arXiv:2603.29085v1 Announce Type: new Abstract: Large language models (LLMs) remain brittle on multi-hop question answering (MHQA), where answering requires combining evidence across documents through retrieval and reasoning. Iterative retrieval systems can fail by locking onto an early low-recall trajectory and amplifying downstream errors, while planning-only approaches may produce static query sets that cannot adapt when intermediate evidence changes. We propose \textbf{Planned Active Retrieval and Reasoning RAG (PAR$^2$-RAG)}, a two-stage framework that separates \emph{coverage} from \emph{commitment}. PAR$^2$-RAG first performs breadth-first anchoring to build a high-recall evidence frontier, then applies depth-first refinement with evidence sufficiency control in an iterative loop. Across four MHQA benchmarks, PAR$^2$-RAG consistently outperforms existing state-of-the-art baselines, compared with IRCoT, PAR$^2$-RAG achieves up to \textbf{23.5\%} higher accuracy, with retrieval gains of up to \textbf{10.5\%} in NDCG.

arXiv:2501.00296v4 Announce Type: replace-cross Abstract: Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract symbolic world models that facilitate zero-shot generalization to novel goals via planning. A critical component of such models is the set of symbolic predicates that define properties of and relationships between objects. In this work, we leverage pretrained vision-language models (VLMs) to propose a large set of visual predicates potentially relevant for decision-making, and to evaluate those predicates directly from camera images. At training time, we pass the proposed predicates and demonstrations into an optimization-based model-learning algorithm to obtain an abstract symbolic world model that is defined in terms of a compact subset of the proposed predicates. At test time, given a novel goal in a novel setting, we use the VLM to construct a symbolic description of the current world state, and then use a search-based planning algorithm to find a sequence of low-level skills that achieves the goal. We demonstrate empirically across experiments in both simulation and the real world that our method can generalize aggressively, applying its learned world model to solve problems with a wide variety of object types, arrangements, numbers of objects, and visual backgrounds, as well as novel goals and much longer horizons than those seen at training time.

arXiv:2603.03701v1 Announce Type: cross Abstract: In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation, without adequately considering reciprocal interactions among heterogeneous urban services that could yield higher efficiency and improved resource utilization. For example, human couriers could collect traffic and air quality data along their delivery routes, while sensing robots could assist with on-demand delivery during peak hours, enhancing both sensing coverage and delivery efficiency. However, the joint optimization of different urban services is challenging due to potentially conflicting objectives and the need for real-time coordination in dynamic environments. In this paper, we propose UrbanHuRo, a two-layer human-robot collaboration framework for joint optimization of heterogeneous urban services, demonstrated through crowdsourced delivery and urban sensing. UrbanHuRo includes two key designs: (i) a scalable distributed MapReduce-based K-submodular maximization module for efficient order dispatch, and (ii) a deep submodular reward reinforcement learning algorithm for sensing route planning. Experimental evaluations on real-world datasets from a food delivery platform demonstrate that UrbanHuRo improves sensing coverage by 29.7% and courier income by 39.2% on average in most settings, while also significantly reducing the number of overdue orders.

arXiv:2602.05286v2 Announce Type: replace-cross Abstract: Healthcare facility visit prediction is essential for optimizing healthcare resource allocation and informing public health policy. Despite advanced machine learning methods being employed for better prediction performance, existing works usually formulate this task as a time-series forecasting problem without considering the intrinsic spatial dependencies of different types of healthcare facilities, and they also fail to provide reliable predictions under abnormal situations such as public emergencies. To advance existing research, we propose HealthMamba, an uncertainty-aware spatiotemporal framework for accurate and reliable healthcare facility visit prediction. HealthMamba comprises three key components: (i) a Unified Spatiotemporal Context Encoder that fuses heterogeneous static and dynamic information, (ii) a novel Graph State Space Model called GraphMamba for hierarchical spatiotemporal modeling, and (iii) a comprehensive uncertainty quantification module integrating three uncertainty quantification mechanisms for reliable prediction. We evaluate HealthMamba on four large-scale real-world datasets from California, New York, Texas, and Florida. Results show HealthMamba achieves around 6.0% improvement in prediction accuracy and 3.5% improvement in uncertainty quantification over state-of-the-art baselines.

arXiv:2602.07849v2 Announce Type: replace Abstract: Deploying Vision-Language Models (VLMs) on edge devices is challenged by resource constraints and performance degradation under distribution shifts. While test-time adaptation (TTA) can counteract such shifts, existing methods are too resource-intensive for on-device deployment. To address this challenge, we propose LQA, a lightweight, quantized-adaptive framework for VLMs that combines a modality-aware quantization strategy with gradient-free test-time adaptation. We introduce Selective Hybrid Quantization (SHQ) and a quantized, gradient-free adaptation mechanism to enable robust and efficient VLM deployment on resource-constrained hardware. Experiments across both synthetic and real-world distribution shifts show that LQA improves overall adaptation performance by 4.5\%, uses less memory than full-precision models, and significantly outperforms gradient-based TTA methods, achieving up to 19.9$\times$ lower memory usage across seven open-source datasets. These results demonstrate that LQA offers a practical pathway for robust, privacy-preserving, and efficient VLM deployment on edge devices.

arXiv:2503.04641v3 Announce Type: replace-cross Abstract: Understanding and replicating the real world is a critical challenge in Artificial General Intelligence (AGI) research. To achieve this, many existing approaches, such as world models, aim to capture the fundamental principles governing the physical world, enabling more accurate simulations and meaningful interactions. However, current methods often treat different modalities, including 2D (images), videos, 3D, and 4D representations, as independent domains, overlooking their interdependencies. Additionally, these methods typically focus on isolated dimensions of reality without systematically integrating their connections. In this survey, we present a unified survey for multimodal generative models that investigate the progression of data dimensionality in real-world simulation. Specifically, this survey starts from 2D generation (appearance), then moves to video (appearance+dynamics) and 3D generation (appearance+geometry), and finally culminates in 4D generation that integrate all dimensions. To the best of our knowledge, this is the first attempt to systematically unify the study of 2D, video, 3D and 4D generation within a single framework. To guide future research, we provide a comprehensive review of datasets, evaluation metrics and future directions, and fostering insights for newcomers. This survey serves as a bridge to advance the study of multimodal generative models and real-world simulation within a unified framework.