arXiv:2510.07181v3 Announce Type: replace-cross Abstract: Vision-Language Models (VLMs) have shown remarkable capabilities in spatial reasoning, yet they remain fundamentally limited to qualitative precision and lack the computational precision required for real-world robotics. Current approaches fail to leverage metric cues from depth sensors and camera calibration, instead reducing geometric problems to pattern recognition tasks that cannot deliver the centimeter-level accuracy essential for robotic manipulation. We present TIGeR (Tool-Integrated Geometric Reasoning), a novel framework that transforms VLMs from perceptual estimators to geometric computers by enabling them to generate and execute precise geometric computations through external tools. Rather than attempting to internalize complex geometric operations within neural networks, TIGeR empowers models to recognize geometric reasoning requirements, synthesize appropriate computational code, and invoke specialized libraries for exact calculations. To support this paradigm, we introduce TIGeR-300K, a comprehensive tool-invocation-oriented dataset covering point transformations, pose estimation, and spatial compatibility verification, complete with tool invocation sequences and intermediate computations. Through a two-stage training pipeline combining supervised fine-tuning (SFT) and reinforcement fine-tuning (RFT) with our proposed hierarchical reward design, TIGeR achieves SOTA performance on geometric reasoning benchmarks while demonstrating centimeter-level precision in real-world robotic manipulation tasks.

arXiv:2603.03143v1 Announce Type: cross Abstract: Leveraging the priors of 2D diffusion models for 3D editing has emerged as a promising paradigm. However, maintaining multi-view consistency in edited results remains challenging, and the extreme scarcity of 3D-consistent editing paired data renders supervised fine-tuning (SFT), the most effective training strategy for editing tasks, infeasible. In this paper, we observe that, while generating multi-view consistent 3D content is highly challenging, verifying 3D consistency is tractable, naturally positioning reinforcement learning (RL) as a feasible solution. Motivated by this, we propose \textbf{RL3DEdit}, a single-pass framework driven by RL optimization with novel rewards derived from the 3D foundation model, VGGT. Specifically, we leverage VGGT's robust priors learned from massive real-world data, feed the edited images, and utilize the output confidence maps and pose estimation errors as reward signals, effectively anchoring the 2D editing priors onto a 3D-consistent manifold via RL. Extensive experiments demonstrate that RL3DEdit achieves stable multi-view consistency and outperforms state-of-the-art methods in editing quality with high efficiency. To promote the development of 3D editing, we will release the code and model.

arXiv:2601.20666v2 Announce Type: replace-cross Abstract: We introduce a novel framework for learning context-aware runtime monitors for AI-based control ensembles. Machine-learning (ML) controllers are increasingly deployed in (autonomous) cyber-physical systems because of their ability to solve complex decision-making tasks. However, their accuracy can degrade sharply in unfamiliar environments, creating significant safety concerns. Traditional ensemble methods aim to improve robustness by averaging or voting across multiple controllers, yet this often dilutes the specialized strengths that individual controllers exhibit in different operating contexts. We argue that, rather than blending controller outputs, a monitoring framework should identify and exploit these contextual strengths. In this paper, we reformulate the design of safe AI-based control ensembles as a contextual monitoring problem. A monitor continuously observes the system's context and selects the controller best suited to the current conditions. To achieve this, we cast monitor learning as a contextual learning task and draw on techniques from contextual multi-armed bandits. Our approach comes with two key benefits: (1) theoretical safety guarantees during controller selection, and (2) improved utilization of controller diversity. We validate our framework in two simulated autonomous driving scenarios, demonstrating significant improvements in both safety and performance compared to non-contextual baselines.