OrangeBot.AI Digest — 2026-10-11

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MiMo-V2.6: Scaling Reinforcement Learning Towards Self-Improvement
Reinforcement learning (RL) is the central training paradigm for advancing large foundation models towards self-improvement. This report introduces the MiMo-V2.6 series, an omni-modal family that pushes the frontier of model intelligence by scaling RL compute. Prior to RL, we conduct mid-training on a broad multimodal corpus to provide ample exploration space, and build a solid infrastructure on the pretrained hybrid-SWA architecture to support subsequent scale-up. We scale RL compute along three dimensions: (1) larger batches and higher throughput, with an asynchronous training that consumes 1,568 samples and 2.7-3.7B tokens per step at context lengths of up to 1M; (2) more diverse and complex environments, spanning code, general, visual, and cyber domains under a mixture of agent harnesses; and (3) more grader compute, via groupwise agentic grading that yields more accurate reward signals for long-horizon tasks and steers the model towards shorter, more token-efficient solutions. To keep training stable at scale, we freeze the MoE router and establish a multi-layer defense against reward hacking. We further build infrastructure for mixed-task agentic RL, including a unified trajectory representation, high-concurrency multi-framework rollout, decoupled control and data planes, and training-inference consistency. We open-source the training dynamics, RL environments, and RL framework to facilitate reproduction and further research on scaled RL and model self-improvement.
Multi-Agent Egocentric World Model with Fine-Grained Embodied Interaction
Egocentric world models predict first-person observations conditioned on an agent's actions, but most focus on a single agent. Real embodied settings often involve multiple agents that act and interact within a shared environment. Existing multi-agent world models rely on coarse actions like locomotion, camera control, or discrete commands, leaving fine-grained embodied interactions underexplored. We formulate multi-agent egocentric world modeling as synchronized ego-stream generation for multiple agents interacting through fine-grained actions in a shared world. This requires cross-view action consistency, shared-environment consistency, and consistent propagation of interaction-induced state updates. We propose Multi-agent Egocentric World Model (ME-World), which jointly denoises multiple ego streams in a shared token sequence, conditions each stream on all agents' target-view poses, and grounds generation with shared environment memory. We train and evaluate on real and synthetic multi-agent data and introduce shared-world consistency metrics for environment, update, and identity consistency. Experiments show ME-World improves shared-world consistency, action control, identity preservation, and video quality over existing methods.
Foundations of Large Language Models
This is a book about large language models. As indicated by the title, it primarily focuses on foundational concepts rather than comprehensive coverage of all cutting-edge technologies. The book is structured into six main chapters, each exploring a key area: pre-training, generative models, prompting, alignment, inference, and reasoning. It is intended for college students, professionals, and practitioners in natural language processing and related fields, and can serve as a reference for anyone interested in large language models.
OuroWorld: Bringing Any 3D World Alive as Diverse, Endlessly Looping 3D Cinemagraphs
Recent 3D world models generate photorealistic, explorable scenes that remain frozen in time. OuroWorld is a mask-free framework that turns any static 3D Gaussian Splatting scene into a 3D cinemagraph: a dynamic scene with vivid, diverse motion looping seamlessly from any viewpoint. A vision-language model infers plausible dynamics and guides a video model to synthesize a reference video, which we lift and complete into multi-view videos. To learn from this imperfect supervision, we propose Inconsistency-Robust Periodic 4DGS: a Fourier-series deformation field guarantees looping by construction, while a Grounded Drift Field anchored at the reference view absorbs cross-view inconsistency. Unlike prior Eulerian methods limited to fluid-like motion, we capture general deformation, object motion, and illumination change. We introduce a ground-truth-free evaluation covering vividness, naturalness, loop seam coherence, and scene quality. On 39 reconstructed and generated scenes, OuroWorld outperforms all baselines and wins 70.8%-99.0% of user-study comparisons. Project page: https://ouroworld.userwei.com
U-Space: Uncovering When and Why Uncertainty Arises in Language Models
Large language models are informing decisions with ever-higher stakes. As the consequences of their errors grow, a central question becomes harder to ignore: how much can we trust an individual answer? Yet recognizing when to defer remains difficult because language models can present incorrect conclusions with fluent explanations and an authoritative tone. Uncertainty quantification seeks to address this disconnect by estimating the reliability of individual predictions. However, many existing methods require repeated generations or separately trained components, and their scalar estimates do not reveal where uncertainty arises or how it evolves during reasoning. Recent work has also shown that generation length can be strongly associated with uncertainty estimates and correctness, raising the question of how much of an estimator's predictive power comes from uncertainty-specific information rather than output length alone. Mechanistic interpretability offers a way to address these limitations by connecting human-interpretable concepts to intermediate model states. Building on this capability, we introduce the U-Space, a low-dimensional subspace that makes a model's evolving uncertainty measurable and interpretable. We identify semantic anchors for doubt and certainty, map their unembedding directions back into the residual space, and combine their contrasts into an orthogonal basis. The U-Lens projects each token state onto these basis vectors, yielding an interpretable token-level uncertainty map that can be inspected directly or aggregated into a scalar uncertainty score. Our approach requires no correctness labels, repeated generations, or training. Across reasoning benchmarks, its confidence score outperforms established baselines under both standard and length-controlled evaluation and transfers more reliably than supervised estimators. Code: https://github.com/s2labres/U-Space.
REMORY: Learning Residual Memory for Context Compaction
Long-horizon agents compact their history to continue within a finite context window, but a textual summary alone may not support every subsequent decision. We introduce REMORY, a neural memory network that supplements the summary with a bounded sequence of soft memory tokens. Given the history and summary, the network learns to generate tokens that help a frozen LLM approximate the continuation it would produce with the full history. The tokens are conditioned on the summary and appended after it, forming an analogue of a residual connection along the sequence dimension. On SummHay, REMORY improves source attribution at nearly unchanged insight coverage and approaches the full-context joint score using only 5.2% of the input positions. Across long-horizon agent benchmarks, Qwen3.8-27B and GLM-5.3-Flash show consistent gains with residual memory. Both models also exhibit substantially fewer repeated tool outputs and tool errors on BrowseComp and Terminal-Bench 2.1.
Beyond Spatio-Temporal Priors: A Generalizable Approach for Dense Correspondence Matching
Dense correspondence matching has historically been bounded by simplifying spatio-temporal priors, such as smooth motion and rigid geometry. While effective for classical tasks, these assumptions break down in image editing and reference-guided generation (IEG), where transformations can preserve visual identity while breaking physical continuity. To establish identity-preserving correspondence across such transformations, we introduce FreeMatching, a generalizable framework combining generative and semantic foundation representations with heterogeneous supervision from classical datasets, tracked videos, and synthetic scenes. Teacher-guided iterative refinement further improves correspondence in IEG without dense correspondence annotations. Experimentally, a single FreeMatching model substantially improves correspondence quality on challenging IEG image pairs while retaining competitive performance on classical benchmarks. Furthermore, we demonstrate its utility as a quantitative metric for evaluating identity preservation, with scores that correlate with human judgment. The code is available at https://github.com/luping-liu/FreeMatching.
MC-Sparse: Deconstructing and Closing the Dense-Sparse Attention Gap in Diffusion Transformers
Sparse attention is a primary approach to reducing the latency of diffusion transformers in long-sequence generation tasks, such as video and high-resolution 3D asset generation. However, existing methods can degrade generation quality and fidelity at high sparsity levels. Through controlled oracle comparisons, we trace this degradation to three sources: constraints imposed by token grouping, inaccurate interaction selection, and the attention contributions lost when tokens are discarded. Guided by this analysis, we propose Meta-Cached Sparse Attention (MC-Sparse), a training-free framework that selects individual key-value (KV) tokens while organizing similar queries into tile-aligned groups for efficient GPU execution. MC-Sparse caches metadata comprising query groups, KV indices selected using exact attention probabilities, and residuals between dense and sparse attention outputs, and reuses them across subsequent denoising steps. Across video and 3D generation models, MC-Sparse achieves higher fidelity to dense-attention outputs and larger denoising speedups than existing sparse-attention baselines, without visible quality degradation. Relative to dense attention, it delivers a 1.80times denoising speedup on Minimax-H3-Base and a 2.32times speedup on 3D asset generation, both with negligible quality loss.
Memento 3: Model-Based Recursive Self-Improvement through Reflective Rulebooks
Learning to act in unfamiliar environments requires agents to infer how the world works and revise that understanding as new evidence arrives. Yet limited observations can support multiple world models that explain past interactions but predict different outcomes in unseen states. We introduce Memento 3, building on the Memento series to enable frozen LLM agents to continually learn explicit world models through external memory. The agent maintains a natural-language rulebook as persistent semantic memory, recording revisable hypotheses about environment dynamics while leaving unknown aspects underspecified. It compiles this rulebook into executable code for prediction and planning. Through a continual loop of observation, reflection, rule revision, compilation, and verification, the agent uses prediction errors to refine both the rulebook and its code. Updated code is accepted only when the LLM judges it faithful to the rulebook and cell-exact replay reproduces the observed transitions. We investigate this process as a model-based route to recursive self-improvement (RSI): the agent autonomously explores the environment, revises its world model, and uses verified updates to guide subsequent interaction and learning, while the underlying LLM remains fixed. A population extension maintains multiple world models in parallel, sharing interaction evidence and using their predictions to guide exploration. On ARC-AGI-3, the single-model agent clears every level of all 25 public games, achieves a mean Relative Human Action Efficiency (RHAE) of 100.0, and uses 44% of the human action count. In an Atari Pong case study, a learned feedback controller wins 21:0 in each of three evaluated episodes with different openings, without further LLM calls.
TestPrism: Rethinking Test Evaluation Beyond a Single Reference
Large language model (LLM) coding agents have advanced test generation across diverse programming tasks. However, the common practice of evaluating tests against a single reference solution overlooks alternative valid implementations and can overstate test quality. We introduce TestPrism, comprising 300 test tasks from 17 sources and 3000 candidate implementations, evenly split between valid and invalid solutions. Its primary metric, Joint Success Function, requires the generated tests to fail on the initial program state, accept every valid candidate, and reject every invalid candidate. Across fourteen baseline coding agent configurations, Joint Success Function reaches only 28.00%, whereas single reference success reaches 59.67%. Our analysis reveals missed behaviors, unsupported assertions, and faulty test construction. To address these weaknesses, we introduce TestHelix, which combines heterogeneous synthesis of test and repair pairs with peer cross validation and recursive self improvement (RSI). Across two models, TestHelix improves Joint Success Function by 8.67 to 9.00 percentage points over the native harness comparators in the TestHelix evaluation
Post-Training Frontier Text-to-Image Models by Composing Preference and Rubric Rewards
Recent text-to-image generation models have achieved remarkable visual quality, but improving them through post-training remains challenging because no single reward signal captures the full range of human preference. In this work, we develop a simple and effective post-training recipe for open-domain text-to-image generation based on the composition of complementary reward signals. Our reward system consists of two main components: a preference reward, trained on large-scale human preference data using a Bradley-Terry objective to capture overall human aesthetic and perceptual preferences, and rubric-based rewards, which explicitly evaluate prompt faithfulness and other desirable properties while providing safeguards against reward hacking. A key challenge is how to combine these heterogeneous reward signals. We show that a naive weighted average leads to suboptimal optimization behavior, and propose a simple reward composition strategy that more effectively balances preference optimization with rubric satisfaction. In the Arena text-to-image leaderboard (https://arena.ai/), our RL-trained Flux2dev achieves an Elo rating 69 points above the base model, and our post-trained Ideogram-4 surpasses every open-source model on the leaderboard, reaching an Elo of 1223.5. (Claims of state-of-the-art performance are based on the Arena leaderboard snapshot as of September 4, 2026.) Our results suggest that effective rewards for frontier generative-model training require broad coverage of user intent and robustness to exploitation under optimization. To support reproducible research, we release Arena-T2I-Training, a 1K subset of training data that recovers some gains of full-scale training, providing a resource that we hope will facilitate future work on post-training for text-to-image models.
OneSearch-VL: Unified Multimodal Deep Research Agent for Image and Video
Single-image, multi-image, and video deep research require different visual operations but share a workflow of visual grounding, external retrieval, and fact composition. A key challenge is to preserve the dependencies linking localized visual anchors, entity relations, source-supported facts, and answer-producing operations. We introduce OneSearch-VL, a unified agent centered on the Visually Grounded Evidence Graph (VGEG), which encodes these dependencies as a shared task-level reference for data construction, process supervision, and operation-level evaluation. Our VGEG-based data engine constructs and verifies multi-image and video questions and filters expert trajectories. Using these data, we assemble OneSearch-VL-SFT-110K and OneSearch-VL-RL-10K for SFT and RL, respectively. We further derive the Evidence-aware Visual-Grounded Rubric reward (EVGR) from VGEG annotations to supervise evidence traceability and visual grounding during RL. For fine-grained evaluation, we construct OneSearch-MI-Bench and OneSearch-Video-Bench, organizing questions by the research operations encoded in their VGEGs. Experiments show that OneSearch-VL-8B improves over Qwen3-VL-8B with tool access by 20.2 and 17.6 percentage points on the two new benchmarks, respectively, while also achieving substantial gains across 7 image benchmarks and VideoDR. Project repository: https://github.com/appletea233/OneSearch-VL
Embodied Turing Machines: Stateful Code for Robot Recursive Self-Improvement
Most robot policies keep a model in the control loop: a VLA maps observations to actions, and an Agent Harness, such as Agent-as-Policy or Harness VLA queries a VLM for decision making at run time. We propose a different view: the embodied world is an Embodied Turing Machine, whose tape is the robot and environment state and rules are the policy. If this state can be represented accurately, the decision making can be written entirely in code. We therefore propose Code-Only-as-Policy (COAP): code measures and tracks the robot, environment, and task state from camera images and proprioception, and makes every decision from it. The same code applies across episodes, and different tasks share one library without a VLM or VLA in the loop. Compared with VLAs and Agent Harnesses, we analyze three advantages of COAP: (i) Explicit State: the state can be stored in code; (ii) Execution: code makes decision making controllable, recovers from failures flexibly, and runs fast and cheaply online; (iii) Extensibility: new tasks reuse, inherit, or extend the shared library, so capabilities can accumulate over tasks. These advantages make COAP a suitable medium for recursive self-improvement (RSI): coding agents develop the library in a closed loop, and each change is explicit and controllable. On RoboDojo's 42 bimanual tasks, the resulting library reaches a success rate of 70.24% without a model at test time. The upper bound of COAP lies in how accurately the state is represented for decision making and how robust the code logic is. We thus propose COAP as a new paradigm for embodied tasks; since it applies across episodes, it can also serve as an efficient data engine for VLAs and Agent Harnesses.
Pumpire: Unified Benchmark for Metric Distance Estimation
We present Pumpire, a unified benchmark for evaluating metric point-pair distance estimation capability of both image- and video-level 3D foundation models, with or without depth priors. In contrast to previous approaches that normally evaluate depth and camera intrinsics separately or evaluate point-clouds with geometric similarity metrics, which cannot directly reflect models' point-to-point distance estimation capability, Pumpire directly assesses point-to-point distances from the reconstructed geometry. To this end, we collect a large-scale and diverse dataset (pumpire-6k) comprising 100 real-world scenes, each annotated with physically measured point-pair distances and containing 64 frames, for a total of 6,400 frames. Building on this dataset, we establish a holistic evaluation protocol that covers both image- and video-level 3D foundation models and enables direct assessment of point-pair distance errors and cross-setting comparison. We conduct extensive experiments across 29 baseline configurations of representative 3D foundation models and provide a comprehensive analysis of the results. By offering this benchmark, we target the more fundamental ability to perceive and estimate physical scale in the reconstructed 3D space, which prior evaluation protocols have largely overlooked. The project page can be found at https://pumpire.github.io/
SparseEngine: Sparse-First Inference Engine
Long-context LLM agents accumulate interaction histories that strain KV-cache memory and attention computation. Although sparse attention reduces these costs, heterogeneous cache representations and workflows hinder integration with existing inference engines, while prior sparse-serving abstractions support only specific layouts or workflows. We present SparseEngine, a ground-up, sparse-first inference engine whose shared lifecycle contract lets each method control its KV representation and computation while coordinating state transitions with common serving infrastructure. SparseEngine supports 15 methods across four categories and enables cross-request state management through Chain Cache, which resumes KV-eviction methods from retained history, and controllable Prefix-Cache Pruning, which removes KV from selected history regions while preserving logical-prefix matching. While maintaining method quality, SparseEngine delivers over 10x higher throughput with KV eviction, over 2.5x faster decoding at matched concurrency than vLLM, and over 2x end-to-end speedup on agent benchmarks. The code is available at https://github.com/CURRENTF/SparseEngine.

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