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Zhiang Dong, Zhenlong Dai, Xiangwei Lv, Jingyuan Chen

With the advancements of large language models (LLMs), intelligent tutoring systems have witnessed significant progress. The extensive knowledge and reasoning capabilities of LLMs enable intelligent tutoring systems to generate more helpful tutoring dialogues with scaffolding instructions. However, these systems fail to provide scaffolds that align with the personalized needs of students due to the lack of attention to the long-term learning process of students. Meanwhile, the pursuit of more suitable scaffolds through complex reasoning may result in additional computational overhead. To address these issues, we propose LEAP, a Long-term Educational Adaptive Planning system that can model students' long-term learning process. Specifically, LEAP plans for scaffolds through collaboration of direct planning and thoughtful reasoning to improve efficiency and captures students' long-term learning progress through cognitive state extraction. Then we propose LEAD, a Long-term Educational Archive Dataset to alleviate the lack of data and validate the effectiveness of LEAP, which is constructed through real-world students' reactions and simulation of the teacher-student interactions. Experiments on several datasets demonstrate the effectiveness of LEAP.

Yujie Chen, Tengfei Ma, Yuansheng Liu, Leyi Wei, Shu Wu, Dongsheng Cao, Yiping Liu, Xiangxiang Zeng

Identifying suitable reaction conditions is critical for chemical synthesis, as they directly affect yield, selectivity, and transformation feasibility. While recent methods have shown promising results, most approaches either encode reactants and products independently or rely on rule-based reaction graphs, both of which constrain the ability of the model to capture condition-relevant structural transformations. In this work, we propose TRACE, a transformation-aware graph refinement framework for reaction condition prediction. TRACE constructs atom-level joint graphs that integrate both reactant and product structures to represent condition-relevant transformations. A structure-aware encoder enriches atom features with local chemical context, followed by a dynamic interaction refinement module that adaptively infers task-specific edges. To further guide the model toward condition-relevant patterns, a mechanism regularized graph encoder incorporates reaction center information, enabling more accurate modeling of transformation mechanisms. Experiments on benchmark datasets show that TRACE achieves state-of-the-art performance across multiple condition types. The integration of transformation-aware refinement leads to improvements in prediction accuracy and generalization, while maintaining robust performance in challenging and realistic synthesis planning scenarios.

Yihong Tang, Haicheng Liao, Tong Nie, Junlin He, Ao Qu, Kehua Chen, Wei Ma, Zhenning Li, Lijun Sun, Chengzhong Xu

End-to-end autonomous driving (AD) systems increasingly adopt vision-language-action (VLA) models, yet they ignore the passenger's emotional state, which is central to comfort and AD acceptance. We introduce Open-Domain End-to-End (OD-E2E) AD, where an autonomous vehicle must interpret free-form natural-language commands, infer the emotion, and plan a physically feasible trajectory. We propose E3AD, an emotion-aware VLA framework that augments semantic understanding with two cognitively inspired components: a continuous Valence-Arousal-Dominance (VAD) emotion model that captures tone and urgency from language, and a dual-pathway spatial reasoning module that fuses egocentric and allocentric views for human-like spatial cognition. A consistency-oriented training scheme, combining modality pretraining with preference-based alignment, further enforces coherence between emotional intent and driving actions. Across real-world datasets, E3AD improves visual grounding and waypoint planning and achieves state-of-the-art (SOTA) VAD correlation for emotion estimation. These results show that injecting emotion into VLA-style driving yields more human-aligned grounding, planning, and feedback.

Sen Liang, Fengbin Guan, Youliang Zhang, Xin Li, Zhibo Chen

Text-driven instruction-based video editing in complex scenes remains challenging: purely textual prompts often fail to capture precise spatial relationships and physical constraints, resulting in target ambiguity and physically implausible outcomes. To address this, we propose a plan-guide-edit framework that explicitly bridges semantic intent and spatial execution. In our framework, a Chain-of-Thought (CoT)-enhanced multimodal large language model (MLLM) serves as a planner, performing structured reasoning over the video and instructions to derive a precise sequence of bounding boxes and attribute-enriched editing directives. These spatial priors then guide a box-conditioned mask generator, transforming ambiguous global retrieval into localized, context-aware refinement and producing masks that more accurately capture object scale, contact relationships, and placement. Building on these spatial and semantic signals, a diffusion-based editor integrates the masks, enriched instructions, and frame features to render high-fidelity edits that remain temporally coherent and spatially well aligned. Trained first in a modular manner and then jointly, our framework achieves superior performance with reduced data requirements, delivering precise localization in scenes with multiple similar objects and physically consistent object additions, and extensive experiments demonstrate state-of-the-art performance over multiple strong baseline methods. More details are available at: https://github.com/flying-sky999/CoT-Edit

Hao Zhou, Tiru Wu, Yan Jiang, Wanqi Zhou, Junxing Hu, Ai Han

Multi-modal multi-agent systems (MM-MAS) have gained increasing attention for their capacity to enable complex reasoning and coordination across diverse modalities. As these systems continue to expand in scale and functionality, investigating their potential vulnerabilities has become increasingly important.However, existing studies on adversarial attacks in multi-agent systems primarily focus on isolated agents or unimodal settings, leaving the vulnerabilities of MM-MAS largely underexplored. To bridge this gap, we introduce HAM\textsuperscript 3 , a Hierarchical Attack framework for multi-modal multi-agent systems that decomposes attacks into three interconnected layers. Specifically, at the perception layer, HAM\textsuperscript 3 mounts attacks by perturbing visual inputs, textual inputs, and their fused visual-textual representations. At the communication layer, it performs communication-level attacks that corrupt message content and interaction topology, such as manipulating shared context or communication links to distort collective information flow. At the reasoning layer, it conducts reasoning-level attacks that interfere with each agent's cognitive pipeline, biasing reasoning trajectories and ultimately compromising final decisions. We evaluate HAM\textsuperscript 3 on the GQA benchmark through multi-agent systems built on distinct reasoning paradigms including ReAct, Plan-and-Solve, and Reflexion. Experiments demonstrate that our framework achieves an Attack Success Rate of up to 78.3%, with reasoning-layer attacks being the most effective. More than half of the successful attacks lead multiple agents to produce consistent errors. These findings offer valuable insights for building more robust and interpretable multi-agent intelligence.

Zhenghui Zhao, Chen Wu, Xiangyong Cao, Di Wang, Hongruixuan Chen, Datao Tang, Liangpei Zhang, Zhuo Zheng

Spatiotemporal image generation is a highly meaningful task, which can generate future scenes conditioned on given observations. However, existing change generation methods can only handle event-driven changes (e.g., new buildings) and fail to model cross-temporal variations (e.g., seasonal shifts). In this work, we propose ChangeBridge, a conditional spatiotemporal image generation model for remote sensing. Given pre-event images and multimodal event controls, ChangeBridge generates post-event scenes that are both spatially and temporally coherent. The core idea is a drift-asynchronous diffusion bridge. Specifically, it consists of three main modules: a) Composed Bridge Initialization, which replaces noise initialization. It starts the diffusion from a composed pre-event state, modeling a diffusion bridge process. b) Asynchronous Drift Diffusion, which uses a pixel-wise drift map, assigning different drift magnitudes to event and temporal evolution. This enables differentiated generation during the pre-to-post transition. c) Drift-Aware Denoising, which embeds the drift map into the denoising network, guiding drift-aware reconstruction. Experiments show that ChangeBridge can generate better cross-spatiotemporal aligned scenarios compared to state-of-the-art methods. Additionally, ChangeBridge shows great potential for land-use planning and as a data generation engine for a series of change detection tasks. Code is available at https://github.com/zhenghuizhao/ChangeBridge

Shipeng Zhu, Ang Chen, Na Nie, Pengfei Fang, Min-Ling Zhang, Hui Xue

Ancient inscriptions, as repositories of cultural memory, have suffered from centuries of environmental and human-induced degradation. Restoring their intertwined visual and textual integrity poses one of the most demanding challenges in digital heritage preservation. However, existing AI-based approaches often rely on rigid pipelines, struggling to generalize across such complex and heterogeneous real-world degradations. Inspired by the skill-coordinated workflow of human epigraphers, we propose EpiAgent, an agent-centric system that formulates inscription restoration as a hierarchical planning problem. Following an Observe-Conceive-Execute-Reevaluate paradigm, an LLM-based central planner orchestrates collaboration among multimodal analysis, historical experience, specialized restoration tools, and iterative self-refinement. This agent-centric coordination enables a flexible and adaptive restoration process beyond conventional single-pass methods. Across real-world degraded inscriptions, EpiAgent achieves superior restoration quality and stronger generalization compared to existing methods. Our work marks an important step toward expert-level agent-driven restoration of cultural heritage. The code is available at https://github.com/blackprotoss/EpiAgent.

Keyang Lu, Sifan Zhou, Hongbin Xu, Gang Xu, Zhifei Yang, Yikai Wang, Zhen Xiao, Jieyi Long, Ming Li

Realistic 3D city generation is fundamental to a wide range of applications, including virtual reality and digital twins. However, most existing methods rely on training a single diffusion model, which limits their ability to generate personalized and boundless city-scale scenes. In this paper, we present Yo'City, a novel agentic framework that enables user-customized and infinitely expandable 3D city generation by leveraging the reasoning and compositional capabilities of off-the-shelf large models. Specifically, Yo'City first conceptualizes the city through a top-down planning strategy that defines a hierarchical "City-District-Grid" structure. The Global Planner determines the overall layout and potential functional districts, while the Local Designer further refines each district with detailed grid-level descriptions. Subsequently, the grid-level 3D generation is achieved through a produce-refine-evaluate isometric image synthesis loop, followed by image-to-3D generation. To simulate continuous city evolution, Yo'City further introduces a user-interactive, relationship-guided expansion mechanism, which performs scene graph-based distance- and semantics-aware layout optimization, ensuring spatially coherent city growth. To comprehensively evaluate our method, we construct a diverse benchmark dataset and design six multi-dimensional metrics that assess generation quality from the perspectives of semantics, geometry, texture, and layout. Extensive experiments demonstrate that Yo'City consistently outperforms existing state-of-the-art methods across all evaluation aspects.

Xiaoqian Cheng, Dong Xiao, Husen Li, Zheng Liu, Renjie Chen

Point cloud denoising is a critical preprocessing step for enhancing the reliability and accuracy of 3D perception systems. Most existing progressive denoising methods rely on fixed iterative pipelines that process all regions uniformly, resulting in redundant computation and over-smoothing of geometric details when handling point clouds with non-uniform noise distributions. To overcome these limitations, we introduce Dynamic Skip Net (DSNet), a novel progressive denoising framework that enables routing on demand by adaptively determining the optimal denoising path for each local patch based on its noise characteristics. DSNet incorporates a noise discriminator that quantifies local noise intensity by analyzing normal similarity, and a reverse monotonic decision function that maps this measure to an appropriate denoising module. Furthermore, we propose a path-selective iteration mechanism that dynamically re-evaluates the restoration state and re-plans the denoising route at each stage, enabling cross-stage skipping to minimize unnecessary computation. Extensive experiments on multiple benchmarks demonstrate that DSNet achieves state-of-the-art performance in noise suppression, geometric fidelity, and computational efficiency. The code is available at https://github.com/cz-61/DSNet

Chenyang Gu, Jiaming Liu, Hao Chen, Runzhong Huang, Qingpo Wuwu, Xiaoqi Li, Zhuoyang Liu, Ying Li, Renrui Zhang, Peng Jia 等

Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO assembly or object rearrangement, existing VLA models still face challenges in coordinating long-horizon planning with precise manipulation.Therefore, we aim to endow a VLA model with the capability to infer the "how" process from the "what" outcomes, transforming goal states into executable procedures. In this paper, we introduce ManualVLA, a unified VLA framework built upon a Mixture-of-Transformers (MoT) architecture, enabling coherent collaboration between multimodal manual generation and action execution. Unlike prior VLA models that directly map sensory inputs to actions, we first equip ManualVLA with a planning expert that generates intermediate manuals consisting of images, visual prompts, and textual instructions. Building upon these multimodal manuals, we design a Manual Chain-of-Thought (ManualCoT) reasoning process that feeds them into the action expert, where each manual step provides explicit control conditions, while its latent representation offers implicit guidance for accurate manipulation. To alleviate the burden of data collection, we develop a high-fidelity digital-twin toolkit based on 3D Gaussian Splatting, which automatically generates manual data for planning expert training. ManualVLA demonstrates strong real-world performance, achieving an average success rate 32% higher than the previous hierarchical SOTA baseline on LEGO assembly and object rearrangement tasks.

Haowei Sun, Kai Zhou, Hao Gao, Shiteng Zhang, Jinwu Hu, Xutao Wen, Qixiang Ye, Mingkui Tan

Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment: confusion from visually similar distractors caused by insufficient instance-level discrimination and severe failure under occlusions due to the absence of active planning. To address these, we propose OA-VAT, a unified pipeline with three complementary modules. First, a training-free Instance-Aware Offline Prototype Initialization aggregates multi-view augmented features via DINOv3 to construct discriminative instance prototypes, mitigating distractor confusion. Second, an Online Prototype Enhancement Tracker enhances prototypes online and integrates a confidence-aware Kalman filter for stable tracking under appearance and motion changes. Third, an Occlusion-Aware Trajectory Planner, trained on our new Planning-20k dataset, uses conditional diffusion to generate obstacle-avoiding paths for occlusion recovery. Experiments demonstrate OA-VAT achieves 0.93 average SR on UnrealCV (+2.2% vs. SOTA TrackVLA), 90.8% average CAR on real-world datasets (+12.1% vs. SOTA GC-VAT), and 81.6% TSR on a DJI Tello drone. Running at 35 FPS on an RTX 3090, it delivers robust, real-time performance for practical deployment. The code is available at https://github.com/SHWplus/OA-VAT.

Boyu Chen, Zikang Wang, Zhengrong Yue, Kainan Yan, Chenyun Yu, Yi Huang, Zijun Liu, Yafei Wen, Xiaoxin Chen, Yang Liu 等

Most of the multi-agent video understanding frameworks adopt static and non-learnable tool invocation mechanisms, which limit the discovery of diverse clues essential for robust perception and reasoning regarding temporally or spatially complex videos. To address this challenge, we propose a novel Multi-agent system for video understanding, namely VideoChat-M1. Instead of using a single or fixed policy, we adopt a distinct Collaborative Policy Planning (CPP) paradigm with multiple policy agents, which comprises three key processes. (1)Policy Generation: Each agent generates its unique tool invocation policy tailored to the user's query. (2) Policy Execution: Each agent sequentially invokes relevant tools to execute its policy and explore the video content. (3) Policy Communication: During the intermediate stages of policy execution, agents interact with one another to update their respective policies. Through this collaborative framework, all agents work in tandem, dynamically refining their preferred policies based on contextual insights from peers. Moreover, we equip our CPP paradigm with Multi-Agent Reinforcement Learning (MARL). Consequently, policy agents can be jointly optimized to enhance the performance, guided by both the final answer reward and intermediate collaborative process feedback. Extensive experiments demonstrate that VideoChat-M1 achieves SOTA performance across eight benchmarks on four tasks. Notably, on LongVideoBench, our method outperforms Gemini 2.5 pro by 3.6% and GPT-4o by 15.6%.

Peizheng Li, Zhenghao Zhang, David Holtz, Hang Yu, Yutong Yang, Yuzhi Lai, Rui Song, Andreas Geiger, Andreas Zell

End-to-end autonomous driving methods built on vision language models (VLMs) have undergone rapid development driven by their universal visual understanding and strong reasoning capabilities obtained from the large-scale pretraining. However, we find that current VLMs struggle to understand fine-grained 3D spatial relationships which is a fundamental requirement for systems interacting with the physical world. To address this issue, we propose SpaceDrive, a spatial-aware VLM-based driving framework that treats spatial information as explicit positional encodings (PEs) instead of textual digit tokens, enabling joint reasoning over semantic and spatial representations. SpaceDrive employs a universal positional encoder to all 3D coordinates derived from multi-view depth estimation, historical ego-states, and text prompts. These 3D PEs are first superimposed to augment the corresponding 2D visual tokens. Meanwhile, they serve as a task-agnostic coordinate representation, replacing the digit-wise numerical tokens as both inputs and outputs for the VLM. This mechanism enables the model to better index specific visual semantics in spatial reasoning and directly regress trajectory coordinates rather than generating digit-by-digit, thereby enhancing planning accuracy. Extensive experiments validate that SpaceDrive achieves state-of-the-art open-loop performance on the nuScenes dataset and the second-best Driving Score of 78.02 on the Bench2Drive closed-loop benchmark over existing VLM-based methods. Code is available at: https://github.com/zhenghao2519/SpaceDrive.

Do Xuan Long, Xingchen Wan, Hootan Nakhost, Chen-Yu Lee, Tomas Pfister, Sercan Ö. Arik

Despite rapid advances in text-to-video synthesis, generated video quality remains critically dependent on precise user prompts. Existing test-time optimization methods, successful in other domains, struggle with the multi-faceted nature of video. In this work, we introduce VISTA (Video Iterative Self-improvemenT Agent), a novel multi-agent system that autonomously improves video generation through refining prompts in an iterative loop. VISTA first decomposes a user's idea into a structured temporal plan. After generation, the best video is identified through a robust pairwise tournament. This winning video is then critiqued by a trio of specialized agents focusing on visual, audio, and contextual fidelity. Finally, a reasoning agent synthesizes this feedback to introspectively rewrite and enhance the prompt for the next generation cycle. Experiments on single- and multi-scene video generation scenarios show that while prior methods yield inconsistent gains, VISTA consistently improves video quality and alignment with user intent, achieving up to 60% pairwise win rate against state-of-the-art baselines. Human evaluators concur, preferring VISTA's outputs in 66.4% of comparisons.

Rujiao Long, Yang Li, Xingyao Zhang, Weixun Wang, Tianqianjin Lin, Xi Zhao, Yuchi Xu, Wenbo Su, Junchi Yan, Bo Zheng

Exploration capacity shapes both inference-time performance and reinforcement learning (RL) training for large (vision-) language models, as stochastic sampling often yields redundant reasoning paths with little high-level diversity. This paper proposes Reasoning Palette, a novel latent-modulation framework that endows the model with a stochastic latent variable for strategic contextualization, guiding its internal planning prior to token generation. This latent context is inferred from the mean-pooled embedding of a question-answer pair via a variational autoencoder (VAE), where each sampled latent potentially encodes a distinct reasoning context. During inference, a sampled latent is decoded into learnable token prefixes and prepended to the input prompt, modulating the model's internal reasoning trajectory. In this way, the model performs internal sampling over reasoning strategies prior to output generation, which shapes the style and structure of the entire response sequence. A brief supervised fine-tuning (SFT) warm-up phase allows the model to adapt to this latent conditioning. Within RL optimization, Reasoning Palette facilitates structured exploration by enabling on-demand injection for diverse reasoning modes, significantly enhancing exploration efficiency and sustained learning capability. Experiments across multiple reasoning benchmarks demonstrate that our method enables interpretable and controllable control over the (vision-) language model's strategic behavior, thereby achieving consistent performance gains over standard RL methods.

Yuzheng Gao, Yuxing Long, Lei Kang, Yuchong Guo, Ziyan Yu, Shangqing Mao, Jiyao Zhang, Ruihai Wu, Dongjiang Li, Hui Shen 等

Existing appliance assets suffer from poor rendering, incomplete mechanisms, and misalignment with manuals, leading to simulation-reality gaps that hinder appliance manipulation development. In this work, we introduce the RealAppliance dataset, comprising 100 high-fidelity appliances with complete physical, electronic mechanisms, and program logic aligned with their manuals. Based on these assets, we propose the RealAppliance-Bench benchmark, which evaluates multimodal large language models and embodied manipulation planning models across key tasks in appliance manipulation planning: manual page retrieval, appliance part grounding, open-loop manipulation planning, and closed-loop planning adjustment. Our analysis of model performances on RealAppliance-Bench provides insights for advancing appliance manipulation research

Fei Liu, Shichao Xie, Minghua Luo, Zedong Chu, Junjun Hu, Xiaolong Wu, Mu Xu

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments, leading to high failure rates. To address these limitations, we introduce NavForesee, a novel Vision-Language Model (VLM) that unifies high-level language planning and predictive world model imagination within a single, unified framework.Our approach empowers a single VLM to concurrently perform planning and predictive foresight. Conditioned on the full instruction and historical observations, the model is trained to understand the navigation instructions by decomposing the task, tracking its progress, and formulating the subsequent sub-goal. Simultaneously, it functions as a generative world model, providing crucial foresight by predicting short-term environmental dynamics and long-term navigation milestones. The VLM's structured plan guides its targeted prediction, while the imagined future provides rich context to inform the navigation actions, creating a powerful internal feedback loop of perception-planning/prediction-action. We demonstrate through extensive experiments on the R2R-CE and RxR-CE benchmark that NavForesee achieves highly competitive performance in complex scenarios. Our work highlights the immense potential of fusing explicit language planning with implicit spatiotemporal prediction, paving the way for more intelligent and capable embodied agents.

Dilin Wang, Hyunyoung Jung, Tom Monnier, Kihyuk Sohn, Chuhang Zou, Xiaoyu Xiang, Yu-Ying Yeh, Di Liu, Zixuan Huang, Thu Nguyen-Phuoc 等

We introduce WorldGen, a method for generating large, fully formed, navigable 3D worlds from a single text prompt. Existing approaches to 3D scene generation often trade off scene diversity, completeness, and correctness in different ways. We push this envelope by producing large scenes explicitly decomposed into individual, high-quality 3D meshes, making them compatible with standard game engines. Our approach first uses a language-driven procedural generator to lay out the scene's basic volumes and navigable regions. An image generator then establishes the scene's theme, style, and details. Next, we obtain a high-quality, compositional 3D reconstruction of the planned scene. This step first uses an image-to-3D model to perform a holistic reconstruction that implicitly determines the shape and location of all scene objects, accounting for context and navigability. The reconstruction is then decomposed into individual entities, which are regenerated at higher resolution, synthesizing additional details with guidance from the image generator. We ablate key design choices and compare qualitatively against existing scene generators, showing that our design addresses their gaps.

Zhiyu Xu, Weilong Yan, Yufei Shi, Xin Meng, Tao He, Huiping Zhuang, Ming Li, Hehe Fan

Recent advancements in multimodal large language models (MLLMs) and video agent systems have significantly improved general video understanding. However, when applied to scientific video understanding and educating--a domain that demands external professional knowledge integration and rigorous step-wise reasoning--existing approaches often struggle. To bridge this gap, we propose SciEducator, an iterative self-evolving multi-agent system for scientific video comprehension and education. Rooted in the classical Deming Cycle from management science, our design reformulates its Plan-Do-Study-Act philosophy into a self-evolving reasoning and feedback mechanism, which facilitates the interpretation of intricate scientific activities in videos. Moreover, SciEducator can produce multimodal educational content tailored to specific scientific processes, including textual instructions, visual guides, audio narrations, and interactive references. To support evaluation, we construct SciVBench, a benchmark consisting of 500 expert-verified and literature-grounded science QA pairs across five categories, covering physical, chemical, and everyday phenomena. Extensive experiments demonstrate that SciEducator substantially outperforms leading closed-source MLLMs (e.g., Gemini, GPT-4o) and state-of-the-art video agents on the benchmark, establishing a new paradigm for the community.

Ruikai Li, Xinrun Li, Mengwei Xie, Hao Shan, Shoumeng Qiu, Xinyuan Chang, Yizhe Fan, Feng Xiong, Han Jiang, Yilong Ren 等

Online High-Definition (HD) map construction is pivotal for autonomous driving. While recent approaches leverage historical temporal fusion to improve performance, we identify a critical safety flaw in this paradigm: it is inherently "spatially backward-looking." These methods predominantly enhance map reconstruction in traversed areas, offering minimal improvement for the unseen road ahead. Crucially, our analysis of downstream planning tasks reveals a severe asymmetry: while rearward perception errors are often tolerable, inaccuracies in the forward region directly precipitate hazardous driving maneuvers. To bridge this safety gap, we propose AMap, a novel framework for Ahead-aware online HD Mapping. We pioneer a "distill-from-future" paradigm, where a teacher model with privileged access to future temporal contexts guides a lightweight student model restricted to the current frame. This process implicitly compresses prospective knowledge into the student model, endowing it with "look-ahead" capabilities at zero inference-time cost. Technically, we introduce a Multi-Level BEV Distillation strategy with spatial masking and an Asymmetric Query Adaptation module to effectively transfer future-aware representations to the student's static queries. Extensive experiments on the nuScenes and Argoverse 2 benchmark demonstrate that AMap significantly enhances current-frame perception. Most notably, it outperforms state-of-the-art temporal models in critical forward regions while maintaining the efficiency of current-frame inference.