Current evaluations of commonsense reasoning in LLMs are hindered by the scarcity of natural language corpora with structured annotations for reasoning tasks. To address this, we introduce KnowLogic, a benchmark generated through a knowledge-driven synthetic data strategy. KnowLogic integrates diverse commonsense knowledge, plausible scenarios, and various types of logical reasoning. One of the key advantages of KnowLogic is its adjustable difficulty levels, allowing for flexible control over question complexity. It also includes fine-grained labels for in-depth evaluation of LLMs' reasoning abilities across multiple dimensions. Our benchmark consists of 3,000 bilingual (Chinese and English) questions across various domains, and presents significant challenges for current LLMs, with the highest-performing model achieving only 69.57\%. Our analysis highlights common errors, such as misunderstandings of low-frequency commonsense, logical inconsistencies, and overthinking. This approach, along with our benchmark, provides a valuable tool for assessing and enhancing LLMs' commonsense reasoning capabilities and can be applied to a wide range of knowledge domains.

Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement learning (RL), have shown promise in specific scenarios, RL planners struggle with training inefficiencies and managing large-scale, real-world driving scenarios. In this paper, we introduce \textbf{CarPlanner}, a \textbf{C}onsistent \textbf{a}uto-\textbf{r}egressive \textbf{Planner} that uses RL to generate multi-modal trajectories. The auto-regressive structure enables efficient large-scale RL training, while the incorporation of consistency ensures stable policy learning by maintaining coherent temporal consistency across time steps. Moreover, CarPlanner employs a generation-selection framework with an expert-guided reward function and an invariant-view module, simplifying RL training and enhancing policy performance. Extensive analysis demonstrates that our proposed RL framework effectively addresses the challenges of training efficiency and performance enhancement, positioning CarPlanner as a promising solution for trajectory planning in autonomous driving. To the best of our knowledge, we are the first to demonstrate that the RL-based planner can surpass both IL- and rule-based state-of-the-arts (SOTAs) on the challenging large-scale real-world dataset nuPlan. Our proposed CarPlanner surpasses RL-, IL-, and rule-based SOTA approaches within this demanding dataset.

Node classification is a key task in temporal graph learning (TGL). Real-life temporal graphs often introduce new node classes over time, but existing TGL methods assume a fixed set of classes. This assumption brings limitations, as updating models with full data is costly, while focusing only on new classes results in forgetting old ones. Graph continual learning (GCL) methods mitigate forgetting using old-class subsets but fail to account for their evolution. We define this novel problem as temporal graph continual learning (TGCL), which focuses on efficiently maintaining up-to-date knowledge of old classes. To tackle TGCL, we propose a selective learning framework that substitutes the old-class data with its subsets, Learning Towards the Future (LTF). We derive an upper bound on the error caused by such replacement and transform it into objectives for selecting and learning subsets that minimize classification error while preserving the distribution of the full old-class data. Experiments on three real-world datasets validate the effectiveness of LTF on TGCL.

Visual servo based on traditional image matching methods often requires accurate keypoint correspondence for high precision control. However, keypoint detection or matching tends to fail in challenging scenarios with inconsistent illuminations or textureless objects, resulting significant performance degradation. Previous approaches, including our proposed Correspondence encoded Neural image Servo policy (CNS), attempted to alleviate these issues by integrating neural control strategies. While CNS shows certain improvement against error correspondence over conventional image-based controllers, it could not fully resolve the limitations arising from poor keypoint detection and matching. In this paper, we continue to address this problem and propose a new solution: Probabilistic Correspondence Encoded Neural Image Servo (CNSv2). CNSv2 leverages probabilistic feature matching to improve robustness in challenging scenarios. By redesigning the architecture to condition on multimodal feature matching, CNSv2 achieves high precision, improved robustness across diverse scenes and runs in real-time. We validate CNSv2 with simulations and real-world experiments, demonstrating its effectiveness in overcoming the limitations of detector-based methods in visual servo tasks.

Monocular Visual Odometry (MVO) provides a cost-effective, real-time positioning solution for autonomous vehicles. However, MVO systems face the common issue of lacking inherent scale information from monocular cameras. Traditional methods have good interpretability but can only obtain relative scale and suffer from severe scale drift in long-distance tasks. Learning-based methods under perspective view leverage large amounts of training data to acquire prior knowledge and estimate absolute scale by predicting depth values. However, their generalization ability is limited due to the need to accurately estimate the depth of each point. In contrast, we propose a novel MVO system called BEV-DWPVO. Our approach leverages the common assumption of a ground plane, using Bird's-Eye View (BEV) feature maps to represent the environment in a grid-based structure with a unified scale. This enables us to reduce the complexity of pose estimation from 6 Degrees of Freedom (DoF) to 3-DoF. Keypoints are extracted and matched within the BEV space, followed by pose estimation through a differentiable weighted Procrustes solver. The entire system is fully differentiable, supporting end-to-end training with only pose supervision and no auxiliary tasks. We validate BEV-DWPVO on the challenging long-sequence datasets NCLT, Oxford, and KITTI, achieving superior results over existing MVO methods on most evaluation metrics.

In recent years, wearable devices have revolutionized cardiac monitoring by enabling continuous, non-invasive ECG recording in real-world settings. Despite these advances, the accuracy of ECG parameter calculations (PR interval, QRS interval, QT interval, etc.) from wearables remains to be rigorously validated against conventional ECG machines and expert clinician assessments. In this large-scale, multicenter study, we evaluated FeatureDB, a novel algorithm for automated computation of ECG parameters from wearable single-lead signals Three diverse datasets were employed: the AHMU-FH dataset (n=88,874), the CSE dataset (n=106), and the HeartVoice-ECG-lite dataset (n=369) with annotations provided by two experienced cardiologists. FeatureDB demonstrates a statistically significant correlation with key parameters (PR interval, QRS duration, QT interval, and QTc) calculated by standard ECG machines and annotated by clinical doctors. Bland-Altman analysis confirms a high level of agreement.Moreover,FeatureDB exhibited robust diagnostic performance in detecting Long QT syndrome (LQT) and atrioventricular block interval abnormalities (AVBI),with excellent area under the ROC curve (LQT: 0.836, AVBI: 0.861),accuracy (LQT: 0.856, AVBI: 0.845),sensitivity (LQT: 0.815, AVBI: 0.877),and specificity (LQT: 0.856, AVBI: 0.845).This further validates its clinical reliability. These results validate the clinical applicability of FeatureDB for wearable ECG analysis and highlight its potential to bridge the gap between traditional diagnostic methods and emerging wearable technologies.Ultimately,this study supports integrating wearable ECG devices into large-scale cardiovascular disease management and early intervention strategies,and it highlights the potential of wearable ECG technologies to deliver accurate,clinically relevant cardiac monitoring while advancing broader applications in cardiovascular care.

Multi-turn instruction following capability constitutes a core competency of large language models (LLMs) in real-world applications. Existing evaluation benchmarks predominantly focus on fine-grained constraint satisfaction and domain-specific capability assessment, yet overlook the crucial structural dependency between dialogue turns that distinguishes multi-turn from single-turn interactions. This structural dependency not only reflects user intent but also establishes a second dimension for instruction following evaluation beyond constraint satisfaction. To address this gap, we propose StructFlowBench, a multi-turn instruction following benchmark with structural flow modeling. The benchmark innovatively defines a structural flow framework comprising six fundamental inter-turn relationships, which not only introduces novel structural constraints for model evaluation but also serves as generation parameters for creating customized dialogue flows tailored to specific scenarios. Adopting established LLM-based automatic evaluation methodologies, we conduct systematic evaluations of 13 leading open-source and closed-source LLMs. Experimental results reveal significant deficiencies in current models' comprehension of multi-turn dialogue structures. The code is available at \url{https://github.com/MLGroupJLU/StructFlowBench}.

Molecular design plays a critical role in advancing fields such as drug discovery, materials science, and chemical engineering. This work introduces the Multi-Objective Large Language Model for Molecular Design (MOLLM), a novel framework that combines domain-specific knowledge with the adaptability of Large Language Models to optimize molecular properties across multiple objectives. Leveraging in-context learning and multi-objective optimization, MOLLM achieves superior efficiency, innovation, and performance, significantly surpassing state-of-the-art (SOTA) methods. Recognizing the substantial impact of initial populations on evolutionary algorithms, we categorize them into three types: best initial, worst initial, and random initial, to ensure the initial molecules are the same for each method across experiments. Our results demonstrate that MOLLM consistently outperforms SOTA models in all of our experiments. We also provide extensive ablation studies to evaluate the superiority of our components.

Large language models (LLMs) such as OpenAI's o1 have demonstrated remarkable abilities in complex reasoning tasks by scaling test-time compute and exhibiting human-like deep thinking. However, we identify a phenomenon we term underthinking, where o1-like LLMs frequently switch between different reasoning thoughts without sufficiently exploring promising paths to reach a correct solution. This behavior leads to inadequate depth of reasoning and decreased performance, particularly on challenging mathematical problems. To systematically analyze this issue, we conduct experiments on three challenging test sets and two representative open-source o1-like models, revealing that frequent thought switching correlates with incorrect responses. We introduce a novel metric to quantify underthinking by measuring token efficiency in incorrect answers. To address underthinking, we propose a decoding strategy with thought switching penalty TIP that discourages premature transitions between thoughts, encouraging deeper exploration of each reasoning path. Experimental results demonstrate that our approach improves accuracy across challenging datasets without requiring model fine-tuning. Our findings contribute to understanding reasoning inefficiencies in o1-like LLMs and offer a practical solution to enhance their problem-solving capabilities.

Foundation models have revolutionized natural language processing and artificial intelligence, significantly enhancing how machines comprehend and generate human languages. Inspired by the success of these foundation models, researchers have developed foundation models for individual scientific domains, including small molecules, materials, proteins, DNA, and RNA. However, these models are typically trained in isolation, lacking the ability to integrate across different scientific domains. Recognizing that entities within these domains can all be represented as sequences, which together form the "language of nature", we introduce Nature Language Model (briefly, NatureLM), a sequence-based science foundation model designed for scientific discovery. Pre-trained with data from multiple scientific domains, NatureLM offers a unified, versatile model that enables various applications including: (i) generating and optimizing small molecules, proteins, RNA, and materials using text instructions; (ii) cross-domain generation/design, such as protein-to-molecule and protein-to-RNA generation; and (iii) achieving state-of-the-art performance in tasks like SMILES-to-IUPAC translation and retrosynthesis on USPTO-50k. NatureLM offers a promising generalist approach for various scientific tasks, including drug discovery (hit generation/optimization, ADMET optimization, synthesis), novel material design, and the development of therapeutic proteins or nucleotides. We have developed NatureLM models in different sizes (1 billion, 8 billion, and 46.7 billion parameters) and observed a clear improvement in performance as the model size increases.