FP3 supports data-efficient fine-tuning for downstream tasks, while demonstrating superior generalizability to unseen environments and novel objects. Abstract --Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models rely solely on 2D image observations, ignoring 3D geometric information, which is essential for robots to perceive and reason about the 3D world. In this paper, we introduce FP3, a first denotes equal contribution. FP3 builds on a scalable diffusion transformer architecture and is pre-trained on 60k trajectories with point cloud observations. With the model design and diverse pre-training data, FP3 can be efficiently fine-tuned for downstream tasks while exhibiting strong generalization capabilities. Experiments on real robots demonstrate that with only 80 demonstrations, FP3 is able to learn a new task with over 90% success rates in novel environments with unseen objects, significantly surpassing existing robot foundation models. Visualizations and code are available at: FP3. I NTRODUCTION Learning-based policies have shown great effectiveness in robotic manipulation [6, 80, 12, 75, 36, 3]. However, these learned policies often show limited or even zero generalization capability to unseen scenarios, new objects, and distractors [66]. Additionally, most current methods are trained on single or few tasks[12, 75], requiring a relatively large amount of expert demonstrations (usually about 200 episodes) to learn a new task.

Large Language Models (LLMs) are often asked to explain their outputs to enhance accuracy and transparency. However, evidence suggests that these explanations can misrepresent the models' true reasoning processes. One effective way to identify inaccuracies or omissions in these explanations is through consistency checking, which typically involves asking follow-up questions. This paper introduces, cross-examiner, a new method for generating follow-up questions based on a model's explanation of an initial question. Our method combines symbolic information extraction with language model-driven question generation, resulting in better follow-up questions than those produced by LLMs alone. Additionally, this approach is more flexible than other methods and can generate a wider variety of follow-up questions.

Several works have explored extending these models to generate images with an additional dimension, such as incorporating a temporal dimension for video generation [SPH + 22, LCW + 23] or a 3D spatial dimension for 3D object generation [XXMPM24, Mo24]. Even 4D generation [ZCW + 25, LYX + 24] has become feasible using diffusion models. Another prominent line of research focuses on auto-regressive models, where the Transformer framework has achieved groundbreaking success in natural language processing. Models such as GPT-4 [AAA + 23], Gemini 2 [Dee24], and DeepSeek [GYZ + 25] have significantly impacted millions of users worldwide. Given the success of the auto-regressive generation paradigm and the Transformer framework, recent works have explored integrating auto-regressive generation into image generation. A representative example is the Visual Auto-Regressive (VAR) model [TJY + 25], which introduces hierarchical image generation with different image patches.

LLM-Pack: Intuitive Grocery Handling for Logistics Applications Y annik Blei 1, Michael Krawez 1, Tobias Jülg 1, Pierre Krack 1, Florian Walter 1 and Wolfram Burgard 1 Abstract -- Robotics and automation are increasingly influential in logistics but remain largely confined to traditional warehouses. In grocery retail, advancements such as cashier-less supermarkets exist, yet customers still manually pick and pack groceries. While there has been a substantial focus in robotics on the bin picking problem, the task of packing objects and groceries has remained largely untouched. However, packing grocery items in the right order is crucial for preventing product damage, e.g., heavy objects should not be placed on top of fragile ones. However, the exact criteria for the right packing order are hard to define, in particular given the huge variety of objects typically found in stores. In this paper, we introduce LLM-Pack, a novel approach for grocery packing. LLM-Pack leverages language and vision foundation models for identifying groceries and generating a packing sequence that mimics human packing strategy. LLM-Pack does not require dedicated training to handle new grocery items and its modularity allows easy upgrades of the underlying foundation models. We extensively evaluate our approach to demonstrate its performance.

Large language models (LLMs) are increasingly applied to outpatient referral tasks across healthcare systems. However, there is a lack of standardized evaluation criteria to assess their effectiveness, particularly in dynamic, interactive scenarios. In this study, we systematically examine the capabilities and limitations of LLMs in managing tasks within Intelligent Outpatient Referral (IOR) systems and propose a comprehensive evaluation framework specifically designed for such systems. This framework comprises two core tasks: static evaluation, which focuses on evaluating the ability of predefined outpatient referrals, and dynamic evaluation, which evaluates capabilities of refining outpatient referral recommendations through iterative dialogues. Our findings suggest that LLMs offer limited advantages over BERT-like models, but show promise in asking effective questions during interactive dialogues.

Large language models (LLMs) demonstrate impressive few-shot learning capabilities, but their performance varies widely based on the sequence of in-context examples. Key factors influencing this include the sequence's length, composition, and arrangement, as well as its relation to the specific query. Existing methods often tackle these factors in isolation, overlooking their interdependencies. Moreover, the extensive search space for selecting optimal sequences complicates the development of a holistic approach. In this work, we introduce Beam Search-based Example Sequence Constructor (BESC), a novel method for learning to construct optimal example sequences. BESC addresses all key factors involved in sequence selection by considering them jointly during inference, while incrementally building the sequence. This design enables the use of beam search to significantly reduce the complexity of the search space. Experiments across various datasets and language models show notable improvements in performance.

Cell microscopy data are abundant; however, corresponding segmentation annotations remain scarce. Moreover, variations in cell types, imaging devices, and staining techniques introduce significant domain gaps between datasets. As a result, even large, pretrained segmentation models trained on diverse datasets (source datasets) struggle to generalize to unseen datasets (target datasets). To overcome this generalization problem, we propose CellStyle, which improves the segmentation quality of such models without requiring labels for the target dataset, thereby enabling zero-shot adaptation. CellStyle transfers the attributes of an unannotated target dataset, such as texture, color, and noise, to the annotated source dataset. This transfer is performed while preserving the cell shapes of the source images, ensuring that the existing source annotations can still be used while maintaining the visual characteristics of the target dataset. The styled synthetic images with the existing annotations enable the finetuning of a generalist segmentation model for application to the unannotated target data. We demonstrate that CellStyle significantly improves zero-shot cell segmentation performance across diverse datasets by finetuning multiple segmentation models on the style-transferred data. The code will be made publicly available.

Open-Vocabulary Multi-Object Tracking (OV-MOT) aims to enable approaches to track objects without being limited to a predefined set of categories. Current OV-MOT methods typically rely primarily on instance-level detection and association, often overlooking trajectory information that is unique and essential for object tracking tasks. Utilizing trajectory information can enhance association stability and classification accuracy, especially in cases of occlusion and category ambiguity, thereby improving adaptability to novel classes. Thus motivated, in this paper we propose \textbf{TRACT}, an open-vocabulary tracker that leverages trajectory information to improve both object association and classification in OV-MOT. Specifically, we introduce a \textit{Trajectory Consistency Reinforcement} (\textbf{TCR}) strategy, that benefits tracking performance by improving target identity and category consistency. In addition, we present \textbf{TraCLIP}, a plug-and-play trajectory classification module. It integrates \textit{Trajectory Feature Aggregation} (\textbf{TFA}) and \textit{Trajectory Semantic Enrichment} (\textbf{TSE}) strategies to fully leverage trajectory information from visual and language perspectives for enhancing the classification results. Extensive experiments on OV-TAO show that our TRACT significantly improves tracking performance, highlighting trajectory information as a valuable asset for OV-MOT. Code will be released.

Developing autonomous home robots controlled by natural language has long been a pursuit of human. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack of a unified benchmark for more complex robot tasks, limited evaluation methods and metrics, data incompatibility between LLMs and mobile manipulation trajectories. To address these issues, we introduce Embodied Mobile Manipulation in Open Environments (EMMOE), which requires agents to interpret user instructions and execute long-horizon everyday tasks in continuous space. EMMOE seamlessly integrates high-level and low-level embodied tasks into a unified framework, along with three new metrics for more diverse assessment. Additionally, we collect EMMOE-100, which features in various task attributes, detailed process annotations, re-plans after failures, and two sub-datasets for LLM training. Furthermore, we design HomieBot, a sophisticated agent system consists of LLM with Direct Preference Optimization (DPO), light weighted navigation and manipulation models, and multiple error detection mechanisms. Finally, we demonstrate HomieBot's performance and the evaluation of different models and policies.

This paper critically examines the recent publication "ChatGPT-4 in the Turing Test" by Restrepo Echavarr\'ia (2025), challenging its central claims regarding the absence of minimally serious test implementations and the conclusion that ChatGPT-4 fails the Turing Test. The analysis reveals that the criticisms based on rigid criteria and limited experimental data are not fully justified. More importantly, the paper makes several constructive contributions that enrich our understanding of Turing Test implementations. It demonstrates that two distinct formats--the three-player and two-player tests--are both valid, each with unique methodological implications. The work distinguishes between absolute criteria (reflecting an optimal 50% identification rate in a three-player format) and relative criteria (which measure how closely a machine's performance approximates that of a human), offering a more nuanced evaluation framework. Furthermore, the paper clarifies the probabilistic underpinnings of both test types by modeling them as Bernoulli experiments--correlated in the three-player version and uncorrelated in the two-player version. This formalization allows for a rigorous separation between the theoretical criteria for passing the test, defined in probabilistic terms, and the experimental data that require robust statistical methods for proper interpretation. In doing so, the paper not only refutes key aspects of the criticized study but also lays a solid foundation for future research on objective measures of how closely an AI's behavior aligns with, or deviates from, that of a human being.