arXiv:2604.03789v1 Announce Type: cross Abstract: Recent advances in large language models have significantly improved their ability to perform mathematical reasoning, extending from elementary problem solving to increasingly capable performance on research-level problems. However, reliably solving and verifying such problems remains challenging due to the inherent ambiguity of natural language reasoning. In this paper, we propose an automated framework for tackling research-level mathematical problems that integrates natural language reasoning with formal verification, enabling end-to-end problem solving with minimal human intervention. Our framework consists of two components: an informal reasoning agent, Rethlas, and a formal verification agent, Archon. Rethlas mimics the workflow of human mathematicians by combining reasoning primitives with our theorem search engine, Matlas, to explore solution strategies and construct candidate proofs. Archon, equipped with our formal theorem search engine LeanSearch, translates informal arguments into formalized Lean 4 projects through structured task decomposition, iterative refinement, and automated proof synthesis, ensuring machine-checkable correctness. Using this framework, we automatically resolve an open problem in commutative algebra and formally verify the resulting proof in Lean 4 with essentially no human involvement. Our experiments demonstrate that strong theorem retrieval tools enable the discovery and application of cross-domain mathematical techniques, while the formal agent is capable of autonomously filling nontrivial gaps in informal arguments. More broadly, our work illustrates a promising paradigm for mathematical research in which informal and formal reasoning systems, equipped with theorem retrieval tools, operate in tandem to produce verifiable results, substantially reduce human effort, and offer a concrete instantiation of human-AI collaborative mathematical research.

arXiv:2505.08548v3 Announce Type: replace-cross Abstract: Achieving generalization in robotic manipulation remains a critical challenge, particularly for unseen scenarios and novel tasks. Current Vision-Language-Action (VLA) models, while building on top of general Vision-Language Models (VLMs), still fall short of achieving robust zero-shot performance due to the scarcity and heterogeneity prevalent in embodied datasets. To address these limitations, we propose FSD (From Seeing to Doing), a novel vision-language model that generates intermediate representations through spatial relationship reasoning, providing fine-grained guidance for robotic manipulation. Our approach combines a hierarchical data pipeline for training with a self-consistency mechanism that aligns spatial coordinates with visual signals. Through extensive experiments, we comprehensively validated FSD's capabilities in both "seeing" and "doing," achieving outstanding performance across 8 benchmarks for general spatial reasoning and embodied reference abilities, as well as on our proposed more challenging benchmark VABench. We also verified zero-shot capabilities in robot manipulation, demonstrating significant performance improvements over baseline methods in both SimplerEnv and real robot settings. Experimental results show that FSD achieves 40.6% success rate in SimplerEnv and 72% success rate across 8 real-world tasks, outperforming the strongest baseline by 30%.

arXiv:2508.13998v2 Announce Type: replace-cross Abstract: Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation, defining four core embodied pointing abilities that bridge high-level vision-language comprehension with low-level action primitives. We introduce Embodied-R1, a 3B Vision-Language Model (VLM) specifically designed for embodied reasoning and pointing. We use a wide range of embodied and general visual reasoning datasets as sources to construct a large-scale dataset, Embodied-Points-200K, which supports key embodied pointing capabilities. We then train Embodied-R1 using a two-stage Reinforced Fine-tuning (RFT) curriculum with a specialized multi-task reward design. Embodied-R1 achieves state-of-the-art performance on 11 embodied spatial and pointing benchmarks. Critically, it demonstrates robust zero-shot generalization by achieving a 56.2% success rate in the SIMPLEREnv and 87.5% across 8 real-world XArm tasks without any task-specific fine-tuning, representing a 62% improvement over strong baselines. Furthermore, the model exhibits high robustness against diverse visual disturbances. Our work shows that a pointing-centric representation, combined with an RFT training paradigm, offers an effective and generalizable pathway to closing the perception-action gap in robotics.