Designing realistic multi-object scenes requires not only generating images, but also planning spatial layouts that respect semantic relations and physical plausibility. On one hand, while recent advances in diffusion models have enabled high-quality image generation, they lack explicit spatial reasoning, leading to unrealistic object layouts. On the other hand, traditional spatial planning methods in robotics emphasize geometric and relational consistency, but they struggle to capture semantic richness in visual scenes. To bridge this gap, in this paper, we propose LayoutAgent, an agentic framework that unifies vision-language reasoning with compositional diffusion for layout generation. Given multiple input images with target objects in them, our method first employs visual-language model to preprocess the inputs through segmentation, object size estimation, scene graph construction, and prompt rewriting. Then we leverage compositional diffusion-a method traditionally used in robotics-to synthesize bounding boxes that respect object relations encoded in the scene graph for spatial layouts. In the end, a foreground-conditioned image generator composes the complete scene by rendering the objects into the planned layout guided by designed prompts. Experiments demonstrate that LayoutAgent outperforms other state-of-the-art layout generation models in layout coherence, spatial realism and aesthetic alignment.

Robots often struggle to generalize from a single demonstration due to the lack of a transferable and interpretable spatial representation. In this work, we introduce TReF-6, a method that infers a simplified, abstracted 6DoF Task-Relevant Frame from a single trajectory. Our approach identifies an influence point purely from the trajectory geometry to define the origin for a local frame, which serves as a reference for parameterizing a Dynamic Movement Primitive (DMP). This influence point captures the task's spatial structure, extending the standard DMP formulation beyond start-goal imitation. The inferred frame is semantically grounded via a vision-language model and localized in novel scenes by Grounded-SAM, enabling functionally consistent skill generalization. We validate TReF-6 in simulation and demonstrate robustness to trajectory noise. We further deploy an end-to-end pipeline on real-world manipulation tasks, showing that TReF-6 supports one-shot imitation learning that preserves task intent across diverse object configurations.

C. VLA Post-training Framework in Simulation After improving the computation of relative advantages and deriving the corresponding optimization objective, we integrated these components into a complete online reinforcement learning framework for VLA post-training in simulation. First, our overall framework trains a VLA model for a single task using reinforcement learning across multiple environments initialized with identical states. In this setup, the VLA executes the same task in parallel environments, sampling actions step by step until either one environment completes the task or all environments reach the maximum number of steps. During sampling, we incorporate the multistage reward function designed by the LLM described earlier, where each environment's observations provide the necessary object positions and robot state information required for reward computation. Once the trajectories terminate simultaneously, they all share the same length, which facilitates consistent grouping for subsequent processing. After collecting multiple trajectories, they are organized into a trajectory-level group, where relative advantages are computed within the group according to Eq. (3), yielding trajectory-level relative advantages. Similarly, since all trajectories terminate at the same timestep (ensuring that every step can be grouped), we extract step-level data across trajectories (e.g., rewards and log probabilities of actions), and group together steps at the same timestep to form step-level groups. Step-level relative advantages are then computed using Eq.

Spatial Planning is a crucial part in the field of spatial intelligence, which requires the understanding and planning about object arrangements in space perspective. AI agents with the spatial planning ability can better adapt to various real-world applications, including robotic manipulation, automatic assembly, urban planning etc. Recent works have attempted to construct benchmarks for evaluating the spatial intelligence of Multimodal Large Language Models (MLLMs). Nevertheless, these benchmarks primarily focus on spatial reasoning based on typical Visual Question-Answering (VQA) forms, which suffers from the gap between abstract spatial understanding and concrete task execution. In this work, we take a step further to build a comprehensive benchmark called MineAnyBuild, aiming to evaluate the spatial planning ability of open-world AI agents in the Minecraft game. Specifically, MineAnyBuild requires an agent to generate executable architecture building plans based on the given multi-modal human instructions. It involves 4,000 curated spatial planning tasks and also provides a paradigm for infinitely expandable data collection by utilizing rich player-generated content. MineAnyBuild evaluates spatial planning through four core supporting dimensions: spatial understanding, spatial reasoning, creativity, and spatial commonsense. Based on MineAnyBuild, we perform a comprehensive evaluation for existing MLLM-based agents, revealing the severe limitations but enormous potential in their spatial planning abilities. We believe our MineAnyBuild will open new avenues for the evaluation of spatial intelligence and help promote further development for open-world AI agents capable of spatial planning.

Figure 1: DSPv2 is a whole-body mobile manipulation policy that achieves generalizable performance by fusing multi-view 2D semantic perception with 3D spatial awareness, and generates coherent whole-body actions via dense action head. Abstract -- Learning whole-body mobile manipulation via imitation is essential for generalizing robotic skills to diverse environments and complex tasks. However, this goal is hindered by significant challenges, particularly in effectively processing complex observation, achieving robust generalization, and generating coherent actions. T o address these issues, we propose DSPv2, a novel policy architecture. DSPv2 introduces an effective encoding scheme that aligns 3D spatial features with multi-view 2D semantic features. This fusion enables the policy to achieve broad generalization while retaining the fine-grained perception necessary for precise control. Furthermore, we extend the Dense Policy paradigm to the whole-body mobile manipulation domain, demonstrating its effectiveness in generating coherent and precise actions for the whole-body robotic platform. Extensive experiments show that our method significantly outperforms existing approaches in both task performance and generalization ability. Project page is available at: https://selen-suyue.github.io/DSPv2Net/ .

The rapid proliferation of surveillance cameras has increased the demand for automated violence detection. While CNNs and Transformers have shown success in extracting spatio-temporal features, they struggle with long-term dependencies and computational efficiency. W e propose Dual Branch VideoMamba with Gated Class T oken Fusion (GCTF), an efficient architecture combining a dual-branch design and a state-space model (SSM) backbone where one branch captures spatial features, while the other focuses on temporal dynamics. The model performs continuous fusion via a gating mechanism between the branches to enhance the model's ability to detect violent activities even in challenging surveillance scenarios. W e also present a new benchmark by merging RWF-2000, RLVS, SURV and VioPeru datasets in video violence detection, ensuring strict separation between training and testing sets. Experimental results demonstrate that our model achieves state-of-the-art performance on this benchmark and also on DVD dataset which is another novel dataset on video violence detection, offering an optimal balance between accuracy and computational efficiency, demonstrating the promise of SSMs for scalable, near real-time surveillance violence detection.

Vision-and-Language Navigation requires an embodied agent to navigate through unseen environments, guided by natural language instructions and a continuous video stream. Recent advances in VLN have been driven by the powerful semantic understanding of Multimodal Large Language Models. However, these methods typically rely on explicit semantic memory, such as building textual cognitive maps or storing historical visual frames. This type of method suffers from spatial information loss, computational redundancy, and memory bloat, which impede efficient navigation. Inspired by the implicit scene representation in human navigation, analogous to the left brain's semantic understanding and the right brain's spatial cognition, we propose JanusVLN, a novel VLN framework featuring a dual implicit neural memory that models spatial-geometric and visual-semantic memory as separate, compact, and fixed-size neural representations. This framework first extends the MLLM to incorporate 3D prior knowledge from the spatial-geometric encoder, thereby enhancing the spatial reasoning capabilities of models based solely on RGB input. Then, the historical key-value caches from the spatial-geometric and visual-semantic encoders are constructed into a dual implicit memory. By retaining only the KVs of tokens in the initial and sliding window, redundant computation is avoided, enabling efficient incremental updates. Extensive experiments demonstrate that JanusVLN outperforms over 20 recent methods to achieve SOTA performance. For example, the success rate improves by 10.5-35.5 compared to methods using multiple data types as input and by 3.6-10.8 compared to methods using more RGB training data. This indicates that the proposed dual implicit neural memory, as a novel paradigm, explores promising new directions for future VLN research. Ours project page: https://miv-xjtu.github.io/JanusVLN.github.io/.

The ability of robots to interpret human instructions and execute manipulation tasks necessitates the availability of task-relevant tabletop scenes for training. However, traditional methods for creating these scenes rely on time-consuming manual layout design or purely randomized layouts, which are limited in terms of plausibility or alignment with the tasks. In this paper, we formulate a novel task, namely task-oriented tabletop scene generation, which poses significant challenges due to the substantial gap between high-level task instructions and the tabletop scenes. To support research on such a challenging task, we introduce MesaTask-10K, a large-scale dataset comprising approximately 10,700 synthetic tabletop scenes with manually crafted layouts that ensure realistic layouts and intricate inter-object relations. To bridge the gap between tasks and scenes, we propose a Spatial Reasoning Chain that decomposes the generation process into object inference, spatial interrelation reasoning, and scene graph construction for the final 3D layout. We present MesaTask, an LLM-based framework that utilizes this reasoning chain and is further enhanced with DPO algorithms to generate physically plausible tabletop scenes that align well with given task descriptions. Exhaustive experiments demonstrate the superior performance of MesaTask compared to baselines in generating task-conforming tabletop scenes with realistic layouts. Project page is at https://mesatask.github.io/

Interactive streetscape mapping tools such as Google Street View (GSV) and Meta Mapillary enable users to virtually navigate and experience real-world environments via immersive 360° imagery but remain fundamentally inaccessible to blind users. We introduce StreetReaderAI, the first-ever accessible street view tool, which combines context-aware, multimodal AI, accessible navigation controls, and conversational speech. With StreetReaderAI, blind users can virtually examine destinations, engage in open-world exploration, or virtually tour any of the over 220 billion images and 100+ countries where GSV is deployed. We iteratively designed StreetReaderAI with a mixed-visual ability team and performed an evaluation with eleven blind users. Our findings demonstrate the value of an accessible street view in supporting POI investigations and remote route planning. We close by enumerating key guidelines for future work.

Recent Vision-Language-Action (VLA) models demonstrate remarkable generalization in robotics but are restricted by their substantial size and computational cost, limiting real-world deployment. However, conventional lightweighting methods often sacrifice critical capabilities, particularly spatial reasoning. This creates a trade-off between efficiency and performance. To address this challenge, our work reuses Register Tokens, which were introduced for artifact removal in Vision Transformers but subsequently discarded. We suppose that these tokens contain essential spatial information and propose RetoVLA, a novel architecture that reuses them directly by injecting them into the Action Expert. RetoVLA maintains a lightweight structure while leveraging this repurposed spatial context to enhance reasoning. We demonstrate RetoVLA's effectiveness through a series of comprehensive experiments. On our custom-built 7-DOF robot arm, the model achieves a 17.1%p absolute improvement in success rates for complex manipulation tasks. Our results confirm that reusing Register Tokens directly enhances spatial reasoning, demonstrating that what was previously discarded as an artifact is in fact a valuable, unexplored resource for robotic intelligence. A video demonstration is available at: https://youtu.be/2CseBR-snZg