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Longteng Guo

Longteng Guo contributes to research discovery and scholarly infrastructure.

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Computer Vision Computation and Language Multimedia Artificial Intelligence Machine Learning Robotics

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preprint2026arXiv

SciVQR: A Multidisciplinary Multimodal Benchmark for Advanced Scientific Reasoning Evaluation

Scientific reasoning is a key aspect of human intelligence, requiring the integration of multimodal inputs, domain expertise, and multi-step inference across various subjects. Existing benchmarks for multimodal large language models (MLLMs) often fail to capture the complexity and traceability of reasoning processes necessary for rigorous evaluation. To fill this gap, we introduce SciVQR, a multimodal benchmark covering 54 subfields in mathematics, physics, chemistry, geography, astronomy, and biology. SciVQR includes domain-specific visuals, such as equations, charts, and diagrams, and challenges models to combine visual comprehension with reasoning. The tasks range from basic factual recall to complex, multi-step inferences, with 46% including expert-authored solutions. SciVQR not only evaluates final answers but also examines the reasoning process, providing insights into how models reach their conclusions. Our evaluation of leading MLLMs, including both proprietary and open-source models, reveals significant limitations in handling complex multimodal reasoning tasks, underscoring the need for improved multi-step reasoning and better integration of interdisciplinary knowledge in advancing MLLMs toward true scientific intelligence. The dataset and evaluation code are publicly available at https://github.com/CASIA-IVA-Lab/SciVQR.

preprint2026arXiv

Semantic-Enriched Latent Visual Reasoning

Multimodal latent-space reasoning aims to replace explicit thinking with images by performing visual reasoning directly in a compact latent space. However, existing approaches largely rely on visual supervision and produce latent representations that lack sufficient semantic richness, limiting their ability to support diverse region-level reasoning tasks. In this work, we introduce Semantic-Enriched Latent Visual Reasoning (SLVR), a two-stage learning framework that enriches latent representations with attribute-level visual semantics and aligns them with diverse reasoning objectives. In the first stage, SLVR learns semantically enriched region-centric latents under fine-grained attribute supervision. In the second stage, we design Multi-query Group Relative Policy Optimization (M-GRPO) to align latent representations across multiple queries grounded in the same region. To support this framework, we construct SLV-Set, comprising approximately 400K region-level attribute annotations and 800K multi-query question answering samples, and introduce SV-QA, a benchmark that evaluates latent reasoning under semantic variation. Experiments demonstrate that SLVR improves the robustness and semantic consistency of latent visual reasoning compared to existing baselines.

preprint2026arXiv

UrbanNav: Learning Language-Guided Urban Navigation from Web-Scale Human Trajectories

Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes. Current visual navigation methods are typically limited to simulated or off-street environments, and often rely on precise goal formats, such as specific coordinates or images. This limits their effectiveness for autonomous agents like last-mile delivery robots navigating unfamiliar cities. To address these limitations, we introduce UrbanNav, a scalable framework that trains embodied agents to follow free-form language instructions in diverse urban settings. Leveraging web-scale city walking videos, we develop an scalable annotation pipeline that aligns human navigation trajectories with language instructions grounded in real-world landmarks. UrbanNav encompasses over 1,500 hours of navigation data and 3 million instruction-trajectory-landmark triplets, capturing a wide range of urban scenarios. Our model learns robust navigation policies to tackle complex urban scenarios, demonstrating superior spatial reasoning, robustness to noisy instructions, and generalization to unseen urban settings. Experimental results show that UrbanNav significantly outperforms existing methods, highlighting the potential of large-scale web video data to enable language-guided, real-world urban navigation for embodied agents.

preprint2026arXiv

When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution

Long-horizon household tasks demand robust high-level planning and sustained reasoning capabilities, which are largely overlooked by existing embodied AI benchmarks that emphasize short-horizon navigation or manipulation and rely on fixed task categories. We introduce LongAct, a benchmark designed to evaluate planning-level autonomy in long-horizon household tasks specified through free-form instructions. By abstracting away embodiment-specific low-level control, LongAct isolates high-level cognitive capabilities such as instruction understanding, dependency management, memory maintenance, and adaptive planning. We further propose HoloMind, a VLM-driven agent with a DAG-based long-horizon hierarchical planner, a Multimodal Spatial Memory for persistent world modeling, an Episodic Memory for experience reuse, and a global Critic for reflective supervision. Experiments with GPT-5 and Qwen3-VL models show that HoloMind substantially improves long-horizon performance while reducing reliance on model scale. Even top models achieve only 59% goal completion and 16% full-task success, underscoring the difficulty of LongAct and the need for stronger long-horizon planning in embodied agents.

preprint2021arXiv

CPTR: Full Transformer Network for Image Captioning

In this paper, we consider the image captioning task from a new sequence-to-sequence prediction perspective and propose CaPtion TransformeR (CPTR) which takes the sequentialized raw images as the input to Transformer. Compared to the "CNN+Transformer" design paradigm, our model can model global context at every encoder layer from the beginning and is totally convolution-free. Extensive experiments demonstrate the effectiveness of the proposed model and we surpass the conventional "CNN+Transformer" methods on the MSCOCO dataset. Besides, we provide detailed visualizations of the self-attention between patches in the encoder and the "words-to-patches" attention in the decoder thanks to the full Transformer architecture.

preprint2021arXiv

Fast Sequence Generation with Multi-Agent Reinforcement Learning

Autoregressive sequence Generation models have achieved state-of-the-art performance in areas like machine translation and image captioning. These models are autoregressive in that they generate each word by conditioning on previously generated words, which leads to heavy latency during inference. Recently, non-autoregressive decoding has been proposed in machine translation to speed up the inference time by generating all words in parallel. Typically, these models use the word-level cross-entropy loss to optimize each word independently. However, such a learning process fails to consider the sentence-level consistency, thus resulting in inferior generation quality of these non-autoregressive models. In this paper, we propose a simple and efficient model for Non-Autoregressive sequence Generation (NAG) with a novel training paradigm: Counterfactuals-critical Multi-Agent Learning (CMAL). CMAL formulates NAG as a multi-agent reinforcement learning system where element positions in the target sequence are viewed as agents that learn to cooperatively maximize a sentence-level reward. On MSCOCO image captioning benchmark, our NAG method achieves a performance comparable to state-of-the-art autoregressive models, while brings 13.9x decoding speedup. On WMT14 EN-DE machine translation dataset, our method outperforms cross-entropy trained baseline by 6.0 BLEU points while achieves the greatest decoding speedup of 17.46x.

preprint2020arXiv

Non-Autoregressive Image Captioning with Counterfactuals-Critical Multi-Agent Learning

Most image captioning models are autoregressive, i.e. they generate each word by conditioning on previously generated words, which leads to heavy latency during inference. Recently, non-autoregressive decoding has been proposed in machine translation to speed up the inference time by generating all words in parallel. Typically, these models use the word-level cross-entropy loss to optimize each word independently. However, such a learning process fails to consider the sentence-level consistency, thus resulting in inferior generation quality of these non-autoregressive models. In this paper, we propose a Non-Autoregressive Image Captioning (NAIC) model with a novel training paradigm: Counterfactuals-critical Multi-Agent Learning (CMAL). CMAL formulates NAIC as a multi-agent reinforcement learning system where positions in the target sequence are viewed as agents that learn to cooperatively maximize a sentence-level reward. Besides, we propose to utilize massive unlabeled images to boost captioning performance. Extensive experiments on MSCOCO image captioning benchmark show that our NAIC model achieves a performance comparable to state-of-the-art autoregressive models, while brings 13.9x decoding speedup.

preprint2020arXiv

Normalized and Geometry-Aware Self-Attention Network for Image Captioning

Self-attention (SA) network has shown profound value in image captioning. In this paper, we improve SA from two aspects to promote the performance of image captioning. First, we propose Normalized Self-Attention (NSA), a reparameterization of SA that brings the benefits of normalization inside SA. While normalization is previously only applied outside SA, we introduce a novel normalization method and demonstrate that it is both possible and beneficial to perform it on the hidden activations inside SA. Second, to compensate for the major limit of Transformer that it fails to model the geometry structure of the input objects, we propose a class of Geometry-aware Self-Attention (GSA) that extends SA to explicitly and efficiently consider the relative geometry relations between the objects in the image. To construct our image captioning model, we combine the two modules and apply it to the vanilla self-attention network. We extensively evaluate our proposals on MS-COCO image captioning dataset and superior results are achieved when comparing to state-of-the-art approaches. Further experiments on three challenging tasks, i.e. video captioning, machine translation, and visual question answering, show the generality of our methods.

preprint2020arXiv

Vatex Video Captioning Challenge 2020: Multi-View Features and Hybrid Reward Strategies for Video Captioning

This report describes our solution for the VATEX Captioning Challenge 2020, which requires generating descriptions for the videos in both English and Chinese languages. We identified three crucial factors that improve the performance, namely: multi-view features, hybrid reward, and diverse ensemble. Based on our method of VATEX 2019 challenge, we achieved significant improvements this year with more advanced model architectures, combination of appearance and motion features, and careful hyper-parameters tuning. Our method achieves very competitive results on both of the Chinese and English video captioning tracks.

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