arXiv subjects

Jingyu Gong

Publications and source records attributed to Jingyu Gong.

At least 19 recordsLinked to original sources

arXiv2026

MRC-MMAgent: Reinforcement Learning for Multi-Role Collaboration in Multimodal Tool-Using Agents

Multimodal tool-using agents augment vision-language models with access to external information and capabilities, enabling them to solve knowledge-intensive and visually complex tasks that cannot be addressed using visual context alone. However, existing reinforcement learning pipelines largely train single-role agents to search and answer using terminal rewards, overlooking how humans inspect retrieved evidence, reformulate queries, and revise conclusions during search. Consequently, they fail to optimize this self-corrective process over complete interaction trajectories. We propose MRC-MMAgent, a multi-role collaborative reinforcement learning framework that incorporates trajectory assessment and continuation directly into the executable agent loop. First, the framework establishes a multi-role collaborative loop that integrates solving, inspection, and continuation, enabling the agent to acquire evidence through tools, evaluate the preceding trajectory, and resume problem solving when the current answer is insufficiently supported. Second, we introduce a role-coupled learning objective that combines task success, interaction validity, and successful correction with full-trajectory policy optimization across the decisions generated by all roles. Extensive experiments show that, using only the original baseline training set without constructing additional datasets, our method consistently outperforms the corresponding base models and achieves leading or highly competitive performance across benchmarks.

cs.CV↗

arXiv2026

MAST-VLA: Skill-Conditioned Adaptation with Trajectory-Affordance Priors for Multi-Skill Robot Manipulation

Generalist robot manipulation requires a single vision-language-action (VLA) policy to execute diverse skills across scenes and instructions. However, current multi-skill VLA policies often leave two aspects of an instruction insufficiently modeled: which primitive skill to execute and where/how to contact and move objects. We propose MAST-VLA (Multi-skill Adaptation with Skill-conditioned experts and Trajectory-affordance priors), a dual-conditioning framework for robot manipulation. MAST-VLA introduces skill-conditioned LoRA Mixture-of-Experts (LoRA-MoE) adapters in the LLM backbone, where skill-query tokens and routing biases guide low-rank expert specialization, and converts a predicted affordance heatmap into a patch-level trajectory-affordance spatial prior for the action head. On the CALVIN ABC$\rightarrow$D long-horizon multi-skill cross-scene generalization setting, MAST-VLA achieves state-of-the-art performance, reaching an Avg. Len of 4.65 over five-subtask evaluation sequences. Real-robot multi-skill sequence experiments further validate its deployability under real perception and control noise.

cs.RO↗

arXiv2026

MEMO: Multi-Level Entity-Aware Memory for Streaming Video Understanding

Streaming video understanding requires models to process unbounded visual streams while preserving rich visual semantics across vast temporal horizons, posing a fundamental challenge for memory modeling. Existing approaches primarily focus on increasing memory capacity, either by compressing historical information into fixed-size representations or by extending storage beyond GPU memory. However, these methods largely rely on global or coarse-grained representations, inevitably losing fine-grained visual information. In this work, we argue that streaming video memory should explicitly encode structured and semantically meaningful representations, particularly at the entity level. To this end, we propose MEMO, a novel framework that models streaming video through multi-level, entity-aware structured memory. MEMO performs multi-level perception to jointly capture global semantics, entity dynamics, and spatial structures, partitioning streaming video into semantically coherent chunks. Each chunk is organized into a structured memory, where lightweight global and entity-level representations serve as retrieval indices, while the corresponding high-resolution visual content is retained separately for on-demand access. At inference time, MEMO performs query-specific retrieval over the structured memory and selectively recalls relevant visual evidence for downstream reasoning. Notably, MEMO is training-free and plug-and-play with existing multimodal large language models. Extensive experiments on StreamingBench and OVO-Bench demonstrate that MEMO consistently improves multiple base models and achieves state-of-the-art performance. The code is available at https://github.com/Cecilia384/MEMO .

cs.CV↗

arXiv2026

GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation

Although vision-language models (VLMs) possess strong visual understanding and reasoning capabilities, existing vision-and-language navigation (VLN) agents struggle to connect semantic reasoning with spatial execution. Two coupled gaps remain in this connection, as intermediate reasoning is not explicitly anchored to visual evidence and high-level decisions lack precise spatial goals to guide low-level motion. Cognitive science suggests that human navigation bridges these levels hierarchically by anchoring cognition to relevant landmarks and guiding locomotion toward spatial goals. Motivated by this principle, we propose GroundingVLN, which uses visual grounding as a shared interface between reasoning and action. GroundingVLN first reasons with grounding by anchoring task-relevant visual evidence to precise image locations throughout structured reasoning. It then acts through grounding by predicting a progress-aligned pixel goal that a geometric planner translates into primitive actions. To learn these capabilities, we construct GroundingCOTVLN-188K, a dataset of temporally aligned grounded reasoning traces, and introduce Grounded and Execution-Aware Reinforcement Learning (GEAR), which aligns grounded reasoning and spatial decisions with downstream execution. Experiments demonstrate that GroundingVLN achieves state-of-the-art performance (69.9% SR on R2R-CE and 75.1% SR on RxR-CE) with high sample efficiency, using just 0.9% as much training data as the strongest baseline. It also generalizes strongly across datasets, attaining 59.9% SR on RxR-CE when trained solely on R2R, a gain of 20.1% over the strongest baseline. Code and models will be released after review. Code is available at [https://github.com/Teacher-Tom/GroundingVLN](https://github.com/Teacher-Tom/GroundingVLN).

cs.RO↗

arXiv2026

Spatial Temporal Synergy: Balancing Change and Invariance in Text Driven 3D Human Motion Editing

Text-driven human motion editing aims to modify existing motion sequences according to natural language instructions while maintaining the structural consistency of the original motion. Existing diffusion-based approaches struggle to balance text-responsive "change" and inertial "invariance". They often rely on coarse spatial constraints and rigid uniform time assumptions, leading to spatial motion distortions and the destruction of intrinsic physical rhythms during variable-length editing. To handle these challenges, we propose Change and Invariance Motion Editing (CIME), a unified framework that comprehensively decouples change and invariance into spatial pose and temporal rhythm dimensions. For spatial poses, our method integrates an omni-supervised positive-negative learning mechanism comprising hierarchical retrospective feature supervision, subtle motion preservation, and triplet-based semantic alignment. For temporal rhythms, we introduce the Riemannian Non-uniform Integral Manifold Mapping (RNIMM) module, which achieves high-fidelity reproduction of physical beats in the edited text via kinematics-aware non-uniform timestamps. Extensive experiments on the MotionFix and STANCE Adjustment datasets demonstrate that CIME achieves state-of-the-art performance in editing alignment and structural fidelity, validating the effectiveness of our unified architecture. Our source codes and models have been released at: github.com/ZhenwuShi/CIME.git

cs.CV↗

arXiv2026

YouTube-Occ: Learning Indoor 3D Semantic Occupancy Prediction from YouTube Videos

3D semantic occupancy prediction is crucial for fine-grained scene understanding, yet its advancement in privacy-sensitive indoor environments is fundamentally hindered by the scarcity of large-scale annotated 3D data. To overcome this limitation, we explore learning indoor 3D semantic occupancy prediction from abundant, uncalibrated in-the-wild internet videos while simultaneously bypassing the extensive manual annotation. Specifically, we introduce \textit{YouTube-Occ}, including an automated data pipeline that leverages 2D and 3D foundation models to process raw web videos, estimating camera geometry, reconstructing scene point clouds, and enriching them with dense semantic pseudo-labels. However, these plausible pseudo-labels fail to yield performance gains under naive supervision. To address this impasse, we further propose a pre-training framework driven by feature distillation with a dual-alignment strategy. Within it, an intra-frame alignment utilizes a voxel-anchored Gaussianization module to align 3D features with corresponding 2D priors, whereas a cross-scene alignment achieves global semantic consistency via class-prototype distillation. Empirically, YouTube-Occ delivers consistent gains across three mainstream architectures on the NYUv2 and Occ-ScanNet benchmarks, especially under limited-data conditions. We will publicly release our code and data, hoping to inspire future research.

cs.CV↗

arXiv2026

Omni-Supervised Motion Editing: Balancing Change and Invariance through Positive-Negative Learning

Text-based human motion editing aims to modify existing motion sequences according to natural language instructions while maintaining the consistency of the original motion. Existing diffusion-based approaches often rely on heuristic similarity cues or coarse global conditioning, leading to motion distortion and suboptimal semantic alignment. The key challenge lies in balancing change (i.e. precisely editing target regions) and invariance (i.e. preserving unedited parts). To handle such challenge, we propose an Omni-Supervised Positive-Negative Learning framework, named OmniME. Our method integrates three complementary components: (1) retrospective feature supervision that enforces coarse-to-fine consistency across transformer layers,(2) motion preservation mechanism that focuses on subtle variations according to the source-target similarity, and (3) triplet-based semantic alignment that strengthens text-motion correspondence. Together, these components form a unified supervision paradigm that balances change and invariance. Extensive experiments on the MotionFix and STANCE Adjustment datasets demonstrate that OmniME achieves state-of-the-art performance in editing alignment, validating the effectiveness of our unified learning framework. Our source codes and models have been released at: https://github.com/rocket-ycyer/OmniME.git

cs.CV↗

arXiv2026

Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation

Vision-Language Navigation (VLN) enables embodied agents to reach target locations in unseen environments by following language instructions. Despite recent progress with vision-language models (VLMs), a critical semantic-geometric gap remains: while VLMs excel at language and 2D visual understanding, they struggle with 3D spatial reasoning and fail to capture the causal dynamics between actions and spatial transitions, resulting in unreliable navigation, particularly in zero-shot settings. To bridge this gap, we propose a Hierarchical Semantic-Geometric Map (HSGM) that transforms 3D geometric information into a structured representation compatible with VLMs, effectively linking them to the physical world. Specifically, HSGM is represented as a multi-channel top-down map organized into three levels: (1) geometric level that records navigable regions and obstacles, (2) semantic level that represents objects and their relations, and (3) decision level that supports high-level task reasoning and goal selection. During navigation, the VLM acts as a high-level semantic planner, interpreting the spatial layout encoded in the HSGM to select geometrically valid waypoints, while low-level, collision-free movements between waypoints are executed by a classical path-planning algorithm, fully decoupling semantic reasoning from action execution. Additionally, complex instructions are decomposed into subtasks to alleviate the problem of progress forgetting or hallucinating in long-horizon navigation. Extensive experiments on R2R-CE and RxR-CE benchmarks demonstrate that our zero-shot framework achieves state-of-the-art performance and even outperforms several supervised methods. Code is available at https://github.com/Teacher-Tom/HSGM_public.

cs.CV↗

arXiv2026

GSCompleter: A Distillation-Free Plugin for Metric-Aware 3D Gaussian Splatting Completion in Seconds

3D Gaussian Splatting (3DGS) has revolutionized high-fidelity neural rendering with its explicit representation and efficiency. However, reconstructing scenes from sparse viewpoints suffers from severe geometric voids and floaters due to limited coverage. Current scene completion methods typically rely on an iterative "Repair-then-Distill" paradigm, which is computationally intensive, prone to unstable optimization, and susceptible to overfitting. To address these limitations, we propose GSCompleter, a distillation-free plugin that shifts scene completion to a stable "Generate-then-Register" workflow. Specifically, GSCompleter synthesizes visually plausible 2D reference images and explicitly lifts them into 3D Gaussian primitives with a consistent metric scale via a robust Stereo-Anchor View Selection mechanism. These newly generated primitives are then seamlessly integrated into the global scene using a novel Ray-Constrained Registration strategy. By replacing unstable distillation with rapid geometric registration, GSCompleter exhibits superior 3DGS completion performance across three benchmarks, enhancing both quality and efficiency over various baselines and achieving new state-of-the-art (SOTA) results.

cs.CV↗

arXiv2026

NaviMaster: Learning a Unified Policy for GUI and Embodied Navigation Tasks

Recent advances in Graphical User Interface (GUI) and embodied navigation have driven progress, yet these domains have largely evolved in isolation, with disparate datasets and training paradigms. In this paper, we observe that both tasks can be formulated as Markov Decision Processes (MDP), suggesting a foundational principle for their unification. Hence, we present NaviMaster, the first unified agent capable of unifying GUI navigation and embodied navigation within a single framework. Specifically, NaviMaster (i) proposes a visual-target trajectory collection pipeline that generates trajectories for both GUI and embodied tasks using a single formulation. (ii) employs a unified reinforcement learning framework on the mix data to improve generalization. (iii) designs a novel distance-aware reward to ensure efficient learning from the trajectories. Through extensive experiments on out-of-domain benchmarks, NaviMaster is shown to outperform state-of-the-art agents in GUI navigation, spatial affordance prediction, and embodied navigation. Ablation studies further demonstrate the efficacy of our unified training strategy, data mixing strategy, and reward design. Our codes, data, and checkpoints are available at https://iron-boyy.github.io/navimaster-page/.

cs.RO↗

arXiv2026

World2Minecraft: Occupancy-Driven Simulated Scenes Construction

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose World2Minecraft to convert real-world scenes into structured Minecraft environments based on 3D semantic occupancy prediction. In the reconstructed scenes, we can effortlessly perform downstream tasks such as Vision-Language Navigation(VLN). However, we observe that reconstruction quality heavily depends on accurate occupancy prediction, which remains limited by data scarcity and poor generalization in existing models. We introduce a low-cost, automated, and scalable data acquisition pipeline for creating customized occupancy datasets, and demonstrate its effectiveness through MinecraftOcc, a large-scale dataset featuring 100,165 images from 156 richly detailed indoor scenes. Extensive experiments show that our dataset provides a critical complement to existing datasets and poses a significant challenge to current SOTA methods. These findings contribute to improving occupancy prediction and highlight the value of World2Minecraft in providing a customizable and editable platform for personalized embodied AI research. Project page:https://world2minecraft.github.io/.

cs.CV↗

arXiv2026

Memory Intelligence Agent

Deep research agents (DRAs) integrate LLM reasoning with external tools. Memory systems enable DRAs to leverage historical experiences, which are essential for efficient reasoning and autonomous evolution. Existing methods rely on retrieving similar trajectories from memory to aid reasoning, while suffering from key limitations of ineffective memory evolution and increasing storage and retrieval costs. To address these problems, we propose a novel Memory Intelligence Agent (MIA) framework, consisting of a Manager-Planner-Executor architecture. Memory Manager is a non-parametric memory system that can store compressed historical search trajectories. Planner is a parametric memory agent that can produce search plans for questions. Executor is another agent that can search and analyze information guided by the search plan. To build the MIA framework, we first adopt an alternating reinforcement learning paradigm to enhance cooperation between the Planner and the Executor. Furthermore, we enable the Planner to continuously evolve during test-time learning, with updates performed on-the-fly alongside inference without interrupting the reasoning process. Additionally, we establish a bidirectional conversion loop between parametric and non-parametric memories to achieve efficient memory evolution. Finally, we incorporate a reflection and an unsupervised judgment mechanisms to boost reasoning and self-evolution in the open world. Extensive experiments across eleven benchmarks demonstrate the superiority of MIA.

cs.AI↗

arXiv2026

DailyArt: Discovering Articulation from Single Static Images via Latent Dynamics

Articulated objects are essential for embodied AI and world models, yet inferring their kinematics from a single closed-state image remains challenging because crucial motion cues are often occluded. Existing methods either require multi-state observations or rely on explicit part priors, retrieval, or other auxiliary inputs that partially expose the structure to be inferred. In this work, we present DailyArt, which formulates articulated joint estimation from a single static image as a synthesis-mediated reasoning problem. Instead of directly regressing joints from a heavily occluded observation, DailyArt first synthesizes a maximally articulated opened state under the same camera view to expose articulation cues, and then estimates the full set of joint parameters from the discrepancy between the observed and synthesized states. Using a set-prediction formulation, DailyArt recovers all joints simultaneously without requiring object-specific templates, multi-view inputs, or explicit part annotations at test time. Taking estimated joints as conditions, the framework further supports part-level novel state synthesis as a downstream capability. Extensive experiments show that DailyArt achieves strong performance in articulated joint estimation and supports part-level novel state synthesis conditioned on joints. Project page is available at https://rangooo123.github.io/DaliyArt.github.io/.

cs.CV↗

arXiv2026

Vision-language models lag human performance on physical dynamics and intent reasoning

Spatial intelligence is central to embodied cognition, yet contemporary AI systems still struggle to reason about physical interactions in open-world human environments. Despite strong performance on controlled benchmarks, vision-language models often fail to jointly model physical dynamics, reference frames, and the latent human intentions that drive spatial change. We introduce Teleo-Spatial Intelligence (TSI), a reasoning capability that links spatiotemporal change to goal-directed structure. To evaluate TSI, we present EscherVerse, a large-scale open-world resource built from 11,328 real-world videos, including an 8,000-example benchmark and a 35,963-example instruction-tuning set. Across 27 state-of-the-art vision-language models and an independent analysis of first-pass human responses from 11 annotators, we identify a persistent teleo-spatial reasoning gap: the strongest proprietary model achieves 57.26\% overall accuracy, far below first-pass human performance, which ranges from 84.81\% to 95.14\% with a mean of 90.62\%. Fine-tuning on real-world, intent-aware data narrows this gap for open-weight models, but does not close it. EscherVerse provides a diagnostic testbed for purpose-aware spatial reasoning and highlights a critical gap between pattern recognition and human-level understanding in embodied AI.

cs.CV↗

arXiv2026

S2GS: Streaming Semantic Gaussian Splatting for Online Scene Understanding and Reconstruction

Existing offline feed-forward methods for joint scene understanding and reconstruction on long image streams often repeatedly perform global computation over an ever-growing set of past observations, causing runtime and GPU memory to increase rapidly with sequence length and limiting scalability. We propose Streaming Semantic Gaussian Splatting (S2GS), a strictly causal, incremental 3D Gaussian semantic field framework: it does not leverage future frames and continuously updates scene geometry, appearance, and instance-level semantics without reprocessing historical frames, enabling scalable online joint reconstruction and understanding. S2GS adopts a geometry-semantic decoupled dual-backbone design: the geometry branch performs causal modeling to drive incremental Gaussian updates, while the semantic branch leverages a 2D foundation vision model and a query-driven decoder to predict segmentation masks and identity embeddings, further stabilized by query-level contrastive alignment and lightweight online association with an instance memory. Experiments show that S2GS matches or outperforms strong offline baselines on joint reconstruction-and-understanding benchmarks, while significantly improving long-horizon scalability: it processes 1,000+ frames with much slower growth in runtime and GPU memory, whereas offline global-processing baselines typically run out of memory at around 80 frames under the same setting.

cs.CV↗

arXiv2026

Zero-Shot Robotic Manipulation via 3D Gaussian Splatting-Enhanced Multimodal Retrieval-Augmented Generation

Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal Large Language Models (MLLMs) demonstrate strong commonsense reasoning, they struggle with geometric and spatial understanding required for pose prediction. In this paper, we propose RobMRAG, a 3D Gaussian Splatting-Enhanced Multimodal Retrieval-Augmented Generation (MRAG) framework for zero-shot robotic manipulation. Specifically, we construct a multi-source manipulation knowledge base containing object contact frames, task completion frames, and pose parameters. During inference, a Hierarchical Multimodal Retrieval module first employs a three-priority hybrid retrieval strategy to find task-relevant object prototypes, then selects the geometrically closest reference example based on pixel-level similarity and Instance Matching Distance (IMD). We further introduce a 3D-Aware Pose Refinement module based on 3D Gaussian Splatting into the MRAG framework, which aligns the pose of the reference object to the target object in 3D space. The aligned results are reprojected onto the image plane and used as input to the MLLM to enhance the generation of the final pose parameters. Extensive experiments show that on a test set containing 30 categories of household objects, our method improves the success rate by 7.76% compared to the best-performing zero-shot baseline under the same setting, and by 6.54% compared to the state-of-the-art supervised baseline. Our results validate that RobMRAG effectively bridges the gap between high-level semantic reasoning and low-level geometric execution, enabling robotic systems that generalize to unseen objects while remaining inherently interpretable.

cs.RO↗

arXiv2026

Continual-NExT: A Unified Comprehension And Generation Continual Learning Framework

Dual-to-Dual MLLMs refer to Multimodal Large Language Models, which can enable unified multimodal comprehension and generation through text and image modalities. Although exhibiting strong instantaneous learning and generalization capabilities, Dual-to-Dual MLLMs still remain deficient in lifelong evolution, significantly affecting continual adaptation to dynamic real-world scenarios. One of the challenges is that learning new tasks inevitably destroys the learned knowledge. Beyond traditional catastrophic forgetting, Dual-to-Dual MLLMs face other challenges, including hallucination, instruction unfollowing, and failures in cross-modal knowledge transfer. However, no standardized continual learning framework for Dual-to-Dual MLLMs has been established yet, leaving these challenges unexplored. Thus, in this paper, we establish Continual-NExT, a continual learning framework for Dual-to-Dual MLLMs with deliberately-architected evaluation metrics. To improve the continual learning capability of Dual-to-Dual MLLMs, we propose an efficient MAGE (Mixture and Aggregation of General LoRA and Expert LoRA) method to further facilitate knowledge transfer across modalities and mitigate forgetting. Extensive experiments demonstrate that MAGE outperforms other continual learning methods and achieves state-of-the-art performance.

cs.LG↗

arXiv2025

Diffusion Implicit Policy for Unpaired Scene-aware Motion Synthesis

Scene-aware motion synthesis has been widely researched recently due to its numerous applications. Prevailing methods rely heavily on paired motion-scene data, while it is difficult to generalize to diverse scenes when trained only on a few specific ones. Thus, we propose a unified framework, termed Diffusion Implicit Policy (DIP), for scene-aware motion synthesis, where paired motion-scene data are no longer necessary. In this paper, we disentangle human-scene interaction from motion synthesis during training, and then introduce an interaction-based implicit policy into motion diffusion during inference. Synthesized motion can be derived through iterative diffusion denoising and implicit policy optimization, thus motion naturalness and interaction plausibility can be maintained simultaneously. For long-term motion synthesis, we introduce motion blending in joint rotation power space. The proposed method is evaluated on synthesized scenes with ShapeNet furniture, and real scenes from PROX and Replica. Results show that our framework presents better motion naturalness and interaction plausibility than cutting-edge methods. This also indicates the feasibility of utilizing the DIP for motion synthesis in more general tasks and versatile scenes. Code will be publicly available at https://github.com/jingyugong/DIP.

cs.CV↗