Hongcheng Gao, Jianshu Zeng, Alex Zhou, Shijia Ge, Xuan Shangguan, Yazhe Wang, Yexing Wan, Zelin Zheng 等 16 位作者
Agents built on vision language models (VLMs) now control robots by writing code, but the strongest of them refine task-specific code over many rounds of trial and revision. Such code tends to overfit the benchmark on which it was tuned, can exploit the benchmark's shortcuts, and is costly to carry over to a new benchmark or robot. We present HexaShell, a thin, task-agnostic harness designed to test how far general tools can go instead. We design a simple and complete set of 14 basic tools, 4 for motion, 5 for perception and 5 for state, which the agent calls in one Python cell per turn. Perception pairs SAM 3, which segments an object from a few words or a click, with NumPy and OpenCV geometry that turns its outlines in several cameras, or a depth image, into its position, size and grasp angle. The API, agent loop and sandbox are shared across all tasks; a new simulator or robot needs only an adapter of 350 to 1,450 lines and a prompt describing its world, and the only task-specific input is an optional skill of about a page of guidance. The same code runs on four simulated benchmarks, built on three simulators with two kinds of arm, and on real robots. With GPT-6-Astra and no task-specific input, HexaShell reaches success rates of 69.9% on RoboDojo, 59.3% on RoboCasa365, 78.3% on LIBERO-PRO and 82.2% on RoboTwin 2.0. With task skills, it reaches 85.0% (score 88.8), 85.6%, 96.7% and 96.8%, respectively, above the best published result we are aware of on each benchmark. The RoboCasa365 result is listed first on its leaderboard. On real dual-arm robots, HexaShell succeeds in 76 of 90 episodes across nine tasks.
Hongcheng Gao, Zelin Zheng, Alex Zhou, Jay Zhu, Shijia Ge, Yazhe Wang, Xiping Li, Jianshu Zeng 等 21 位作者
Embodied agents are expected to accomplish real-world goals by deciding for themselves how and when to interact with their surroundings. For many such goals, changing the physical state of the world is the means rather than the end: the agent changes the state of a system through interaction, observes the feedback, and explores until it either achieves the goal itself (e.g., discovering physical laws) or learns what the goal requires; it acts to know. Manipulation benchmarks stop at acting to change, with the target state given; scientific discovery benchmarks evaluate knowing but replace physical experimentation with symbolic actions or numerical queries. We introduce EmbodiedLab, a benchmark in which a robot must act to know. Quantitative science experiments make this setting controllable: the parameters of the system are resampled for every instance, so the result cannot be known in advance, yet it can be scored exactly. Across 30 experiments in five disciplines on 14 apparatus platforms, the agent receives an objective and the apparatus, chooses its own procedure, and operates a physics-based simulated laboratory, reading the instruments through its cameras. Evaluation checks what the agent came to know, grounded in readings recorded during the episode, as well as the physical state the task requires; every experiment is verified to be solvable. We evaluate six frontier models in their developers' coding agents with native observation and control, with added perception and motion planning, and with manipulation skills distilled from the strongest agents. With native control, even the strongest agent succeeds less than half the time; for every agent, most failures arise in interacting with the apparatus, and manipulation skills help weaker agents more than perception and planning. The benchmark and its evaluation code are available at https://github.com/HexaFuture/EmbodiedLab.
Xiping Li, Jianghong Ma Harbin Institute of Technology
Interleaved-Modal Chain-of-Thought (I-MCoT) advances vision-language reasoning, such as Visual Question Answering (VQA). This paradigm integrates specially selected visual evidence from the input image into the context of Vision-Language Models (VLMs), enabling them to ground their reasoning logic in these details. Accordingly, the efficacy of an I-MCoT framework relies on identifying what to see (evidence selection) and when to see it (triggering of insertions). However, existing methods fall short in both aspects. First, for selection, they rely on attention signals, which are unreliable—particularly under severe granularity imbalance between the brief textual query and the informative image. Second, for triggering, they adopt static triggers, which fail to capture the VLMs’ dynamic needs for visual evidence. To this end, we propose a novel I-MCoT framework, Active Information-driven Multi-modal Chain-of-Thought (AIM-CoT), which aims to improve both evidence selection and insertion triggering via: (1) Context-enhanced Attention-map Generation (CAG) to mitigate granularity imbalance via textual context enhancement; (2) Active Visual Probing (AVP) to proactively select the most informative evidence via an information foraging process; and (3) Dynamic Attention-shift Trigger (DAT) to precisely activate insertions when VLM’s attention shifts from text to visual context. Experiments across three benchmarks and four backbones demonstrate AIM-CoT’s consistent superiority. Our code is available at https://anonymous.4open.science/r/AIMCoT.
尚无 AI 解读，展示原文摘要
cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表