#01Jul 30, 2026
cs.CV
ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
Yukang Cao, Haozhe Xie, Beichen Wen and 13 more
Embodied intelligence faces a fundamental data bottleneck. Models must capture how first-person perception, whole-body motion, dexterous manipulation, object state, sound, and touch evolve together as humans pursue goals over time. Existing datasets fragment this experience across viewpoints, modalities, or spatial scales, leaving the full perception-action loop only partially observed. We introduce the Ambient Capture Engine (ACE), a human-centric data engine that transforms real home environments into spatially calibrated, temporally synchronized recording studios. ACE operates at two complementary scales: a table-scale configuration resolves hand-object manipulation, while a room-scale configuration captures whole-body motion, locomotion, and interactions across a furnished home. ACE records egocentric and multi-view exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals as a unified multisensory stream. Using ACE, we build ACE-Data-0, comprising 150 hours and 17M video frames across 200 task categories, performed by 50 participants in 2 environments, for a total of 75,000 interaction episodes. The dataset spans atomic manipulation, long-horizon chains of household activities, and human-scene interaction, while preserving natural behavioral variation through goal-level rather than step-by-step instructions. We further introduce a hierarchical benchmark that progresses from signals to scene components and then to interactions. Evaluations of state-of-the-art methods expose substantial gaps under contact, occlusion, egomotion, and long temporal horizons. ACE-Data-0 provides synchronized human demonstrations with aligned perceptual, kinematic, and contact supervision, offering a scalable foundation for imitation learning, world models, vision-language-action systems, and embodied AI.
#02Jul 30, 2026
cs.CL
Sample More, Reflect Less: Self-Refine and Reflexion Lose to Repeated Sampling at Equal Token Cost, from 1.5B to 7B
Iliya Mirzaei
Methods that make a language model plan, criticise and rewrite its own answer, reflect on mistakes, pick the best of several attempts, or debate with copies of itself nearly all make it generate far more text than a single chain of thought. Because generating more text raises accuracy by itself, a gain over one chain of thought does not show the method's idea is what helped. Wang et al. (2024) reported that a simple baseline, sampling the same question repeatedly and keeping the most common answer, often wins once budgets are comparable, but gave point estimates with no confidence intervals or significance tests. We rerun that comparison as a designed experiment: seven methods, open models of 1.5B, 3B and 7B parameters, two mathematics benchmarks, 150 questions each. We count every generated token, including those spent on critiques, reflections, debate turns and checking, and compare each method against repeated sampling at its own measured cost. All 36 comparisons are paired by question, with bootstrap intervals and multiplicity correction. No method is reliably better than repeated sampling at equal cost anywhere. Ten are reliably worse, all of them methods where the model inspects its own output, and all 18 self-inspection comparisons are negative. The two kinds of self-inspection part company as models grow. Choosing stops hurting: taking Best-of-N's eight samples and just counting the most common answer beats letting the model pick by 8.0 and 11.3 points at 1.5B, but only 2.0 and 1.3 at 7B, no longer distinguishable from zero. Rewriting does not recover: Self-Refine and a forced Reflexion stay 3.6 to 10.1 points below baseline at 7B. Reflexion as published never triggered its own retry on the smallest model. It judged itself correct every time and silently became a single chain of thought. We release code, prompts, all generations, and our verification scripts.
#03Jul 30, 2026
cs.CV
Chimera: Designing and Chinchilla-Scaling Hybrid Visual Diffusion Transformers
Chongjian Ge, Hanwen Jiang, Tianyu Wang and 9 more
Visual generation increasingly requires high-resolution images, long videos, and multimodal context, making the quadratic cost of full attention prohibitive. We introduce Chimera, a hybrid visual diffusion backbone with a principled scaling recipe. Chimera processes text, image, and video tokens in one raster-ordered stream without positional embeddings. It combines Kimi Delta Attention (KDA) for long-context state tracking with O(N) complexity, interleaved Multi-head Latent Attention (MLA) for direct global interaction, and modality-aware short convolutions for local spatiotemporal context. Sparse Mixture-of-Experts (MoE) layers expand capacity while controlling activated compute. To scale this heterogeneous architecture, we introduce HeteroP, a module-wise scheme that transfers hyperparameters across width and depth according to each tensor's functional fan-in and model depth. HeteroP yields a consistently tuned family used to fit Chinchilla-style compute-optimal laws for activated model size, training-token count, and image-video data ratio. Guided by these laws, we train an 11B-parameter Chimera with 2B activated parameters. Experiments show three results. First, measured by pretraining diffusion loss, the dense backbone is 1.7x as compute-efficient as a matched full-attention Wan-2.1 2B baseline, while the complete system reaches 7.3x. Second, without length-specific fine-tuning, Chimera extrapolates zero-shot from 5-second training clips to 30-second videos, with only 6.5% FID degradation in the last five seconds. Third, the fitted laws show that compute-optimal image pretraining divides compute nearly evenly between activated model size and training-token count, whereas video pretraining modestly favors model size at higher budgets. These results establish a foundation for designing and scaling efficient long-context diffusion architectures.
#04Jul 30, 2026
cond-mat.str-el
Graph Neural Network Force Fields for Spin Dynamics in Metallic Magnets
Ali Rayat, Yunhao Fan, Gia-Wei Chern
Metallic magnets exhibit complex spin dynamics governed by electronically generated interactions. Predictive simulations of such dynamics typically require repeated solutions of an underlying electronic problem throughout the time evolution, creating a major computational bottleneck. Here we introduce a graph neural network (GNN) magnetic force-field framework that learns the effective magnetic energy functional governing itinerant spin dynamics directly from electronic calculations. Conceptually analogous to machine-learned interatomic potentials, the proposed framework enables efficient evaluation of spin torques while capturing the nonlinear and spatially extended interactions generated by itinerant electrons. We benchmark the method on representative metallic magnetic systems exhibiting collinear, noncollinear, and noncoplanar magnetic order. The learned force fields accurately reproduce electronically generated spin torques and yield nonequilibrium spin dynamics in excellent agreement with direct electronic simulations. Our results establish graph neural networks as a powerful framework for machine-learned magnetic force fields, providing a pathway toward predictive large-scale simulations of nonequilibrium magnetism across multiple length and time scales.
#05Jul 30, 2026
cs.LG
$β$-OPSD: Deriving with Policy Optimization, Training with Self-Distillation
Jiawei Xu, Minghui Liu, Juzheng Zhang and 2 more
On-policy self-distillation (OPSD) is a promising approach to improve reasoning language models, but it remains brittle in practice: making it work reliably often requires substantial engineering effort. We identify a structural source of this difficulty: vanilla OPSD is precisely the $β=1$ member of a broader policy-optimization family, where $β$ weights the KL penalty anchoring the student to a reference policy. This equivalence turns $β$ from an implicit value fixed at one into a controllable regularization parameter, yielding a more general formulation that trades off proximity to a reference policy against privileged teacher guidance. We introduce $β$-OPSD and derive its optimal policy as a geometric interpolation between the reference policy and the privileged teacher. Directly optimizing this objective with reinforcement learning, however, would be costly and high-variance. Rather than optimize the RL objective directly, we turn its closed-form solution into a distillation target. Each value of $β$ selects a target along the reference-to-teacher path, which we implement efficiently by mixing their token-level logits. In this way, inexpensive distillation approximates the solution of expensive policy optimization. Return-to-go credit assignment further aligns token updates with the sequence-level objective while retaining the simplicity of OPSD. Experiments on mathematical reasoning benchmarks show that $β$-OPSD consistently outperforms vanilla OPSD, improving optimization stability and downstream reasoning performance. Our results provide a principled route from self-distillation to policy optimization and back without sacrificing the efficiency that makes OPSD practical.