In addition, we conduct an analysis of representative policy learning methods on our dataset, providing insights into their strengths and limitations across different task categories. For standardized evaluation, we introduce a cloud-based evaluation platform that allows researchers to seamlessly deploy their policies in our controlled setting and receive performance feedback. By releasing Humanoid Everyday along with our policy learning analysis and a standardized cloud-based evaluation platform, we intend to advance research in general-purpose humanoid manipulation and lay the groundwork for more capable and embodied robotic agents in real-world scenarios. Our dataset, data collection code, and cloud evaluation website are made publicly available on our project website.

Fueled by the Large Language Models (LLMs) wave, Large Visual-Language Models (LVLMs) have emerged as a pivotal advancement, bridging the gap between image and text. However, video making it challenging for LVLMs to perform adequately due to the complexity of the relationship between language and spatial-temporal data structure. Recent Large Video-Language Models (LVidLMs) align feature of static visual data like image into latent space of language feature, by general multi-modal tasks to leverage abilities of LLMs sufficiently. In this paper, we explore fine-grained alignment approach via object trajectory for different modalities across both spatial and temporal dimensions simultaneously. Thus, we propose a novel LVidLM by trajectory-guided Pixel-Temporal Alignment, dubbed PiTe, that exhibits promising applicable model property. To achieve fine-grained video-language alignment, we curate a multi-modal pre-training dataset PiTe-143k, the dataset provision of moving trajectories in pixel level for all individual objects, that appear and mention in the video and caption both, by our automatic annotation pipeline. Meanwhile, PiTe demonstrates astounding capabilities on myriad video-related multi-modal tasks through beat the state-of-the-art methods by a large margin.

Trajectory data, capturing human actions and environmental states across various modalities, holds significant potential for enhancing AI agent capabilities, particularly in GUI environments. However, how to model the representation of trajectory-level data presents a significant challenge that has not been systematically addressed amid explosive trajectory data growth. In this work, we introduce Multimodal Trajectory Retrieval, bridging the gap between universal retrieval and agent-centric trajectory modeling. We construct the Unified Agent Trajectory Dataset (UATD) from annotated demonstrations and states across diverse real-world scenarios. Based on this, we present GAE-Bench, a benchmark containing a large number of trajectory-based retrieval pairs. In addition, we propose GAE-Retriever, a multimodal retrieval framework that adopts vision-language models and incorporates optimized contrastive learning through a token selection and the GradCache mechanism. Comprehensive evaluations across multiple datasets show that GAE-Retriever consistently outperforms strong baselines in retrieval recall, highlighting its effectiveness in advancing multimodal trajectory retrieval.

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative models trained on curated data to learn road agents' stochastic behavior bounded by scene constraints. However, they often face mode averaging issues due to data imbalance and simplistic priors, and could even suffer from mode collapse due to unstable training and single ground truth supervision. These issues lead the existing methods to a loss of predictive diversity and adherence to the scene constraints. To address these challenges, we introduce a novel trajectory generator named Controllable Diffusion Trajectory (CDT), which integrates map information and social interactions into a Transformer-based conditional denoising diffusion model to guide the prediction of future trajectories. To ensure multimodality, we incorporate behavioral tokens to direct the trajectory's modes, such as going straight, turning right or left. Moreover, we incorporate the predicted endpoints as an alternative behavioral token into the CDT model to facilitate the prediction of accurate trajectories. Extensive experiments on the Argoverse 2 benchmark demonstrate that CDT excels in generating diverse and scene-compliant trajectories in complex urban settings.

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great scalability. However, these methods typically rely on deterministic modeling of online maps in the perception module for guiding or constraining vehicle planning, which may incorporate erroneous perception information and further compromise planning safety. To address this issue, we delve into the importance of online map uncertainty for enhancing autonomous driving safety and propose a novel paradigm named UncAD. Specifically, UncAD first estimates the uncertainty of the online map in the perception module. It then leverages the uncertainty to guide motion prediction and planning modules to produce multi-modal trajectories. Finally, to achieve safer autonomous driving, UncAD proposes an uncertainty-collision-aware planning selection strategy according to the online map uncertainty to evaluate and select the best trajectory. In this study, we incorporate UncAD into various state-of-the-art (SOTA) end-to-end methods. Experiments on the nuScenes dataset show that integrating UncAD, with only a 1.9% increase in parameters, can reduce collision rates by up to 26% and drivable area conflict rate by up to 42%. Codes, pre-trained models, and demo videos can be accessed at https://github.com/pengxuanyang/UncAD.

We propose ComDrive: the first comfort-oriented end-to-end autonomous driving system to generate temporally consistent and comfortable trajectories. Recent studies have demonstrated that imitation learning-based planners and learning-based trajectory scorers can effectively generate and select safety trajectories that closely mimic expert demonstrations. However, such trajectory planners and scorers face the challenge of generating temporally inconsistent and uncomfortable trajectories. To address these issues, ComDrive first extracts 3D spatial representations through sparse perception, which then serves as conditional inputs. These inputs are used by a Conditional Denoising Diffusion Probabilistic Model (DDPM)-based motion planner to generate temporally consistent multi-modal trajectories. A dual-stream adaptive trajectory scorer subsequently selects the most comfortable trajectory from these candidates to control the vehicle. Experiments demonstrate that ComDrive achieves state-of-the-art performance in both comfort and safety, outperforming UniAD by 17% in driving comfort and reducing collision rates by 25% compared to SparseDrive. More results are available on our project page: https://jmwang0117.github.io/ComDrive/.

We introduce GUI-360^circ, a large-scale, comprehensive dataset and benchmark suite designed to advance computer-using agents (CUAs). CUAs present unique challenges and is constrained by three persistent gaps: a scarcity of real-world CUA tasks, the lack of automated collection-and-annotation pipelines for multi-modal trajectories, and the absence of a unified benchmark that jointly evaluates GUI grounding, screen parsing, and action prediction. GUI-360^circ addresses these gaps with an LLM-augmented, largely automated pipeline for query sourcing, environment-template construction, task instantiation, batched execution, and LLM-driven quality filtering. The released corpus contains over 1.2M executed action steps across thousands of trajectories in popular Windows office applications, and includes full-resolution screenshots, accessibility metadata when available, instantiated goals, intermediate reasoning traces, and both successful and failed action trajectories. The dataset supports three canonical tasks, GUI grounding, screen parsing, and action prediction, and a hybrid GUI+API action space that reflects modern agent designs. Benchmarking state-of-the-art vision--language models on GUI-360^circ reveals substantial out-of-the-box shortcomings in grounding and action prediction; supervised fine-tuning and reinforcement learning yield significant gains but do not close the gap to human-level reliability. We release GUI-360^circ and accompanying code to facilitate reproducible research and accelerate progress on robust desktop CUAs. The full dataset has been made public on https://huggingface.co/datasets/vyokky/GUI-360.

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term point trajectory estimates -- even through occlusions -- they are limited to regressing to a mean (or mode) in the presence of uncertainty, and fail to capture multi-modality. To overcome this limitation, we introduce Generative Point Tracker (GenPT), a generative framework for modelling multi-modal trajectories. GenPT is trained with a novel flow matching formulation that combines the iterative refinement of discriminative trackers, a window-dependent prior for cross-window consistency, and a variance schedule tuned specifically for point coordinates. We show how our model's generative capabilities can be leveraged to improve point trajectory estimates by utilizing a best-first search strategy on generated samples during inference, guided by the model's own confidence of its predictions. Empirically, we evaluate GenPT against the current state of the art on the standard PointOdyssey, Dynamic Replica, and TAP-Vid benchmarks. Further, we introduce a TAP-Vid variant with additional occlusions to assess occluded point tracking performance and highlight our model's ability to capture multi-modality. GenPT is capable of capturing the multi-modality in point trajectories, which translates to state-of-the-art tracking accuracy on occluded points, while maintaining competitive tracking accuracy on visible points compared to extant discriminative point trackers.

Our experience of the world is multimodal - we see objects, hear sounds, feel texture, smell odors, and taste flavors. Modality refers to the way in which something happens or is experienced and a research problem is characterized as multimodal when it includes multiple such modalities. In order for Artificial Intelligence to make progress in understanding the world around us, it needs to be able to interpret such multimodal signals together. Multimodal machine learning aims to build models that can process and relate information from multiple modalities. It is a vibrant multi-disciplinary field of increasing importance and with extraordinary potential. Instead of focusing on specific multimodal applications, this paper surveys the recent advances in multimodal machine learning itself and presents them in a common taxonomy. We go beyond the typical early and late fusion categorization and identify broader challenges that are faced by multimodal machine learning, namely: representation, translation, alignment, fusion, and co-learning. This new taxonomy will enable researchers to better understand the state of the field and identify directions for future research.

Information retrieval is an ever-evolving and crucial research domain. The substantial demand for high-quality human motion data especially in online acquirement has led to a surge in human motion research works. Prior works have mainly concentrated on dual-modality learning, such as text and motion tasks, but three-modality learning has been rarely explored. Intuitively, an extra introduced modality can enrich a model's application scenario, and more importantly, an adequate choice of the extra modality can also act as an intermediary and enhance the alignment between the other two disparate modalities. In this work, we introduce LAVIMO (LAnguage-VIdeo-MOtion alignment), a novel framework for three-modality learning integrating human-centric videos as an additional modality, thereby effectively bridging the gap between text and motion. Moreover, our approach leverages a specially designed attention mechanism to foster enhanced alignment and synergistic effects among text, video, and motion modalities. Empirically, our results on the HumanML3D and KIT-ML datasets show that LAVIMO achieves state-of-the-art performance in various motion-related cross-modal retrieval tasks, including text-to-motion, motion-to-text, video-to-motion and motion-to-video.

Massive multi-modality datasets play a significant role in facilitating the success of large video-language models. However, current video-language datasets primarily provide text descriptions for visual frames, considering audio to be weakly related information. They usually overlook exploring the potential of inherent audio-visual correlation, leading to monotonous annotation within each modality instead of comprehensive and precise descriptions. Such ignorance results in the difficulty of multiple cross-modality studies. To fulfill this gap, we present MMTrail, a large-scale multi-modality video-language dataset incorporating more than 20M trailer clips with visual captions, and 2M high-quality clips with multimodal captions. Trailers preview full-length video works and integrate context, visual frames, and background music. In particular, the trailer has two main advantages: (1) the topics are diverse, and the content characters are of various types, e.g., film, news, and gaming. (2) the corresponding background music is custom-designed, making it more coherent with the visual context. Upon these insights, we propose a systemic captioning framework, achieving various modality annotations with more than 27.1k hours of trailer videos. Here, to ensure the caption retains music perspective while preserving the authority of visual context, we leverage the advanced LLM to merge all annotations adaptively. In this fashion, our MMtrail dataset potentially paves the path for fine-grained large multimodal-language model training. In experiments, we provide evaluation metrics and benchmark results on our dataset, demonstrating the high quality of our annotation and its effectiveness for model training.

One of the main challenges of multimodal learning is the need to combine heterogeneous modalities (e.g., video, audio, text). For example, video and audio are obtained at much higher rates than text and are roughly aligned in time. They are often not synchronized with text, which comes as a global context, e.g., a title, or a description. Furthermore, video and audio inputs are of much larger volumes, and grow as the video length increases, which naturally requires more compute dedicated to these modalities and makes modeling of long-range dependencies harder. We here decouple the multimodal modeling, dividing it into separate, focused autoregressive models, processing the inputs according to the characteristics of the modalities. We propose a multimodal model, called Mirasol3B, consisting of an autoregressive component for the time-synchronized modalities (audio and video), and an autoregressive component for the context modalities which are not necessarily aligned in time but are still sequential. To address the long-sequences of the video-audio inputs, we propose to further partition the video and audio sequences in consecutive snippets and autoregressively process their representations. To that end, we propose a Combiner mechanism, which models the audio-video information jointly within a timeframe. The Combiner learns to extract audio and video features from raw spatio-temporal signals, and then learns to fuse these features producing compact but expressive representations per snippet. Our approach achieves the state-of-the-art on well established multimodal benchmarks, outperforming much larger models. It effectively addresses the high computational demand of media inputs by both learning compact representations, controlling the sequence length of the audio-video feature representations, and modeling their dependencies in time.

Recent advances in multimodal large language models (MLLMs) have significantly enhanced video understanding capabilities, opening new possibilities for practical applications. Yet current video benchmarks focus largely on indoor scenes or short-range outdoor activities, leaving the challenges associated with long-distance travel largely unexplored. Mastering extended geospatial-temporal trajectories is critical for next-generation MLLMs, underpinning real-world tasks such as embodied-AI planning and navigation. To bridge this gap, we present VIR-Bench, a novel benchmark consisting of 200 travel videos that frames itinerary reconstruction as a challenging task designed to evaluate and push forward MLLMs' geospatial-temporal intelligence. Experimental results reveal that state-of-the-art MLLMs, including proprietary ones, struggle to achieve high scores, underscoring the difficulty of handling videos that span extended spatial and temporal scales. Moreover, we conduct an in-depth case study in which we develop a prototype travel-planning agent that leverages the insights gained from VIR-Bench. The agent's markedly improved itinerary recommendations verify that our evaluation protocol not only benchmarks models effectively but also translates into concrete performance gains in user-facing applications.

The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autonomous vehicles (AVs) and pedestrian motion tracking. While such datasets have been a boon for the community, they each use custom and unique data formats and APIs, making it cumbersome for researchers to train and evaluate methods across multiple datasets. To remedy this, we present trajdata: a unified interface to multiple human trajectory datasets. At its core, trajdata provides a simple, uniform, and efficient representation and API for trajectory and map data. As a demonstration of its capabilities, in this work we conduct a comprehensive empirical evaluation of existing trajectory datasets, providing users with a rich understanding of the data underpinning much of current pedestrian and AV motion forecasting research, and proposing suggestions for future datasets from these insights. trajdata is permissively licensed (Apache 2.0) and can be accessed online at https://github.com/NVlabs/trajdata

User profiling and region analysis are two tasks of significant commercial value. However, in practical applications, modeling different features typically involves four main steps: data preparation, data processing, model establishment, evaluation, and optimization. This process is time-consuming and labor-intensive. Repeating this workflow for each feature results in abundant development time for tasks and a reduced overall volume of task development. Indeed, human mobility data contains a wealth of information. Several successful cases suggest that conducting in-depth analysis of population movement data could potentially yield meaningful profiles about users and areas. Nonetheless, most related works have not thoroughly utilized the semantic information within human mobility data and trained on a fixed number of the regions. To tap into the rich information within population movement, based on the perspective that Regions Are Who walk them, we propose a large spatiotemporal model based on trajectories (RAW). It possesses the following characteristics: 1) Tailored for trajectory data, introducing a GPT-like structure with a parameter count of up to 1B; 2) Introducing a spatiotemporal fine-tuning module, interpreting trajectories as collection of users to derive arbitrary region embedding. This framework allows rapid task development based on the large spatiotemporal model. We conducted extensive experiments to validate the effectiveness of our proposed large spatiotemporal model. It's evident that our proposed method, relying solely on human mobility data without additional features, exhibits a certain level of relevance in user profiling and region analysis. Moreover, our model showcases promising predictive capabilities in trajectory generation tasks based on the current state, offering the potential for further innovative work utilizing this large spatiotemporal model.

Multimodal models have gained significant success in recent years. Standard multimodal approaches often assume unchanged modalities from training stage to inference stage. In practice, however, many scenarios fail to satisfy such assumptions with missing modalities during inference, leading to limitations on where multimodal models can be applied. While existing methods mitigate the problem through reconstructing the missing modalities, it increases unnecessary computational cost, which could be just as critical, especially for large, deployed systems. To solve the problem from both sides, we propose a novel guidance network that promotes knowledge sharing during training, taking advantage of the multimodal representations to train better single-modality models for inference. Real-life experiment in violence detection shows that our proposed framework trains single-modality models that significantly outperform its traditionally trained counterparts while maintaining the same inference cost.

We propose to improve transformers of a specific modality with irrelevant data from other modalities, e.g., improve an ImageNet model with audio or point cloud datasets. We would like to highlight that the data samples of the target modality are irrelevant to the other modalities, which distinguishes our method from other works utilizing paired (e.g., CLIP) or interleaved data of different modalities. We propose a methodology named Multimodal Pathway - given a target modality and a transformer designed for it, we use an auxiliary transformer trained with data of another modality and construct pathways to connect components of the two models so that data of the target modality can be processed by both models. In this way, we utilize the universal sequence-to-sequence modeling abilities of transformers obtained from two modalities. As a concrete implementation, we use a modality-specific tokenizer and task-specific head as usual but utilize the transformer blocks of the auxiliary model via a proposed method named Cross-Modal Re-parameterization, which exploits the auxiliary weights without any inference costs. On the image, point cloud, video, and audio recognition tasks, we observe significant and consistent performance improvements with irrelevant data from other modalities. The code and models are available at https://github.com/AILab-CVC/M2PT.

There is increasing interest in the use of multimodal data in various web applications, such as digital advertising and e-commerce. Typical methods for extracting important information from multimodal data rely on a mid-fusion architecture that combines the feature representations from multiple encoders. However, as the number of modalities increases, several potential problems with the mid-fusion model structure arise, such as an increase in the dimensionality of the concatenated multimodal features and missing modalities. To address these problems, we propose a new concept that considers multimodal inputs as a set of sequences, namely, deep multimodal sequence sets (DM^2S^2). Our set-aware concept consists of three components that capture the relationships among multiple modalities: (a) a BERT-based encoder to handle the inter- and intra-order of elements in the sequences, (b) intra-modality residual attention (IntraMRA) to capture the importance of the elements in a modality, and (c) inter-modality residual attention (InterMRA) to enhance the importance of elements with modality-level granularity further. Our concept exhibits performance that is comparable to or better than the previous set-aware models. Furthermore, we demonstrate that the visualization of the learned InterMRA and IntraMRA weights can provide an interpretation of the prediction results.

In this paper, we address the problem of human trajectory forecasting, which aims to predict the inherently multi-modal future movements of humans based on their past trajectories and other contextual cues. We propose a novel motion prediction conditional flow matching model, termed MoFlow, to predict K-shot future trajectories for all agents in a given scene. We design a novel flow matching loss function that not only ensures at least one of the K sets of future trajectories is accurate but also encourages all K sets of future trajectories to be diverse and plausible. Furthermore, by leveraging the implicit maximum likelihood estimation (IMLE), we propose a novel distillation method for flow models that only requires samples from the teacher model. Extensive experiments on the real-world datasets, including SportVU NBA games, ETH-UCY, and SDD, demonstrate that both our teacher flow model and the IMLE-distilled student model achieve state-of-the-art performance. These models can generate diverse trajectories that are physically and socially plausible. Moreover, our one-step student model is 100 times faster than the teacher flow model during sampling. The code, model, and data are available at our project page: https://moflow-imle.github.io

Motion retrieval is crucial for motion acquisition, offering superior precision, realism, controllability, and editability compared to motion generation. Existing approaches leverage contrastive learning to construct a unified embedding space for motion retrieval from text or visual modality. However, these methods lack a more intuitive and user-friendly interaction mode and often overlook the sequential representation of most modalities for improved retrieval performance. To address these limitations, we propose a framework that aligns four modalities -- text, audio, video, and motion -- within a fine-grained joint embedding space, incorporating audio for the first time in motion retrieval to enhance user immersion and convenience. This fine-grained space is achieved through a sequence-level contrastive learning approach, which captures critical details across modalities for better alignment. To evaluate our framework, we augment existing text-motion datasets with synthetic but diverse audio recordings, creating two multi-modal motion retrieval datasets. Experimental results demonstrate superior performance over state-of-the-art methods across multiple sub-tasks, including an 10.16% improvement in R@10 for text-to-motion retrieval and a 25.43% improvement in R@1 for video-to-motion retrieval on the HumanML3D dataset. Furthermore, our results show that our 4-modal framework significantly outperforms its 3-modal counterpart, underscoring the potential of multi-modal motion retrieval for advancing motion acquisition.

Stories and emotions in movies emerge through the effect of well-thought-out directing decisions, in particular camera placement and movement over time. Crafting compelling camera trajectories remains a complex iterative process, even for skilful artists. To tackle this, in this paper, we propose a dataset called the Exceptional Trajectories (E.T.) with camera trajectories along with character information and textual captions encompassing descriptions of both camera and character. To our knowledge, this is the first dataset of its kind. To show the potential applications of the E.T. dataset, we propose a diffusion-based approach, named DIRECTOR, which generates complex camera trajectories from textual captions that describe the relation and synchronisation between the camera and characters. To ensure robust and accurate evaluations, we train on the E.T. dataset CLaTr, a Contrastive Language-Trajectory embedding for evaluation metrics. We posit that our proposed dataset and method significantly advance the democratization of cinematography, making it more accessible to common users.

Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly observable and must be modelled from context. Trajectory prediction, is thus a hard problem, and has seen increasing attention from researchers in the recent years. Prediction of motion, in application, must be realistic, diverse and controllable. In spite of increasing focus on multimodal trajectory generation, most methods still lack means for explicitly controlling different modes of the data generation. Further, most endeavours invest heavily in designing special mechanisms to learn the interactions in latent space. We present Conditional Speed GAN (CSG), that allows controlled generation of diverse and socially acceptable trajectories, based on user controlled speed. During prediction, CSG forecasts future speed from latent space and conditions its generation based on it. CSG is comparable to state-of-the-art GAN methods in terms of the benchmark distance metrics, while being simple and useful for simulation and data augmentation for different contexts such as fast or slow paced environments. Additionally, we compare the effect of different aggregation mechanisms and show that a naive approach of concatenation works comparable to its attention and pooling alternatives.

Online video web content is richly multimodal: a single video blends vision, speech, ambient audio, and on-screen text. Retrieval systems typically treat these modalities as independent retrieval sources, which can lead to noisy and subpar retrieval. We explore multimodal video content retrieval, where relevance can be scored from one particular modality or jointly across multiple modalities simultaneously. Consequently, an effective retriever must dynamically choose which modality (or set of modalities) best addresses the query. We introduce CLaMR, a multimodal, late-interaction retriever that jointly indexes 4 modalities: video frames, transcribed speech, on-screen text, and metadata. CLaMR jointly encodes all modalities with a unified multimodal backbone for improved contextualization and is trained to enhance dynamic modality selection via two key innovations. First, given the lack of training data for multimodal retrieval, we introduce MultiVENT 2.0++, a large-scale synthetic training dataset built on MultiVENT 2.0 (event-centric videos in various languages paired with queries) with modality-targeted queries. Next, we propose a modality-aware loss that jointly trains according to a standard contrastive objective alongside an objective for learning correct modality usage. On the test sets of MultiVENT 2.0++ and MSRVTT, conventional aggregation strategies, such as averaging similarities for baseline retrievers, degrade performance by introducing noise from irrelevant modalities. In contrast, CLaMR consistently outperforms existing retrievers: on MultiVENT 2.0++, CLaMR improves nDCG@10 by 25.6 over the best single-modality retriever and by 35.4 over the best multi-modality retriever. We illustrate CLaMR's downstream utility on long-video QA, retrieving relevant frames and obtaining a 3.50% boost over LanguageBind on Video-MME and 1.42% over dense sampling on LongVideoBench.

This paper introduces TopoDiffuser, a diffusion-based framework for multimodal trajectory prediction that incorporates topometric maps to generate accurate, diverse, and road-compliant future motion forecasts. By embedding structural cues from topometric maps into the denoising process of a conditional diffusion model, the proposed approach enables trajectory generation that naturally adheres to road geometry without relying on explicit constraints. A multimodal conditioning encoder fuses LiDAR observations, historical motion, and route information into a unified bird's-eye-view (BEV) representation. Extensive experiments on the KITTI benchmark demonstrate that TopoDiffuser outperforms state-of-the-art methods, while maintaining strong geometric consistency. Ablation studies further validate the contribution of each input modality, as well as the impact of denoising steps and the number of trajectory samples. To support future research, we publicly release our code at https://github.com/EI-Nav/TopoDiffuser.

Time series data are ubiquitous across a wide range of real-world domains. While real-world time series analysis (TSA) requires human experts to integrate numerical series data with multimodal domain-specific knowledge, most existing TSA models rely solely on numerical data, overlooking the significance of information beyond numerical series. This oversight is due to the untapped potential of textual series data and the absence of a comprehensive, high-quality multimodal dataset. To overcome this obstacle, we introduce Time-MMD, the first multi-domain, multimodal time series dataset covering 9 primary data domains. Time-MMD ensures fine-grained modality alignment, eliminates data contamination, and provides high usability. Additionally, we develop MM-TSFlib, the first multimodal time-series forecasting (TSF) library, seamlessly pipelining multimodal TSF evaluations based on Time-MMD for in-depth analyses. Extensive experiments conducted on Time-MMD through MM-TSFlib demonstrate significant performance enhancements by extending unimodal TSF to multimodality, evidenced by over 15% mean squared error reduction in general, and up to 40% in domains with rich textual data. More importantly, our datasets and library revolutionize broader applications, impacts, research topics to advance TSA. The dataset and library are available at https://github.com/AdityaLab/Time-MMD and https://github.com/AdityaLab/MM-TSFlib.

Multimodal learning is defined as learning over multiple heterogeneous input modalities such as video, audio, and text. In this work, we are concerned with understanding how models behave as the type of modalities differ between training and deployment, a situation that naturally arises in many applications of multimodal learning to hardware platforms. We present a multimodal robustness framework to provide a systematic analysis of common multimodal representation learning methods. Further, we identify robustness short-comings of these approaches and propose two intervention techniques leading to 1.5times-4times robustness improvements on three datasets, AudioSet, Kinetics-400 and ImageNet-Captions. Finally, we demonstrate that these interventions better utilize additional modalities, if present, to achieve competitive results of 44.2 mAP on AudioSet 20K.

We present a method for simultaneously localizing multiple sound sources within a visual scene. This task requires a model to both group a sound mixture into individual sources, and to associate them with a visual signal. Our method jointly solves both tasks at once, using a formulation inspired by the contrastive random walk of Jabri et al. We create a graph in which images and separated sounds correspond to nodes, and train a random walker to transition between nodes from different modalities with high return probability. The transition probabilities for this walk are determined by an audio-visual similarity metric that is learned by our model. We show through experiments with musical instruments and human speech that our model can successfully localize multiple sounds, outperforming other self-supervised methods. Project site: https://hxixixh.github.io/mix-and-localize

Publishing open-source academic video recordings is an emergent and prevalent approach to sharing knowledge online. Such videos carry rich multimodal information including speech, the facial and body movements of the speakers, as well as the texts and pictures in the slides and possibly even the papers. Although multiple academic video datasets have been constructed and released, few of them support both multimodal content recognition and understanding tasks, which is partially due to the lack of high-quality human annotations. In this paper, we propose a novel multimodal, multigenre, and multipurpose audio-visual academic lecture dataset (M^3AV), which has almost 367 hours of videos from five sources covering computer science, mathematics, and medical and biology topics. With high-quality human annotations of the spoken and written words, in particular high-valued name entities, the dataset can be used for multiple audio-visual recognition and understanding tasks. Evaluations performed on contextual speech recognition, speech synthesis, and slide and script generation tasks demonstrate that the diversity of M^3AV makes it a challenging dataset.

As information exists in various modalities in real world, effective interaction and fusion among multimodal information plays a key role for the creation and perception of multimodal data in computer vision and deep learning research. With superb power in modeling the interaction among multimodal information, multimodal image synthesis and editing has become a hot research topic in recent years. Instead of providing explicit guidance for network training, multimodal guidance offers intuitive and flexible means for image synthesis and editing. On the other hand, this field is also facing several challenges in alignment of multimodal features, synthesis of high-resolution images, faithful evaluation metrics, etc. In this survey, we comprehensively contextualize the advance of the recent multimodal image synthesis and editing and formulate taxonomies according to data modalities and model types. We start with an introduction to different guidance modalities in image synthesis and editing, and then describe multimodal image synthesis and editing approaches extensively according to their model types. After that, we describe benchmark datasets and evaluation metrics as well as corresponding experimental results. Finally, we provide insights about the current research challenges and possible directions for future research. A project associated with this survey is available at https://github.com/fnzhan/Generative-AI.

Recent advances in large language models (LLMs) have sparked growing interest in integrating language-driven techniques into trajectory prediction. By leveraging their semantic and reasoning capabilities, LLMs are reshaping how autonomous systems perceive, model, and predict trajectories. This survey provides a comprehensive overview of this emerging field, categorizing recent work into five directions: (1) Trajectory prediction via language modeling paradigms, (2) Direct trajectory prediction with pretrained language models, (3) Language-guided scene understanding for trajectory prediction, (4) Language-driven data generation for trajectory prediction, (5) Language-based reasoning and interpretability for trajectory prediction. For each, we analyze representative methods, highlight core design choices, and identify open challenges. This survey bridges natural language processing and trajectory prediction, offering a unified perspective on how language can enrich trajectory prediction.

Recent advancements in time series forecasting have explored augmenting models with text or vision modalities to improve accuracy. While text provides contextual understanding, it often lacks fine-grained temporal details. Conversely, vision captures intricate temporal patterns but lacks semantic context, limiting the complementary potential of these modalities. To address this, we propose \method, a novel multimodal framework that leverages pre-trained Vision-Language Models (VLMs) to bridge temporal, visual, and textual modalities for enhanced forecasting. Our framework comprises three key components: (1) a Retrieval-Augmented Learner, which extracts enriched temporal features through memory bank interactions; (2) a Vision-Augmented Learner, which encodes time series as informative images; and (3) a Text-Augmented Learner, which generates contextual textual descriptions. These components collaborate with frozen pre-trained VLMs to produce multimodal embeddings, which are then fused with temporal features for final prediction. Extensive experiments demonstrate that Time-VLM achieves superior performance, particularly in few-shot and zero-shot scenarios, thereby establishing a new direction for multimodal time series forecasting. Code is available at https://github.com/CityMind-Lab/ICML25-TimeVLM.

Multimodal foundation models that can holistically process text alongside images, video, audio, and other sensory modalities are increasingly used in a variety of real-world applications. However, it is challenging to characterize and study progress in multimodal foundation models, given the range of possible modeling decisions, tasks, and domains. In this paper, we introduce Holistic Evaluation of Multimodal Models (HEMM) to systematically evaluate the capabilities of multimodal foundation models across a set of 3 dimensions: basic skills, information flow, and real-world use cases. Basic multimodal skills are internal abilities required to solve problems, such as learning interactions across modalities, fine-grained alignment, multi-step reasoning, and the ability to handle external knowledge. Information flow studies how multimodal content changes during a task through querying, translation, editing, and fusion. Use cases span domain-specific challenges introduced in real-world multimedia, affective computing, natural sciences, healthcare, and human-computer interaction applications. Through comprehensive experiments across the 30 tasks in HEMM, we (1) identify key dataset dimensions (e.g., basic skills, information flows, and use cases) that pose challenges to today's models, and (2) distill performance trends regarding how different modeling dimensions (e.g., scale, pre-training data, multimodal alignment, pre-training, and instruction tuning objectives) influence performance. Our conclusions regarding challenging multimodal interactions, use cases, and tasks requiring reasoning and external knowledge, the benefits of data and model scale, and the impacts of instruction tuning yield actionable insights for future work in multimodal foundation models.

This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only or motion-only understanding, we argue that understanding human behavior necessitates joint modeling from both videos and motion sequences (e.g., SMPL sequences) to capture nuanced body part dynamics and semantics effectively. In light of this, we present MotionLLM, a straightforward yet effective framework for human motion understanding, captioning, and reasoning. Specifically, MotionLLM adopts a unified video-motion training strategy that leverages the complementary advantages of existing coarse video-text data and fine-grained motion-text data to glean rich spatial-temporal insights. Furthermore, we collect a substantial dataset, MoVid, comprising diverse videos, motions, captions, and instructions. Additionally, we propose the MoVid-Bench, with carefully manual annotations, for better evaluation of human behavior understanding on video and motion. Extensive experiments show the superiority of MotionLLM in the caption, spatial-temporal comprehension, and reasoning ability.

We present a system using Multimodal LLMs (MLLMs) to analyze a large database with tens of millions of images captured at different times, with the aim of discovering patterns in temporal changes. Specifically, we aim to capture frequent co-occurring changes ("trends") across a city over a certain period. Unlike previous visual analyses, our analysis answers open-ended queries (e.g., "what are the frequent types of changes in the city?") without any predetermined target subjects or training labels. These properties cast prior learning-based or unsupervised visual analysis tools unsuitable. We identify MLLMs as a novel tool for their open-ended semantic understanding capabilities. Yet, our datasets are four orders of magnitude too large for an MLLM to ingest as context. So we introduce a bottom-up procedure that decomposes the massive visual analysis problem into more tractable sub-problems. We carefully design MLLM-based solutions to each sub-problem. During experiments and ablation studies with our system, we find it significantly outperforms baselines and is able to discover interesting trends from images captured in large cities (e.g., "addition of outdoor dining,", "overpass was painted blue," etc.). See more results and interactive demos at https://boyangdeng.com/visual-chronicles.

Significant progress has been made in text-to-video generation through the use of powerful generative models and large-scale internet data. However, substantial challenges remain in precisely controlling individual concepts within the generated video, such as the motion and appearance of specific characters and the movement of viewpoints. In this work, we propose a novel paradigm that generates each concept in 3D representation separately and then composes them with priors from Large Language Models (LLM) and 2D diffusion models. Specifically, given an input textual prompt, our scheme consists of three stages: 1) We leverage LLM as the director to first decompose the complex query into several sub-prompts that indicate individual concepts within the video~(e.g., scene, objects, motions), then we let LLM to invoke pre-trained expert models to obtain corresponding 3D representations of concepts. 2) To compose these representations, we prompt multi-modal LLM to produce coarse guidance on the scales and coordinates of trajectories for the objects. 3) To make the generated frames adhere to natural image distribution, we further leverage 2D diffusion priors and use Score Distillation Sampling to refine the composition. Extensive experiments demonstrate that our method can generate high-fidelity videos from text with diverse motion and flexible control over each concept. Project page: https://aka.ms/c3v.

The field has made significant progress in synthesizing realistic human motion driven by various modalities. Yet, the need for different methods to animate various body parts according to different control signals limits the scalability of these techniques in practical scenarios. In this paper, we introduce a cohesive and scalable approach that consolidates multimodal (text, music, speech) and multi-part (hand, torso) human motion generation. Our methodology unfolds in several steps: We begin by quantizing the motions of diverse body parts into separate codebooks tailored to their respective domains. Next, we harness the robust capabilities of pre-trained models to transcode multimodal signals into a shared latent space. We then translate these signals into discrete motion tokens by iteratively predicting subsequent tokens to form a complete sequence. Finally, we reconstruct the continuous actual motion from this tokenized sequence. Our method frames the multimodal motion generation challenge as a token prediction task, drawing from specialized codebooks based on the modality of the control signal. This approach is inherently scalable, allowing for the easy integration of new modalities. Extensive experiments demonstrated the effectiveness of our design, emphasizing its potential for broad application.