Graphical user interface (GUI) agents can reuse past interaction experience. We study how illustrated procedures support action prediction and students deployed without retrieval. We introduce SkillLens, which represents procedures, applicability cues, and interface views in a shared Visual Skill Card (VSC) schema. Retrieved cards provide a frozen executor with reference evidence alongside the current screen. CardDistill uses this schema to construct privileged teacher context from labeled training steps for on-policy distillation; the student learns from native inputs and requires no retrieval at deployment. With matched training data and update counts, students trained with full-card teachers improve step success rate by an average of 5.04 percentage points over those trained with compact-text teachers across three training seeds on 119 tasks from ten websites absent from training. An independent runtime control uses training-source memory and pre-action retrieval queries: full cards achieve 12/64 correct actions (18.75%) versus 4/64 (6.25%) for text-only cards. These results establish the value of the complete VSC teacher-context package for retrieval-free students and provide evidence for pre-action retrieval of illustrated procedures.
Jason Jingzhou Liu, Tony Tao, Deepak Pathak, Ruslan Salakhutdinov
Sensorized human demonstrations offer scalable data for mobile manipulation, but embodiment differences complicate policy learning. We present Pixel-UMI, a pipeline for learning environment-aware whole-body policies from human data. We first introduce Environment-Aware Retargeting (EAR), which combines reconstructed scene geometry with demonstrated head and gripper trajectories to determine robot posture and generate collision-aware joint and base targets. Delay-calibrated action assignment converts these trajectories into actions. However, kinematic differences can leave residual pose errors, creating viewpoint mismatches between human demonstrations and robot observations. We therefore introduce Retargeting-Error-Aware Masking (REAM), which uses these errors during training to reduce reliance on mismatched views at deployment. Finally, because estimated actions cannot fully capture contact-rich interactions, we collect on-policy human corrections through DAgger to improve performance. We evaluate Pixel-UMI on five challenging tasks spanning articulated-object manipulation, deformable-object handling, constrained-space reaching, whole-body collision avoidance, and contact-rich bimanual coordination, achieving 87.0% average task progress. Video results are available at https://pixel-robot.com/pixel-umi
Tony Tao, Jason Jingzhou Liu, Ruslan Salakhutdinov, Deepak Pathak
General-purpose mobile manipulation requires a combination of capable robot hardware, scalable demonstration collection, expressive whole-body control, and effective policy learning. Yet these components are often developed independently, creating mismatches that limit the capabilities of the complete system. We present Pixel, a co-designed full-stack system for learning general-purpose mobile manipulation. Pixel combines a low-cost wheeled humanoid with human-aligned kinematics and compliant grippers, multiple teleoperation and robot-free human data-collection interfaces, a unified whole-body controller, and a common policy learning pipeline across human and robot demonstrations. A hierarchical learning stack further enables language-conditioned visuomotor control and long-horizon task execution. We evaluate the system across hardware, data collection, and policy learning, and demonstrate mobile-manipulation behaviors requiring dexterity, active perception, navigation, and whole-body coordination. We hope that Pixel provides an integrated and extensible foundation for studying how robot hardware, data, control, and learning can be designed together for robot learning. More results at https://pixel-robot.com/pixel
Toni J. B. Liu, Jiajun Bao, Gurbir Arora, Mitchell Ostrow, Yizhou Liu, Raphaël Sarfati, Nicolas Boullé, Christopher J. Earls
What does a language model predict when it has few clues?The answer lies in its unembedding geometry: a single direction of the unembedding matrix encodes the unigram distribution of the training corpus, which serves as the Bayesian prior the model falls back on when uncertain. This structure, termed the direction of ignorance, appears across all model families examined (Llama, Qwen, Gemma, and Pythia), ranging from 0.4B to 405B parameters. Projecting the final prediction state onto this direction yields a per-token prior loading factor $λ$, which declines steadily as the context becomes more informative. Formally, the same projection decomposes the prediction state into two orthogonal vectors interpretable as the two components of a tempered Bayesian update: a unigram prior raised to the exponent $λ$ and a context-driven likelihood. This geometric probabilistic connection makes $λ$ meaningfully comparable across model sizes and families. Larger models generally exhibit lower prior reliance, and reasoning models exhibit lower reliance than their base counterparts. Finally, we show that $λ$ serves as a causal, inference-time control: reducing it can promote context-driven continuations and improve Llama-3.2-3B-Instruct on GSM8K, whereas amplifying it or applying matched perturbations along random directions degrades performance.
A systematic understanding of the global structure of neural-network loss landscapes remains challenging due to their high dimensionality. Symmetries arising from network architectures and learning objectives provide a way to investigate aspects of this structure. Although a growing number of studies have drawn attention to these symmetries, a systematic characterization of them, as well as of the critical orbits they give rise to, remains incomplete. To address this gap, in this work we establish a topological symmetry index, based on the methodologies from the family of equivariant degree theories, to decode these symmetries. The frameworks apply to arbitrary network architectures and include methods applicable to degenerate critical orbits. The index detects the isotropy of the critical points and quantifies the corresponding net topological contributions. Several examples, including softplus MLPs, Transformers, and equivariant neural networks, are presented to illustrate the computations.
Web agents reuse skills whose stored code, selected version, and loaded implementation can diverge across tasks and updates. SkillLifeBench links these states to task outcomes in 388 paired scenarios spanning implementation, interface, runtime, composition, and version changes. We evaluate 14 models on two paired decision tracks: 89 runtime tasks and 60 autonomous lifecycle tasks spanning 12 templates derived from introduced cases. Lifecycle tasks allow agents to inspect, select, and reconfigure skills while completing verifiable user requests. Joint success requires task completion without the registered attack goal. GPT-5.6-Sol and Sonnet 4.6 both achieve 82.0% on runtime tasks, but reach 96.7% and 56.7% on lifecycle tasks. Across lifecycle evaluations, challenged task success is 77.5%, while joint success is 65.2%; 103 runs complete the task and the attack goal. Adding execution provenance in a matched recovery study raises utility joint success from 49.35% with logs and metadata to 65.58%. A deterministic execution-consistency rule reaches 64.94% with higher benign utility, while full restoration reaches 69.48%. Lifecycle tasks distinguish models with similar runtime scores, and execution evidence improves recovery.
Hao-Yuan He, Peng-Fei Liu, Chen Chen, Si Shen, Quan He, Runzhou Liu, Xinqi Li, Zhenhua Dong 等 9 位作者
Speculative decoding accelerates autoregressive inference by verifying multiple draft tokens in a single target forward pass. However, as the context grows, existing state-of-the-art drafters become increasingly expensive, eroding the very efficiency advantage they are designed to provide. We argue that this scaling is unnecessary. A standalone language model must grow with its prefix because it is solely responsible for every token it produces. A drafter, by contrast, only proposes candidates; the target catches and corrects every error before any token is committed. The drafter's decoding cost can therefore be made entirely independent of the prefix length. We introduce LongSpark, a block-diffusion drafter that achieves this by extracting fixed-size, multiscale views from the target's verification pass, thereby eliminating the need for a growing persistent state. Extensive evaluations demonstrate that LongSpark achieves state-of-the-art end-to-end efficiency across multiple model scales and realistic serving conditions. Notably, it delivers the lowest time-per-output-token on long-context tasks while reducing the drafter's context state by several orders of magnitude.
Han Weng, Zhou Liu, Yuanfeng Song ByteDance Inc., Xiaoming Yin ByteDance Inc., Xing Chen ByteDance, Wentao Zhang
In real-world business environments, data is stored in a variety of sources, including structured relational databases, semi-structured databases, and unstructured files. The ability to extract reasonable insights across these diverse sources is integral to data-driven decision-making. Existing benchmarks, however, are limited in assessing agents’ capabilities across these diverse data types. To address this gap, we introduce UniDataBench, a multi-source benchmark designed to evaluate the performance of data analytics agents in handling diverse data sources. Specifically, UniDataBench is constructed based on real-life industry analysis reports, employing a pipeline to synthesize data that aligns with authentic analytical trends. It encompasses diverse datasets spanning relational databases, CSV files, and NoSQL stores to reflect real-world business settings, and provides a unified framework for evaluating how effectively agents can explore multiple data formats, extract insights, and generate meaningful summaries and recommendations. Based on UniDataBench, we propose a novel LLM-based agent named ReActInsight, an autonomous agent that performs end-to-end analysis over diverse data sources by automatically discovering cross-source linkages, decomposing goals, and generating robust, self-correcting code to extract actionable insights. Our benchmark and agent together provide a framework for facilitating the development of data analytics agents in real-world applications.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Scientific diagrams convey explicit structural information, yet modern text-to-image models often produce visually plausible but structurally incorrect results. Existing benchmarks either rely on image-centric or subjective metrics insensitive to structure, or evaluate intermediate symbolic representations rather than final rendered images, leaving pixel-based diagram generation underexplored. We introduce SciFlow-Bench, a structure-first benchmark for evaluating scientific diagram generation directly from pixel-level outputs. Built from real scientific PDFs, SciFlow-Bench pairs each source framework figure with a canonical ground-truth graph and evaluates models as black-box image generators under a closed-loop, round-trip protocol that inverse-parses generated diagram images back into structured graphs for comparison. This design enforces evaluation by structural recoverability rather than visual similarity alone, and is enabled by a hierarchical multi-agent system that coordinates planning, perception, and structural reasoning. Experiments show that preserving structural correctness remains a fundamental challenge, particularly for diagrams with complex topology, underscoring the need for structure-aware evaluation.
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cs.CL · cs.MA
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表