让下一篇重要论文，不再错过。

Self-improving embodied agents are increasingly being developed and compared on robot simulation benchmarks. Several recent works expose the benchmark's success criteria to the learning agent, a practice we call Criteria Exposure (CE). These criteria, originally written to verify policies trained by imitation learning, often demand more than the corresponding language instructions, so a score from such a verifier may not faithfully reflect whether the instructed task was completed, especially for robot-control programs written by an agent. As embodied coding agents report ever higher benchmark scores, a natural question arises: when a coding agent is exposed to the benchmark's criteria, does it generate code that better performs the instructed task, or code that simply overfits to the verification criteria? We conduct controlled experiments with a self-improving agent with and without CE, and find that with CE the agent quickly produces code with a higher success rate under the given criteria, but this advantage disappears when the criteria are changed slightly without departing from the original instructions. More importantly, the skills the agent develops under CE transfer poorly across tasks. We further propose instruction-faithful criteria and show that they better reflect the performance of agent-generated programs.

Music source separation extracts vocals and instruments from a mixed recording, enabling remixing, content production, and music analysis. Existing systems commonly operate on waveforms or full-band spectrograms. Waveform inputs contain many samples even in short segments, whereas a single spectrogram resolution imposes a shared time-frequency resolution trade-off across frequency ranges. We propose SubRoFormer, a Transformer-based system comprising a subband module and a residual RoFormer module. The subband module decomposes the mixture into frequency-localized, lower-rate signals for separation. It then reconstructs the target waveforms from the estimated subbands. The residual RoFormer module models temporal and cross-band relationships on temporally compressed features. It combines this context with fine-rate features through gated residual fusion to estimate source-specific complex masks. On the MUSDB18-HQ test set, training only on MUSDB18-HQ yields an average signal-to-distortion ratio (SDR) of 10.63 dB across four stems using target-specific models, achieving state-of-the-art performance among the compared systems without extra training data. With 500 additional training songs, a single model jointly separating all four stems achieves an average SDR of 11.59 dB, establishing state-of-the-art performance among the compared single-model multi-stem systems trained with extra data. Code and checkpoints are released at https://github.com/ArchiMickey/SubRoformer.

Self-Driving Chemical Laboratories (SDCLs) are moving chemical experimentation toward embodied automation, where machines must perceive laboratory scenes, reason about experimental states, and act under physical, procedural, and safety constraints. Although Multimodal Large Language Models (MLLMs) are increasingly considered as embodied brains for such systems, existing laboratory benchmarks mainly focus on safety, anomaly detection, or general scientific understanding, leaving their execution-oriented embodied capabilities underexplored. To fill this gap, we introduce BEAKER, a Benchmark for evaluating Embodied Actionability, Knowledge, Experimentation, and Reasoning in SDCLs. BEAKER contains 1,000 expert-curated question-answer samples across 11 image and video task types, covering key judgments required for chemical laboratory execution, including affordance grounding, trajectory planning, equipment, state, and safety recognition, apparatus setup, operation and step reasoning, and temporal procedure reasoning. All questions and annotations are manually created and reviewed by chemistry and embodied Artificial Intelligence (AI) experts, without AI-assisted generation or annotation. We evaluate 28 general-purpose, science-oriented, chemistry-specialized, and embodied MLLMs in an offline, single-turn setting. Results show that current models can follow coarse experimental procedures in videos, but still struggle to ground actions into operable regions and feasible trajectories, to recognize fine-grained laboratory apparatus, states, and safety norms, and to order steps in mid-length procedures. BEAKER thus reveals a clear gap between coarse procedural understanding and the precise, action-grounded perception required for laboratory execution, providing a diagnostic benchmark for future MLLMs in SDCLs.