Role-playing (RP) agents rely on behavioral profiles to act consistently across diverse narrative contexts, yet existing profiles are largely unstructured, non-executable, and weakly validated, leading to brittle agent behavior.We propose Codified Decision Trees (CDT), a datadriven framework that induces an executable and interpretable decision structure from largescale narrative data.CDT represents behavioral profiles as a tree of conditional rules, where internal nodes correspond to validated scene conditions and leaves encode grounded behavioral statements, enabling deterministic retrieval of context-appropriate rules at execution time.The tree is learned by iteratively inducing candidate scene-action rules, validating them against data, and refining them through hierarchical specialization, yielding profiles that support transparent inspection and principled updates.Across multiple benchmarks, CDT substantially outperforms human-written profiles and prior profile induction methods on 85 characters across 16 artifacts, indicating that codified and validated behavioral representations lead to more reliable agent grounding.1

Training large language models for long context understanding faces the challenge of data shortage. Previous data engineering approaches mechanically concatenate short documents, which may create many pseudo long documents but raise concerns about data quality. In this paper, we study the core attribute of high quality data for long context training, and provide a data pipeline, LongPack, to scale such data. We found that long distance referrals, which occur in natural long documents, are crucial for long-context training. However, simply concatenating short documents does not reliably generate these relations. We further show that the density of long-distance referrals, which is higher in longer documents, has a key role in training efficiency, making previous upsampling methods suboptimal. To enrich long documents, we propose LongPack, a data pipeline that constructs long documents by packing shorter ones based on referral relationships. Specifically, for web pages, which are the primary source for language model training, we found hyper-link a native signal for such a relation. By packing web pages through their hyper-link connection, we can create longer, high-quality documents. Our experiments demonstrate that LongPackis highly scalable, generating a corpus of long documents equivalent in size to an entire pretraining dataset using just 0.5% root documents. Furthermore, the constructed documents have a ‘near-natural’ quality as innate long documents for long context training, reaching a 32.7% higher score than previous state-of-the-art methods.

Robotic perception requires the modeling of both 3D geometry and semantics. Existing methods typically focus on estimating 3D bounding boxes, neglecting finer geometric details and struggling to handle general, out-of-vocabulary objects. 3D occupancy prediction, which estimates the detailed occupancy states and semantics of a scene, is an emerging task to overcome these limitations.To support 3D occupancy prediction, we develop a label generation pipeline that produces dense, visibility-aware labels for any given scene. This pipeline comprises three stages: voxel densification, occlusion reasoning, and image-guided voxel refinement. We establish two benchmarks, derived from the Waymo Open Dataset and the nuScenes Dataset, namely Occ3D-Waymo and Occ3D-nuScenes benchmarks. Furthermore, we provide an extensive analysis of the proposed dataset with various baseline models. Lastly, we propose a new model, dubbed Coarse-to-Fine Occupancy (CTF-Occ) network, which demonstrates superior performance on the Occ3D benchmarks.The code, data, and benchmarks are released at \url{https://tsinghua-mars-lab.github.io/Occ3D/}.