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新论文 · v1arXiv:2611.17267

LiveGeo:在持续演化世界中评测地理智能体

LiveGeo: Benchmarking Geographic Agents in Continuously Evolving Worlds

Pengcheng Zhou, Xuanyu Liu, Yanchen Yin, Tianjie Ju, Bobo Li, Shengqiong Wu, Hao Fei, Mong-Li Lee 等 9 位作者

AI 速读 基于摘要

作者提出可控且持续演化的地理环境平台 GeoWorld 与基于其构建的基准 LiveGeo,用于评测 LLM 智能体在真实地理环境演化中的可靠决策能力。

cs.AI

查看原文摘要

We introduce GeoWorld, a controllable and continuously evolving geographic environment platform for LLM agents, and LiveGeo, a benchmark for evaluating reliable decision-making in real-world geographic environments using GeoWorld. Unlike existing evaluations that largely reason and plan over fixed geographic states, GeoWorld is grounded in real-world geographic structure and allows external world states to evolve along their own temporal processes while preserving verifiable state histories. LiveGeo places geographic tasks within this evolving environment, requiring agents to actively acquire task-relevant information, verify whether the evidence supporting prior decisions remains valid, and revise their plans when necessary. Our results reveal that even frontier LLMs struggle with static tasks, with no model consistently excelling across tasks, while strong static performance does not ensure dynamic reliability. Further analysis identifies a key bottleneck: agents struggle to acquire and translate relevant evidence into valid decisions and maintain their correctness as the world evolves. By releasing LiveGeo together with its GeoWorld platform, we aim to provide the community with a flexible and extensible infrastructure for studying the next generation of agents capable of reliable action in evolving geographic worlds.

新论文 · v1arXiv:2611.16872

ACE-CaP-0: Real-World Code-as-Policies in the Era of Experience

ACE-CaP Team, Changxu Wei, Yunpeng Qing, Guozheng Ma, Bowen Liu, Zexin He, Yilun Kong, Haoming Gu 等 28 位作者

原文摘要

Recent advances in frontier models have pushed the boundaries of agentic robot control, enabling agents to perform complex robotic tasks through reasoning and interaction. However, repeated calls to these models during execution can substantially increase task completion time. Code as Policies (CaP) offers a route for coding agents to acquire physical skills through experience and retain them in executable programs, allowing the reasoning invested in development to be reused across runs. Developing reliable code policies while limiting the cost of physical experimentation remains a central challenge. We investigate human guidance as a source of priors for feasible actions and simulation as an auxiliary environment for exploring and testing candidate policies. Our findings favor robot demonstrations available on request and simulation used selectively during real-world policy refinement. These findings inform ACE-CaP-0, an agentic recipe that couples policy revision with experience acquisition through Demonstrations on Request and Simulation on Demand. Across eight real-world manipulation tasks spanning alignment, multi-object handling, and bimanual coordination, the resulting frozen programs achieve 92.1\% success (221/240 trials). Mean execution times across tasks range from 0.97 to 2.27 minutes. The programs execute with runtime perception and control, without a human or coding agent in the loop. These results highlight CaP's potential to turn experience into reliable, reusable physical skills.

cs.RO

新论文 · v1arXiv:2611.16591

Singularity-Bench: Can Agents Build Agents?

Yang Zhou, Krish Agarwal, Zhuoming Chen, Zerui Wang, Zhenyu Zhang, Wenshuang Li, Xinpeng Wei, Zhichen Zeng 等 19 位作者

原文摘要

Frontier AI agents increasingly succeed on realistic, long-horizon tasks and are beginning to improve the systems through which they operate. Yet existing benchmarks often restrict agents to narrow action spaces, use simplified environments, or rely on verification methods that are unreliable for evaluating arbitrary agent-generated systems. We introduce Singularity-Bench, an open-ended benchmark for autonomous AI development with six end-to-end tasks spanning pre-training, mid-training, post-training, inference, the agent harness, and cluster orchestration. Each task requires agents to implement core systems from a minimal starting point and evaluates them against mature human-engineered baselines on identical hardware. Additionally, through extensive red-teaming covering 9 of the 10 categories in the OWASP Top 10 for Agentic Applications, we expose reward-hacking vulnerabilities in the conventional Harbor framework and develop Breakwater, an extension of Harbor that blocks all attacks tested in our study. Across 11 agents built from 7 frontier models and 2 harnesses, Opus 5.5 with Claude Code matches or outperforms the human baseline on all six tasks with a Singularity-Index of 1.25, suggesting it may have the skills needed to reach the singularity. The remaining agents average only 0.58. Our vision is for Singularity-Bench to track how much of AI development agents can already automate and when they may transition from assisting to taking end-to-end responsibility for building stronger successors.

cs.AI

新论文 · v1arXiv:2611.16009

JustRUA: A Controlled Study of GPT-6 Robot-Use Agents

Zefan Wang, Yufan Dang, Xuanwei Shi, Mingqi Gao, Cheng Yin, SikYuen Tam, Hanyu Liu, Yasheng Wang 等 12 位作者

原文摘要

GPT-6 Astra can drive a robot arm directly through a fixed harness, and scores of such robot-use agents on RoboDojo have risen quickly since. Reported systems differ in harness and test subset and often change several designs at once, so it is hard to tell which choices produce the gains. We take these designs apart and test them in one framework, along the harness around the model, the action interface, the reuse of experience and the scene geometry given to the model. A lean harness that keeps the full episode history and stops each motion early goes a long way. Reusing experience changes how the model acts but is not a free lunch, and scene geometry helps most, even when depth is predicted from RGB alone. JustRUA starts from the official L3 harness and keeps only what matters most. Even with no learned policy, self-improvement loop or task-specific tuning, this simple harness raises the score on the RoboDojo simulation benchmark substantially, from 29.7 to 50.3.

cs.RO · cs.AI

版本更新 · v2arXiv:2607.27378

PanDent: Toward Comprehensive Tooth-Level Structure-Language Consistency in Dental Radiology

Xiaohan Li, Xinyu Liu, Chang Liu, Kuofeng Hung, Sum Wing Au Yeung, Jun Liu, Yixuan Yuan, Hui Chen

原文摘要

Accurate evaluation of multimodal large language models in dental panoramic radiography is limited by the lack of fine-grained, clinically reliable benchmarks that reflect expert interpretation. This work introduces PanDent, a large-scale benchmark built on expert-validated tooth-level annotations. It comprises 9,554 panoramic radiographs with comprehensive structured findings produced by experienced dentists and further validated by an oral and maxillofacial radiologist. Clinician-guided reports are constructed from these findings using clinician-defined reporting logic, establishing explicit correspondence between structured clinical evidence and free-text descriptions. The dataset supports complementary evaluation of report-level textual agreement and tooth-level clinical consistency, with 9,049 public-source cases for supervised training and an independent 505-case in-house benchmark. Experiments cover proprietary, general-domain open-source, and medical-specific models. Current models generate fluent reports but exhibit substantial errors in fine-grained localization and tooth-level diagnosis. Supervised fine-tuning on PanDent markedly improves report alignment and diagnostic accuracy, bringing predictions closer to expert dental interpretation. These results establish PanDent as a rigorous benchmark and training resource for clinically grounded dental multimodal reasoning. Dataset sample: https://huggingface.co/datasets/Desperado1103/Pandent_Sample; code: https://github.com/HKUDentistry/PanDent. Full data will be released upon publication under source redistribution terms.

cs.CV · cs.MM

版本更新 · v2arXiv:2609.04663

BF16 Component-Product Emulation of FP32 and FP64 GEMM on Intel AMX

Bing Cui, Yu Liu

原文摘要

Modern CPUs increasingly integrate high-throughput matrix engines optimized for low-precision AI workloads, while many scientific computing applications still rely on FP32 and FP64 GEMM to meet their numerical accuracy requirements. This paper presents a method that combines BF16 matrix products on Intel Advanced Matrix Extensions (AMX) to emulate real square FP32 and FP64 GEMM. For FP32 GEMM, each element in both input matrices is decomposed into three BF16 components, and six selected component products are evaluated to target FP32-level accuracy comparable to oneMKL SGEMM. For FP64 inputs within the supported BF16 exponent range, the method uses a simplified fixed six-slice Ozaki decomposition. Each retained BF16 product is first produced in FP32, then widened and accumulated in FP64. Four product-count settings retain 6, 10, 15, or 21 component products, exposing the accuracy-performance tradeoff relative to oneMKL DGEMM. The FP32 schedule reuses component data and retains partial sums in AMX tiles. AMX-FP32 outperforms oneMKL SGEMM at tested orders $N\ge4096$ on 64 threads and also achieves gains for smaller matrices at lower thread counts. AMX-FP64 variants retaining fewer component products can outperform oneMKL DGEMM at sufficiently large orders; more products improve accuracy at additional cost.

cs.MS · cs.DC

版本更新 · v2arXiv:2611.13772

RF3DGS: Reflection-Free 3D Gaussian Splatting with Self-Priors

Qiang Wen, Guotao Meng, Junhong Ruan, Hongyu Liu, Chenyang Lei, Qifeng Chen

原文摘要

3D reflection removal is crucial in applications demanding high-fidelity visualization, such as museum exhibitions. In this work, we propose Reflection-Free 3D Gaussian Splatting (RF3DGS), a novel method for superior reflection removal. RF3DGS exclusively leverages a widely-adopted photometric prior for reflection removal: that the minimum pixel intensity across multi-view images corresponding to the same 3D point strongly correlates with reflection-free information. However, generalizing this principle to a 3D Gaussian Splatting within a multi-view context is non-trivial. To address this, RF3DGS first optimizes a vanilla 3DGS model using a geometric prior to estimate a coarse, reflection-free depth map for each view. Leveraging these depth maps and photometric prior, a 3D warping process aggregates reflection-free information from auxiliary views to construct a clean transmission pseudo-label for a given reference view. This pseudo-label provides a robust self-supervised signal for optimization. We further introduce an Adaptive Twin Rendering (ATR) loss to synergistically utilize this pseudo-label while preserving high-frequency details from the original, reflection-degraded images. By adeptly fusing these internal 3D self-priors with the ATR loss, RF3DGS demonstrates state-of-the-art reflection removal performance across both synthetic and real-world scenarios. Furthermore, we establish the first 3D reflection removal benchmark, based on the Unity rendering engine, for rigorous quantitative evaluation.

cs.CV

新论文 · v1arXiv:2611.15100

Keep Images in Sight: Visual Position Re-Anchoring for Long-Context MLLMs

Juntao Xu, Qichai Zhao, Rui Sun, Zhouyang Jiang, Shiwei Wu, Zhi Li, Kaisheng Ma, Yu Liu

原文摘要

Long-context multimodal intelligence requires revisiting earlier images as conversations and documents accumulate, yet retaining an image does not guarantee reliable access to its details. By varying context length, redistributing a fixed text passage around the image, and changing positions without adding text, we identify the positional relation between images and questions as a direct influence on visual access. To address this gap, we propose Visual Position Re-Anchoring (VPR), a training-free method that shifts cached visual-key rotary phases toward a short-context reference before question processing. It operates directly on the existing KV cache, preserving standard attention computation without extracting attention maps or adding model forward passes. We develop static and continuous compensation schedules, using the static schedule by default. Across ten checkpoints and ten benchmarks, static VPR improves 97 of 100 model--task scores. Further analysis shows greater attention to regions containing answer evidence across six checkpoints, with minimal runtime overhead under fixed rotary frequencies. These findings demonstrate an efficient way to sustain visual access through positional adjustment within the cache.

cs.CV

版本更新 · v2arXiv:2509.16176

Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories

Yifan Lin, Sophie Ziyu Liu, Ran Qi, George Z. Xue, Xinping Song, Chao Qin, Hugh H. -T. Liu

原文摘要

Agents have demonstrated strong capabilities in digital environments, yet their reasoning abilities alone are insufficient to accomplish tasks in the physical world. We present Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories (ACDC), an agentic framework that bridges this gap for autonomous aerial cinematography. ACDC provides an execution harness that grounds an agent's interpretation of cinematic intent and visual judgment in scene geometry and flight constraints. Given a natural-language request and a 3D scene representation, the agent selects relevant viewpoints and guides their refinement through visual feedback, while optimization and motion planning translate these decisions into executable drone trajectories. Experiments across a variety of simulated indoor scenes and hardware-in-the-loop flight tests demonstrate how this framework connects open-ended user intent to prompt-aligned video tours and physical drone execution.

cs.RO

新论文 · v1arXiv:2611.14700

Probe What-If Worlds Before You Ship: Persona Simulation for Real-World Decision Making

Julie Zhu, Jianheng Hou, Zhixu Silvia Tao, Shi Bo, Yilan Fan, Yixuan He, Zhiyuan Hu, Shirley Huang 等 24 位作者

原文摘要

User research and system testing reveal whether products and services meet user needs, yet recruiting specialized participants, designing controlled what-if comparisons, and repeating studies as designs evolve often bottleneck design iteration and data-driven decision-making. We present a framework and execution infrastructure that translates real-world industry inquiries into controlled experiments with simulated users. Our methodology formally defines the target cohort, experimental stimuli, and decision-relevant metrics, while the pipeline supports large-scale concurrent runs over cohort-stimulus-environment combinations (survey, web, chatbot, and OS app), auditable trial-level logging, cohort-level outcome aggregation, and cross-cohort and cross-variant statistical reports. Across twelve industry partner cases spanning five domains, we show how constructing hard-to-reach or what-if persona cohorts supports exploratory studies and distills simulated responses into testable design hypotheses. Cross-model comparisons on selected cases largely preserve primary conclusions, whereas perturbing or ablating persona attributes alters service outcomes, effect sizes, and inter-group differences, indicating that grounding target cohorts in detailed personas materially shapes simulation results. Together, these studies show that persona-enabled agents can test specified cohorts at design speed, diagnose systems under test, and deliver directional evidence that focuses problem definition, steers design and strategic decisions, and guides further study.

cs.CL

版本更新 · v4arXiv:2605.25379

StateRAG: Typed State Contracts for Complex Retrieval-Augmented Generation

Miaohe Niu, Xinyu Liu, Runsong Zhao, Pengxiang Li, Jingbo Zhu, Tong Xiao

原文摘要

Multi-step retrieval-augmented generation requires tracking evolving information needs, selected evidence, and unresolved gaps. However, free-form trajectories conflate this history, forcing each step to implicitly reconstruct the current state, while existing explicit-state methods remain vulnerable to inconsistent state overwrites. To address these limitations, we introduce StateRAG, a framework that coordinates a Planner, Navigator, Retriever, and Verifier through an explicit retrieval state with checked updates. These roles propose updates across four state fields: the plan, retrieval trace, evidence, and sufficiency assessment. A dedicated controller validates each proposal against the accepted state, rejecting inconsistent updates and guiding revisions within the query budget. A final Reader then answers strictly from the validated evidence. Ablation experiments on a shared graph backend show that StateRAG outperforms free-form trajectory and unverified explicit-state baselines on LongBench by 7.7 and 4.1 Macro F1 points, respectively. These gains consistently extend to document QA and flat passage retrieval. Furthermore, StateRAG surpasses the strongest external baselines by 5.3, 5.0, and 4.3 points on LongBench, QASPER, and DocVQA.

cs.CL

新论文 · v1arXiv:2611.13654

EgoHMP: Achieving Precise Human Motion Prediction in 3D Scenes via Egocentric Cues

Xin Zhao, Pengzhan Zhou, Ziyi Li, Riheng Jia, Zhida Qin, Yu Liu

原文摘要

The complex interactive dependencies between human behavior and 3D scenes make accurately predicting human intent a major challenge for human motion prediction (HMP). While recent studies use human gaze to infer intent, gaze signals suffer from ambiguity, drift, and a reliance on eye-tracking hardware. Research in cognitive science indicates that egocentric views inherently encode potential interactions, while head motion serves as a crucial precursor in motion planning. Motivated by this, we propose EgoHMP, a novel framework that uses egocentric views and head motions as robust carriers of interaction intent. By translating this intent into an envisioning of future interactions, EgoHMP achieves precise HMP in 3D scenes. EgoHMP first employs a vision-motion alignment encoder to align the visual and motion feature spaces. Based on these aligned features, an egocentric intent predictor with a modality-aware modulation mechanism adaptively suppresses invalid interaction cues to predict an accurate interaction probability map. Furthermore, to enhance the stability and realism of the generated motions, we propose a contact-aware motion decoder. Specifically, inspired by the human cognitive process of planning trajectories prior to action execution, we first predict a global trajectory to serve as a self-prompt, effectively mitigating the optimization conflict in diffusion models. Subsequently, we introduce a multi-stage denoiser, which relieves motion artifacts by incorporating human contact modeling through a multi-stage optimization strategy. Finally, a GCN-based motion decoder is employed to synthesize physically plausible and semantically consistent motions. Extensive experiments demonstrate that EgoHMP achieves state-of-the-art performance.

cs.CV

新论文 · v1arXiv:2611.13628

DepthGS: Depth-Guided Gaussian Splatting with Adaptive Regularization for High-Quality Surface Reconstruction

Xiao Ren, Yu Liu, Ning An, Jian Cheng, Xin Qiao, You-Fu Li, He Kong

原文摘要

Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient representation for novel view synthesis, offering fast differentiable rendering and high visual fidelity, and has increasingly been extended to surface reconstruction. However, the relationship between depth information and reconstruction error remains insufficiently explored, limiting the principled design of geometric optimization strategies. To fill the above gap, we propose DepthGS, a depth-guided Gaussian splatting framework. We derive theoretical relations between depth discrepancies and reconstruction error under single-view and multi-view settings, and rigorously establish corresponding upper bounds on reconstruction error. The above analysis informs the design of adaptive regularization strategies in both single-view and multi-view optimization. More specifically, for single-view optimization, we propose a depth-difference-guided adaptive normal regularization strategy that modulates the normal constraint strength using a geometric reliability weight computed from local depth differences. For multi-view optimization, we introduce a cross-view depth consistency regularization strategy that promotes consistency between neighboring-view depth maps and the corresponding depth predictions obtained by transforming the current view's depth predictions into those neighboring views. Extensive experiments on DTU, Mip-NeRF360, and Tanks and Temples demonstrate that DepthGS achieves competitive performance in both surface reconstruction and novel view synthesis.

cs.CV

版本更新 · v2arXiv:2610.12468

DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training

Junyan Li, Ruizhi Li, Yu Liu, Xiangshuo Liu, Mingchao Sun, Hongyu Pan, Mu Xu, Lue Fan 等 9 位作者

原文摘要

We present DreamTrue, a multi-view, cross-embodiment robot world model for action-faithful and physically plausible video prediction. Training such a model on existing robot datasets faces two obstacles: imprecise calibration can impair action following, while limited coverage of unsuccessful interactions can bias predictions toward successful outcomes. To improve action following across embodiments, we render action trajectories into image-space conditions and introduce offline geometric calibration to align these conditions with the target videos. To broaden interaction coverage, we introduce counterfactual post-training, modifying recorded action trajectories and generating future videos under a wider range of actions and contact configurations. To provide feedback on these predictions without paired ground-truth futures, we construct a human-annotated video dataset covering robot, object, and interaction defects and use it to train an embodied video reward model. Its scores guide reinforcement-learning post-training toward more physically plausible interaction outcomes. On AgiBot, DreamTrue attains state-of-the-art action following, while reducing the human-assessed interaction defect rate from from 48.12% to 6.25%. Notably, our model ranks first in the world model track of the AgiBot World Challenge 2026. The project page can be found at https://brave-eai.github.io/DreamTrue.

cs.RO · cs.CV

版本更新 · v2arXiv:2607.04689

RCT-AD: Reliability-Aware Context and Temporal BEV Reasoning for End-to-End Autonomous Driving

Argho Dey, Yunfei Yin, Swachha Ray, Md Minhazul Islam, Zheng Yuan, Sijing Xiong, Hongyu Liu, Zhiqiu Huang

原文摘要

Reliable temporal representation learning is important for end-to-end autonomous driving, particularly when visual observations are degraded by occlusion, motion blur, illumination variation, and sensor noise. Existing Bird's-Eye-View (BEV) approaches provide a unified representation for perception and planning; however, temporal features are commonly aggregated across frames without explicitly accounting for the reliability of individual observations. Consequently, low-quality or inconsistent features may propagate through temporal representations and degrade downstream perception, prediction, and planning. To address this problem, we propose RCT-AD, a Reliability-Aware Context and Temporal BEV Reasoning framework for end-to-end autonomous driving that explicitly models feature reliability and temporal consistency within a shared BEV representation. RCT-AD introduces a Reliable Context Awareness (RCA) module that estimates frame-level reliability using spatial, semantic, temporal, and visual-quality cues, and selectively preserves trustworthy information through a reliability-guided temporal memory mechanism. When the current observation is unreliable, historical high-reliability features are aligned and integrated to construct a more stable temporal BEV representation. A Temporal Trajectory Planner models long-term temporal dependencies and multi-agent interactions, while semantic segmentation and motion-guided detection provide complementary supervision for refining the shared BEV representation. Experiments on the nuScenes benchmark demonstrate consistent improvements across perception, motion prediction, and trajectory planning. RCT-AD achieves 61.5 NDS, 52.9 mAP, and 52.3 mIoU while maintaining competitive computational efficiency. These results demonstrate the effectiveness of reliability-aware temporal BEV reasoning for unified perception, prediction, and planning.

cs.RO · cs.CV

新论文 · v1arXiv:2611.11234

LoMASA: A Local Multi-Agent Sales Assistant with Confidence-Gated Delegation for B2B Quoting

Yu Liu, Xingbang Du

原文摘要

Frontline sales staff spend much of their day re-coordinating quotes after customers change quantities, ask for discounts or new payment terms, or costs move. We present LoMASA (Local Multi-Agent Sales Assistant), a training-free multi-agent system that runs entirely on one desktop computer. A 35B mixture-of-experts model (System-1) makes each decision in a single forward pass and reads its confidence from the probabilities of the answer options. A 27B dense model (System-2) writes customer replies and escalation briefs and is consulted when System-1 is unsure. Code computes every price, margin and option, and hard pricing rules cannot be overridden. On a test split of 500 simulated episodes with 1512 decisions built from public supply-chain data, the salesperson has to decide only 19.5% of decisions: 38.0% are settled automatically, with a median latency of 2.67 seconds, and 42.5% are escalated to a manager by the hard rules. On the automatically settled decisions LoMASA is as accurate as a rule baseline (0.894 vs.\ 0.894) and makes fewer commitments whose margin later falls below the floor (2.61% vs 4.53%); the price is additional escalations to the manager. Option probabilities are well calibrated without any training, unlike confidence stated in words by the same model. We also report where the design does not help: the 27B model rarely changes a decision.

cs.AI · cs.MA

版本更新 · v4arXiv:2406.13216

CombAlign: Enhancing Model Expressiveness in Unsupervised Graph Alignment

Songyang Chen, Yu Liu, Lei Zou, Zexuan Wang, Youfang Lin

原文摘要

Unsupervised graph alignment finds the node correspondence between a pair of attributed graphs by only exploiting graph structure and node features. One category of recent studies first computes the node representation and then matches nodes with the largest embedding-based similarity, while the other category reduces the problem to optimal transport (OT) via Gromov-Wasserstein learning. However, it remains largely unexplored in the model expressiveness, as well as how theoretical expressivity impacts prediction accuracy. We investigate the model expressiveness from two aspects. First, we characterize the model's discriminative power in distinguishing matched and unmatched node pairs across two graphs. Second, we study the model's capability of guaranteeing node matching properties such as one-to-one matching and mutual alignment. Motivated by our theoretical analysis, we put forward a hybrid approach named CombAlign with stronger expressive power. Specifically, we enable cross-dimensional feature interaction for OT-based learning and propose an embedding-based method inspired by the Weisfeiler-Lehman test. We also apply non-uniform marginals obtained from the embedding-based modules to OT as priors for more expressiveness. Based on that, we propose a traditional algorithm-based refinement, which combines our OT and embedding-based predictions using the ensemble learning strategy and reduces the problem to maximum weight matching. With carefully designed edge weights, we ensure these matching properties and further enhance prediction accuracy. By extensive experiments, we demonstrate a significant improvement of 14.5% in alignment accuracy compared to state-of-the-art approaches and confirm the soundness of our theoretical analysis.

cs.LG · cs.AI

新论文 · v1arXiv:2611.10748

REINS: A Self-Evolving Agent Harness for Real-Time Trajectory Planning

Zhihong Cui, Hengyu Liu, Haoran Tang, Shijun Liu, Amir Taherkordi, Tor Skeie

原文摘要

Agent harnesses -- runtime scaffolds that wrap an LLM's reasoning loop with tool dispatch, verification, and persistent memory -- have become the standard substrate for deploying LLMs as autonomous agents, as demonstrated by Claude Code and Codex in software engineering. In trajectory planning, however, this paradigm has not taken hold: existing LLM-based trajectory planning methods either keep the LLM in the decision loop, exceeding the millisecond-level control budget, or offload it to offline rules or training-time supervision -- leaving the runtime planner non-evolving. Intermediate hybrids still lack the verification-and-consolidation loop that makes harnesses reliable. We ask: what runtime harness would let an LLM planner meet real-time constraints while self-evolving into a deployable one? We propose REINS, a harness built on three LLM-planner couplings: LLM outputs are (i) grounded to a learned variable-level dynamics model, (ii) verified via calibrated predicates and forward rollout, and (iii) consolidated into an indexed rule memory that serves future scenes in O(log n) without re-invoking the LLM. The harness closes a self-evolution loop: familiar scenes resolve by memory lookup; novel scenes invoke the LLM, whose verified outputs enrich the memory. Without modifying LLM weights, REINS attains 98%+ compliance, nearly 50% collision reduction, and 1.9-4.6 ms latency on simulated and real-world benchmarks at the tactical decision layer, with LLM invocation rate monotonically declining as memory matures. Code: https://github.com/ZhihongCui/REINS

cs.RO · cs.AI

新论文 · v1arXiv:2611.10720

Locating and Repairing Domain Shift in VLM Trajectory Planning

Zhihong Cui, Hengyu Liu, Michael Alexander Riegler, Guandong Xu, Amir Taherkordi, Tor Skeie

原文摘要

Vision-Language Models (VLMs) are increasingly adopted as end-to-end driving planners, yet they suffer from cross-city domain shift. Existing methods treat this shift as a single quantity addressed by uniform alignment or single-site editing. We challenge this view on two counts: (i) domain shift in VLM trajectory planners is inherently structured across modality and layer, and (ii) a locate-then-repair recipe matched to this structure outperforms every uniform-objective baseline. We analyse domain shift via activation patching and uncover two regularities. (F1) Modality axis. Image and text tokens exhibit distinct shift patterns in each VLM. (F2) Layer axis. The layer-wise shift partition is architecture-dependent and dataset-stable. These findings recast domain shift as a two-dimensional tensor indexed by modality (image vs. text tokens) and layer, motivating a simple principle: locate where shift occurs, and repair only there. We instantiate this principle in MoLaRx (Modality-Layer Repair), a locate-then-repair framework. The Causal Importance Score (CIS) estimates the domain shift as a modality-layer tensor and partitions the layers into functional zones. CIS-Guided Selective Repair (CISR) then applies a matched operator (Maximum Mean Discrepancy (MMD) / low-rank adaptation (LoRA) / freezing) to repair each zone, with the composition adapting automatically to each architecture. We evaluate MoLaRx on three architecturally distinct VLMs (LFM2-VL-1.6B, Qwen2-VL-2B, and PaliGemma2-3B) across two cross-city benchmarks (nuScenes and Argoverse 2). MoLaRx attains the lowest cross-city trajectory-error gap among adaptation methods in all six main-table settings, while using 50-60% fewer trainable parameters and 8.4-10.9 ms lower inference latency. In contrast, uniform MMD-only adaptation collapses in all six settings, highlighting the importance of structure-guided repair.

cs.CV · cs.RO

版本更新 · v2arXiv:2603.05432

Ensembling Language Models with Sequential Monte Carlo

Robin Shing Moon Chan, Tianyu Liu, Samuel Kiegeland, Clemente Pasti, Jacob Hoover Vigly, Timothy J. O'Donnell, Ryan Cotterell, Tim Vieira

原文摘要

Combining the predictions of multiple models is one of the most effective strategies in machine learning. Thus, it is only natural to investigate the ensembling of language models (LMs). However, because LMs define distributions over strings, a proper ensemble requires aggregating predictions at the string level, which requires a computation that is generally intractable. In this work, we cast LM ensembling as an inference problem and propose the deployment of sequential Monte Carlo (SMC), an appropriate approximate inference scheme. Concretely, we introduce a unified framework for composing multiple LMs into ensemble distributions parameterized by a broad family of aggregation functions. To sample from these distributions, we introduce an SMC algorithm that operates in a shared byte space, enabling ensembles of models with mismatching vocabularies and consistent sampling in the limit. We evaluate a range of ensembles across prompt and model combinations for various text generation tasks, finding that consensus-seeking strategies such as the product consistently outperform probability averaging, and that better posterior approximations can yield better ensemble performance.

cs.CL · cs.AI · cs.LG

版本更新 · v2arXiv:2611.07750

Foresee to Trade: Forecast-Augmented Policy Optimization for Portfolio Management

Zeyu Liu, Xuanzhi Feng, Haoran Xu, Lai Sing Kwong, Yang Li, Hualei Zhang, Hao Chen, Jie Zhang 等 10 位作者

原文摘要

Online investment services must translate asset opportunities into investment outcomes for users' accounts, yet the same market opportunity can warrant different account actions. We study how supervision from future asset opportunities can strengthen account-level trading decisions and propose Forecast-Augmented Relative Policy Optimization (FRPO). FRPO separately supervises asset opportunities and account decisions through a jointly learned representation: a Financial State Head (FSH) learns future relative-return targets to provide asset-level opportunity supervision, while Same-Path Group-Relative Optimization compares trading trajectories under the same market path and initial account to provide account-level relative-outcome supervision. An Adaptive Gate coordinates auxiliary supervision using predictive variance and gradient alignment. FSH is used only during training; inference uses the encoder and policy for trading. Across DJIA30, TOPIX Core30, and three investment-style portfolios, ten-seed evaluations show that FRPO achieves the highest mean cumulative and annualized returns among the compared methods in all five settings. These results support strengthening investment agents' trading decisions through joint supervision from asset opportunities and trading outcomes.

cs.LG

版本更新 · v3arXiv:2605.13230

Teacher-Guided Policy Optimization for On-Policy Reasoning Distillation under Large Policy Divergence

Xinyu Liu, Kechen Jiao, Chunyang Xiao, Runsong Zhao, Junhao Ruan, Bei Li, Jiahao Liu, Qifan Wang 等 13 位作者

原文摘要

On-policy distillation (OPD) has become a promising paradigm for reasoning-oriented post-training of large language models (LLMs), especially when combined with reinforcement learning from verifiable rewards (RLVR). Existing OPD methods rely on reverse KL (RKL)-based teacher supervision over trajectories sampled from the student policy. However, we identify a critical limitation: under large teacher--student policy divergence, RL-driven exploration often produces trajectories outside the teacher distribution, resulting in uninformative negative feedback. To address this, we propose Teacher-Guided Policy Optimization (TGPO), an on-policy reasoning distillation method that remains effective under large policy divergence settings. Rather than relying solely on evaluative supervision, TGPO uses teacher to directly guide token level generation conditioning on student-generated contexts; together with RLVR-style trajectory level rewards, TGPO steers exploration toward improved continuations. Experiments on reasoning benchmarks show that TGPO consistently outperforms existing RKL-based OPD methods and remains robust across different teacher models.

cs.LG · cs.AI

版本更新 · v3arXiv:2609.28870

When Fancy Eviction Fails: Rethinking Cache Replacement For LLM Prefix Reuse

Yiyu Liu, Minlan Yu, Juncheng Yang

原文摘要

Long-running LLM applications and autonomous agents repeatedly send growing context, making prefix caching critical for reducing prefill cost. This raises a fundamental question: do decades of traditional cache-management techniques transfer directly to agentic and conversational LLM serving? We analyze production traces comprising over 20 billion processed tokens and evaluate 14 eviction algorithms across capacity-constrained HBM and large memory-pool settings. We find that simple Least Recently Used (LRU) is surprisingly robust, offering competitive performance against sophisticated traditional policies, though substantial headroom to Belady's optimum remains. The reason is structural: prefix reuse is dominated by the steady pacing of active sessions, making recency an unusually strong predictor for eviction. Nevertheless, prefix caching diverges from traditional workloads in ways that recency ignores, notably the prevalence of single-turn requests, extreme session footprint skew, and highly non-uniform miss costs because attention computation scales with token depth. To close the gap to optimality, we establish several design principles for prefix-cache management: keeping recency as the baseline while incorporating quick demotion to filter one-hit prompts, compute-aware eviction to prioritize expensive misses, and capacity-adaptive eviction granularity. Our traces and simulator are publicly available.

cs.DC · cs.LG

版本更新 · v2arXiv:2611.07847

Computation, not weight access: large language models as auditors of clinical prediction networks

Zhiyu Liu, Xinyu Yang

原文摘要

Frontier large language models (LLMs) have been reported to read, edit and write the weights of small neural networks, raising the prospect of auditing clinical prediction models from their files alone. Public demonstrations, however, mixed reading raw weights with running code. We separated these conditions in internally pre-specified simulation experiments. Tanh networks of 105 to 38,401 weights were trained on simulated cohorts of patients with subarachnoid haemorrhage, each with a planted relationship or none, and one network was trained on labels that under-recorded deaths in a subgroup. GPT-6 Astra and four other GPT models answered single prompts under a default or an explicit system instruction, either with the weights in the prompt and no tools, or with a calculation-only tool that exposed the weights (white box) or only the network's predictions (black box). Without tools, Astra recovered planted relationships in 353-weight networks but became unreliable at 3,457 weights, and under the default instruction it declined 17 of 21 audit and repair tasks as unidentifiable; the explicit instruction removed these refusals. With the tool, it recovered the planted relationship in all 39 runs on networks of up to 38,401 weights, raised no false alarm in 21 runs on null networks, and found the biased subgroup in 6 of 6 runs. Black-box access performed as well as white-box access, and other GPT-6 models read as accurately. A well-designed script matched the comparator models on the audit and the best LLM repair. For auditing these networks, what mattered was computation and elicitation, not access to the weights.

cs.LG · cs.AI

新论文 · v1arXiv:2611.09868

CodeQuant2:面向低精度大型推理模型的增强型离群值缓解与自适应聚类

CodeQuant2: Enhanced Outlier Mitigation and Adaptive Clustering for Low-Precision LRMs

Xingyu Liu, Xiangyang Yin, Tianhua Xia, Haiyu Wang, Sai Qian Zhang

AI 速读 基于摘要

CodeQuant2 是一种基于聚类的查找表(LUT)量化框架,通过旋转与缩放缓解激活离群值、自适应码本大小并改进校准样本选择,以提升低精度大型推理模型的推理精度与速度。

cs.CL

查看原文摘要

Large reasoning models (LRMs) improve task performance by generating longer intermediate reasoning traces, but this substantially increases inference costs and makes low-precision quantization increasingly important. However, aggressively quantized models often perform poorly on reasoning tasks. We observe larger activation fluctuations during the first decoding steps of reasoning. Calibration that omits these early states may miss their activation fluctuations. To address these reasoning-specific quantization challenges, we propose \textbf{CodeQuant2}, a clustering-based LUT quantization framework for low-precision large reasoning models. CodeQuant2 mitigates activation outliers with rotation and scaling, uses clustering to represent non-uniform weight distributions, and adapts codebook sizes to the quantization difficulty of each layer. Guided by our observation of reasoning-time activation behavior, CodeQuant2 further improves calibration sample selection to better match actual decoding statistics. Combined with our customized LUT CUDA kernel, CodeQuant2 delivers substantial accuracy improvements on reasoning benchmarks while achieving up to $2.85\times$ speedup over BF16.

版本更新 · v3arXiv:2608.22788

TailSieve: Partial-Rollout-Guided Tail Routing for LLM Rollouts

Tianqi Xu, Lu Lv, Haoyang Huang, Wenjie Huang, Zhanming Shen, Yuhao Shen, Baolin Zhang, Xinyi Hu 等 18 位作者

原文摘要

Large-scale rollouts have become a core component of modern LLM systems, spanning reinforcement learning (RL) post-training, on-policy distillation, and sampling-heavy evaluation. Unlike online serving, which typically targets request-level latency and throughput, synchronous rollouts must collect a complete batch before proceeding. A few long-tail generations can therefore dominate an entire rollout step, and uniform routing can slow these generations further by placing them in high-concurrency decoding batches. We present TailSieve, a partial-rollout-guided framework that jointly controls tail routing and replica allocation. Motivated by the observed persistence of prompt-level tail tendencies across policy updates, TailSieve uses partial-rollout completion status as a training-free signal for identifying candidate tail groups. Selected prompts are combined with newly sampled prompts, and all responses are generated from scratch under the current policy. A hierarchical controller uses response-work history and a serving model: a fast inner loop adjusts the number of isolated groups to balance completion times, while a slower outer loop adapts how many replicas serve these groups. The resulting low-concurrency execution also enables route-specialized speculative decoding with MTP or DFlash. Across the evaluated configurations, TailSieve achieves up to $1.67\times$ speedup with routing alone and $2.59\times$ with routing and speculation combined, both over uniform group routing.

cs.AI · cs.LG

新论文 · v1arXiv:2611.09175

SIFR: Stable Signed Flow Reinforcement

Runlong Liao, Xingqian Xu, Lizhang Chen, Baiyu Su, Yufan Huang, Zhonghao Wang, Akash Gokul, Ming-Yu Liu 等 10 位作者

原文摘要

Reward-based fine-tuning of flow models requires effectively promoting high-reward and suppressing low-reward samples, while maintaining training stability over many rounds of iterative updates. Iterative reward fine-tuning provides a simple starting point, but the positive reward weights give no explicit unfitting signal, and repeated reweighting concentrates the distribution and causes collapse. We propose Stable Signed Flow Reinforcement (SIFR), which replaces the reward weights by signed advantages to supply the missing unfitting signal, and constrains the velocity drift from a reference model to stabilize the updates, with a Lagrange multiplier that adapts the regularization strength to a prescribed drift budget. We further show that existing flow RL methods fall within this framework: they implicitly minimize the signed loss, differing in their regularization choices. We validate SIFR on SD3.5 Medium (2.5B) and FLUX.2 Klein (9B) and scale it to Cosmos 3 Super Text2Image (64B): across all 12 backbone--reward pairs with preference and rule-based rewards, it matches or exceeds existing methods, reaches their peak rewards much faster, and keeps improving over long training where they plateau or collapse.

cs.LG · cs.AI · cs.CV

新论文 · v1arXiv:2611.09036

ToolDex: An Ego-Exo Human Demonstration Dataset for Creative Physical Tool Use

Mohamed Elmoghany, Kehan Li, Ruoqu Chen, Tarun Chiruvolu, Shutong Zhang, Ryan Wang, Stephen Tian, Yaru Niu 等 14 位作者

原文摘要

Creative tool use is a fundamental human capability and an important step toward general-purpose embodied intelligence. It requires agents to reason about object affordances, physical constraints, and manipulation strategies, especially when standard tools are unavailable. However, progress in this area is limited by the lack of real-world datasets that capture human tool-use behavior with sufficient scale, fidelity, and diversity. Existing benchmarks are often simulation-based, focus on simplified interactions, or lack detailed observations and annotations. We introduce ToolDex, a large-scale egocentric-exocentric (ego-exo) human demonstration dataset for creative physical tool use. ToolDex captures scenarios in which humans select, adapt, and repurpose available objects as tools. Using synchronized egocentric cameras and eight exocentric cameras, the dataset provides high-fidelity multi-view observations and rich annotations for hands, tools, target objects, and their deformable interactions. Beyond data collection, we establish a benchmark suite characterizing three core capabilities: physical tool-use reasoning, sparse-view 3D and 4D reconstruction, and robot policy learning. ToolDex provides a foundation for studying human tool-use behavior and developing embodied agents that can adaptively use tools in complex real-world environments. Dataset visualizations and benchmarking results are available at https://tooluse-dataset.github.io/.

cs.RO · cs.AI

版本更新 · v2arXiv:2609.38377

PhyProbe: Rethinking Physical Consistency Evaluation in Generated Videos

Max Ku, Jiaojiao Fan, Zekun Hao, Francesco Ferroni, Heng Wang, Wenhu Chen, Ming-Yu Liu, Prithvijit Chattopadhyay

原文摘要

Evaluating the physical consistency of generated videos remains a fundamental challenge. Existing approaches rely on off-the-shelf vision-language models, which can often be myopic to physical dynamics, or fine-tuned evaluators trained on human annotations, which overfit to dataset-specific cues and fail to generalize. A key challenge is that existing supervision sources provide either relative ordering or absolute scores, but not both reliably and consistently across varied settings. To this end, we introduce PhyProbe, an evaluator that extracts features from a frozen pretrained spatio-temporal encoder and maps them to a scalar physical consistency violation score via a lightweight scoring head. PhyProbe is trained through a unified objective combining pairwise ranking, regression on noisy scalar annotations, and anchor-based calibration over a curated set of heterogeneous supervision sources. Experiments show that PhyProbe outperforms prior methods on most pairwise benchmarks spanning real-generated and generated-generated pairs under varying correspondence, with the largest gains in no-correspondence and generated-generated settings where existing fine-tuned evaluators degrade sharply. PhyProbe achieves strong correlation with human judgments, with close agreement between rank-based and linear metrics, indicating that scores are both well ordered and anchored to a stable [0, 1] scale. Further, despite being trained on supervision indicative of physical consistency, without explicit general-preference labels, PhyProbe also performs competitively on human preference benchmarks: consistent with the observation that physics violations are entangled with broader quality degradations.

cs.CV

新论文 · v1arXiv:2611.08369

NPCBench:面向鼻咽癌多模态诊疗路径推理的临床学徒制基准

NPCBench: A Clinical Apprenticeship Benchmark for Multimodal Care-Pathway Reasoning in Nasopharyngeal Carcinoma

Pengkai Wang, Wei-Wei Zhang, Yan Li, Min Tang, Zhitian Hou, Zeyu Liu, Guanghao Zhu, Yuanyi Wang 等 16 位作者

AI 速读 基于摘要

作者提出 NPCBench,一个模拟专科培训进阶的鼻咽癌临床学徒制基准,用于评估模型能否在多模态证据下完成从知识到纵向诊疗路径的连贯推理。

cs.AI

查看原文摘要

Current medical benchmarks typically break down clinical competence into isolated factual questions, single-image tasks, or static case vignettes. These tests score individual answers, but reveal less about whether a model can integrate subspecialty knowledge with multimodal evidence and track a patient's condition throughout a course of care. To close this gap, we introduce NPCBench, a clinical apprenticeship benchmark for nasopharyngeal carcinoma (NPC). NPCBench mirrors specialist training, from guideline and foundational knowledge to case planning, longitudinal review, CarePath integration, and open-ended consultation. It contains 4,777 component and consultation items and a 100-patient CarePath cohort with 417 scored diagnostic and care tasks. The episode-level evaluation tests whether diagnostic and care answers are jointly correct within a care pathway. By linking stepwise tasks to patient-level care trajectories, NPCBench evaluates whether models ground decisions in visual evidence, interpret changes in patient state, and meet clinical requirements in consultation. Across 30 evaluated models, we observe a composition gap: strong performance on individual tasks does not ensure jointly correct diagnostic and care answers for the same patient. Among 21 multimodal models, strict CarePath success reaches at most 23%. Paired controls and physician calibration further examine evidence grounding, longitudinal revision, and consultation judging. Overall, NPCBench broadens the evaluation of medical artificial intelligence beyond static question-answering paradigms to an apprenticeship-oriented assessment of clinical workflows, thereby offering a testbed for evidence-based and temporally coherent reasoning in oncology care.