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During the coalescence of binary black holes (BBHs), asymmetric gravitational wave (GW) emission imparts a kick velocity to the remnant black hole, affecting observed waveforms and parameter estimation. In this study, we investigate the impact of this effect on GW observations using space- and ground-based detectors. By applying Lorentz transformations, we analyze waveform modifications due to kick velocities. For space-based detectors, nearly 50% of detected signals require corrections, while for ground-based detectors, this fraction is below one-third. For Q3d population model, space-based detectors could observe kick effects in over 60% of massive BBH mergers, while in pop3 model, this fraction could drop to 3$\sim$4%. Third-generation ground-based detectors may detect kick effects in up to 16% of stellar-mass BBH mergers. Our findings highlight the importance of incorporating kick velocity effects into waveform modeling, enhancing GW signal interpretation and our understanding of BBH dynamics and astrophysical implications., Comment: 11 pages, 8 figures

Real-time speech interaction, serving as a fundamental interface for human-machine collaboration, holds immense potential. However, current open-source models face limitations such as high costs in voice data collection, weakness in dynamic control, and limited intelligence. To address these challenges, this paper introduces Step-Audio, the first production-ready open-source solution. Key contributions include: 1) a 130B-parameter unified speech-text multi-modal model that achieves unified understanding and generation, with the Step-Audio-Chat version open-sourced; 2) a generative speech data engine that establishes an affordable voice cloning framework and produces the open-sourced lightweight Step-Audio-TTS-3B model through distillation; 3) an instruction-driven fine control system enabling dynamic adjustments across dialects, emotions, singing, and RAP; 4) an enhanced cognitive architecture augmented with tool calling and role-playing abilities to manage complex tasks effectively. Based on our new StepEval-Audio-360 evaluation benchmark, Step-Audio achieves state-of-the-art performance in human evaluations, especially in terms of instruction following. On open-source benchmarks like LLaMA Question, shows 9.3% average performance improvement, demonstrating our commitment to advancing the development of open-source multi-modal language technologies. Our code and models are available at https://github.com/stepfun-ai/Step-Audio.

We present Step-Video-T2V, a state-of-the-art text-to-video pre-trained model with 30B parameters and the ability to generate videos up to 204 frames in length. A deep compression Variational Autoencoder, Video-VAE, is designed for video generation tasks, achieving 16x16 spatial and 8x temporal compression ratios, while maintaining exceptional video reconstruction quality. User prompts are encoded using two bilingual text encoders to handle both English and Chinese. A DiT with 3D full attention is trained using Flow Matching and is employed to denoise input noise into latent frames. A video-based DPO approach, Video-DPO, is applied to reduce artifacts and improve the visual quality of the generated videos. We also detail our training strategies and share key observations and insights. Step-Video-T2V's performance is evaluated on a novel video generation benchmark, Step-Video-T2V-Eval, demonstrating its state-of-the-art text-to-video quality when compared with both open-source and commercial engines. Additionally, we discuss the limitations of current diffusion-based model paradigm and outline future directions for video foundation models. We make both Step-Video-T2V and Step-Video-T2V-Eval available at https://github.com/stepfun-ai/Step-Video-T2V. The online version can be accessed from https://yuewen.cn/videos as well. Our goal is to accelerate the innovation of video foundation models and empower video content creators., Comment: 36 pages, 14 figures

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA, USA). The dVRK has greatly facilitated research in robot-assisted surgery over the past decade and helped researchers address multiple major challenges in this domain. Recently, the dVRK-Si system, a new version of the dVRK which uses mechanical components from the da Vinci Si Surgical System, became available to the community. The major difference between the first generation da Vinci and the da Vinci Si is in the structural upgrade of the Patient Side Manipulator (PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer be ignored as in the dVRK Classic. The high gravity offset may lead to relatively low control accuracy and longer response time. In addition, although substantial progress has been made in addressing the dynamic model identification problem for the dVRK Classic, further research is required on model-based control for the dVRK-Si, due to differences in mechanical components and the demand for enhanced control performance. To address these problems, in this work, we present (1) a novel full kinematic model of the dVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic model identification.

Temporal Knowledge Graph Forecasting (TKGF) aims to predict future events based on the observed events in history. Recently, Large Language Models (LLMs) have exhibited remarkable capabilities, generating significant research interest in their application for reasoning over temporal knowledge graphs (TKGs). Existing LLM-based methods have integrated retrieved historical facts or static graph representations into LLMs. Despite the notable performance of LLM-based methods, they are limited by the insufficient modeling of temporal patterns and ineffective cross-modal alignment between graph and language, hindering the ability of LLMs to fully grasp the temporal and structural information in TKGs. To tackle these issues, we propose a novel framework TGL-LLM to integrate temporal graph learning into LLM-based temporal knowledge graph model. Specifically, we introduce temporal graph learning to capture the temporal and relational patterns and obtain the historical graph embedding. Furthermore, we design a hybrid graph tokenization to sufficiently model the temporal patterns within LLMs. To achieve better alignment between graph and language, we employ a two-stage training paradigm to finetune LLMs on high-quality and diverse data, thereby resulting in better performance. Extensive experiments on three real-world datasets show that our approach outperforms a range of state-of-the-art (SOTA) methods.

Effective instruction tuning is indispensable for optimizing code LLMs, aligning model behavior with user expectations and enhancing model performance in real-world applications. However, most existing methods focus on code snippets, which are limited to specific functionalities and rigid structures, restricting the complexity and diversity of the synthesized data. To address these limitations, we introduce a novel feature tree-based synthesis framework inspired by Abstract Syntax Trees (AST). Unlike AST, which captures syntactic structure of code, our framework models semantic relationships between code elements, enabling the generation of more nuanced and diverse data. The feature tree is constructed from raw data and refined iteratively to increase the quantity and diversity of the extracted features. This process enables the identification of more complex patterns and relationships within the code. By sampling subtrees with controlled depth and breadth, our framework allows precise adjustments to the complexity of the generated code, supporting a wide range of tasks from simple function-level operations to intricate multi-file scenarios. We fine-tuned widely-used base models to create the EpiCoder series, achieving state-of-the-art performance at both the function and file levels across multiple benchmarks. Notably, empirical evidence indicates that our approach shows significant potential in synthesizing highly complex repository-level code data. Further analysis elucidates the merits of this approach by rigorously assessing data complexity and diversity through software engineering principles and LLM-as-a-judge method., Comment: 40 pages, 11 figures