Research

• Lack of benchmarks for agent harness reliability1 paper raises it · 1 addresses it

  Existing benchmarks focus on model capabilities rather than the reliability of the systems that support agent operation.

  • Trial by Trace: Benchmarking AI Agent Harnesses for Reliability and Failure Attributionraises · addresses
• Unclear net value of agent memory1 paper raises it · 1 addresses it

  Dedicated memory systems often underperform naive retrieval, making their benefits uncertain.

  • Memory Tax: Dissecting the Net Value of Agent Memoryraises · addresses
• Token collapse in graph soft prompting1 paper raises it · 0 address it

  Graph-specific tokens become indistinguishable, failing to convey intended relational information.

  • On the Token Collapse Phenomenon in Textual Graph Soft Promptingraises
• Poor trajectory supervision for tool-use agents1 paper raises it · 1 addresses it

  Successful trajectories may lack compositional coverage or decision grounding, limiting agent learning.

  • Trajectory2Gym: Decision-Grounded Compositional Interaction Synthesis for Tool-Use Agentsraises · addresses
• Uneven evaluation of coupled agent-world model systems1 paper raises it · 1 addresses it

  Separate evaluation of agents and world models fails to predict their joint performance or sustained learning.

  • Dual Exam: Controlled Evaluation of Multimodal Agents and World Modelsraises · addresses

Named by an AI from these papers' abstracts.

• arXiv cs.SEOct 8

  Neural Network Verification for Deep Joint Source-Channel Coding

  Thanh Le, Hai Duong, Takeshi Matsumura, ThanhVu Nguyen

  Deep joint source-channel coding (DeepJSCC) transmits data end-to-end over wireless channels using a neural encoder-decoder, but reconstruction quality can degrade sharply under adversarial perturbations and channel disturbances; no method formally bounds this degradation for DeepJSCC. We present the first bound-propagation framework for verifying DeepJSCC's decoder, bounding worst-case reconstruction error over a given wireless channel's noise region. Current deep neural network (DNN) verifiers do not support three DeepJSCC decoder components: parametric rectified linear activations (PReLU), transposed convolutions, and Rayleigh fading. We extend state-of-the-art techniques for optimization of linear relaxation in DNN verification for PReLU, replace the transposed convolution with its restricted upsample-then-convolution form, and formulate Rayleigh fading as a structural perturbation prepended directly into the decoder, thereby reducing the dimensionality of the verification problem. We also instantiate Lipschitz-regularized global robustness training, denoted GloRo, improving global robustness and enabling tight certification of DeepJSCC models for the first time. On DeepJSCC…

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• arXiv cs.CVOct 8▲ 17

  DataVista: Diagnosing Multimodal LLMs on Data Video Understanding

  Yupeng Xie, Zhenyang Wang, Jiayi Zhu, Yinghao Tang, Zhouan Shen +2

  Data video is a media form that integrates data visualization with video narrative, widely adopted in news reporting and business analysis. Compared with general video understanding, data video understanding places greater emphasis on accurately reading data from animated charts, integrating evidence across charts and time, and understanding how narrative organization and visual design communicate information. Yet existing benchmarks target either general videos or static charts, and data video understanding has not been systematically evaluated. We present DataVista, the first benchmark for data video understanding, containing 961 real-world data videos and 6,775 evaluation questions organized under a three-level progressive capability framework (data perception, temporal reasoning, narrative understanding) with 10 fine-grained question types across five topic domains. Systematic evaluation of 19 mainstream MLLMs shows that the best-performing model, Gemini-3.1-Pro, achieves 70.0% overall accuracy, still far below human expert performance, with models performing worst on Causal Reasoning and Narrative Structure. Increasing frame counts and adding subtitles mainly benefit data…

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• arXiv cs.AIOct 8

  MetaOPD: Meta-Learned Token Weighting for On-Policy Distillation

  Zipeng Wang, Xinpeng Dong, Yuefan Wang, Pingchen Lu, Xian Wei +4

  On-policy distillation (OPD) trains a student on its own generated responses using token-level teacher supervision. However, uniform weighting overlooks differences in token learning value, while existing weighting methods rely on predefined mappings from prediction signals to token weights. These mappings are not learned from the effectiveness of the resulting student updates, limiting their ability to adapt to evolving learning needs. In this paper, we propose MetaOPD, a bilevel optimization framework that jointly learns the student model and a lightweight token-weighting network. The inner objective updates the student through weighted OPD, while the outer objective optimizes the weighting network using validation loss on reference solutions after a virtual student update. Differentiating through this update connects weighting decisions to their effects on post-update performance, allowing the mapping from prediction signals to token weights to evolve alongside the student. Experiments on six mathematical reasoning and three out-of-domain datasets, covering two student scales and seven baselines, demonstrate the effectiveness of MetaOPD, with Avg@8/Pass@8 gains over OPD of…

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• arXiv cs.CVOct 8

  FearCaut-Qwen: Affective Steering in a Vision-Language Model Shifts the Decision Criterion for Hazard Assessment

  Xiaoshan Zhou

  Vision-language models (VLMs) show great potential for damage assessment after a disaster, but a recurring deficiency is that they are reluctant to declare a hazard; that is, recall is low even when overall accuracy appears adequate. This study examines that deficiency by using signal detection theory to decompose the decision behavior into perceptual capability and decision-criterion placement. We then propose a novel method for correcting the over-conservative decision policy, inspired by the finding that fear makes humans risk-averse, and ask whether an affective representation associated with fear can be causally manipulated to similarly alter a VLM's decision tendency. Using mechanistic interpretability, we localize a causally implicated affective circuit in the model and use activation steering to manipulate it while observing the effect on downstream prediction. The method is tested on a two-stage SeisMLLM pipeline built on Qwen2.5-VL-7B-Instruct, which flags only 27.0% of genuinely unsafe buildings on the SeisMLLM-1K test split and never issues a false Red, an SDT criterion of c = +1.354, despite adequate evidence quality (d' = 1.521). An affective direction is localized…

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• arXiv cs.LGOct 8

  Example-driven Parametrisations for Bayesian Shape Optimisation

  Gabriel Diaz-Aylwin, Joseph Neighbor, Abiel Malkani Talwar, Rui-Yang Zhang, Henry B. Moss

  Bayesian optimisation is the natural tool for shape design when objectives are expensive and non-differentiable, but it needs a compact yet expressive parameterisation of the search space. Hand-crafting one is a complex endeavour requiring domain expertise, and often yields implicit infeasible regions, artificial bounds, and coupled, unordered coordinates. We instead learn the parameterisation from a collection of existing designs, applying principal component analysis to the deformations between shapes. The result is a linear, interpretable search space in which the number of components explicitly trades expressivity against dimensionality. Across aerofoils, wings, and radio-frequency cavities, spanning 2D geometry to 3D aerodynamics and electromagnetics, we show improved sample efficiency and the ability to explore beyond the confines of hand-crafted baselines.

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• arXiv cs.CLOct 8

  Specialized Decision Models vs. General-Purpose LLMs: Benchmarking Jev Across Knowledge, Reasoning, and Multilingual Tasks

  Xing Li, Qingcheng Chang, Jinzhong Ning, Changfeng Xu, Shenlong Zhang +3

  Jev is a "System One" model that returns a choice among given options instead of generating text. We study how such a specialized decision model compares with general-purpose large language models (LLMs). We evaluate Jev on 13 multiple-choice benchmarks covering knowledge, reasoning, and multilingual understanding, and compare it with 19 LLMs in three tiers: frontier, representative, and small. Jev is competitive with frontier LLMs on knowledge and commonsense benchmarks and obtains the best score on MMLU-Redux and ARC-Challenge. Outside mathematics, it also outperforms most representative LLMs and all small LLMs. However, it falls behind on mathematical word problems: on MathQA, it is 17.7 points below the frontier median and scores lower than all 19 LLMs. These results indicate that a specialized decision model can match general-purpose LLMs on decisions that rely mainly on knowledge, but not on decisions that require multi-step calculation.

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• arXiv stat.MLOct 8

  Efficient quadratic entropy with distance sketches

  Steve Huntsman

  We detail scalable methods for approximating the quadratic entropy $p^T d p$ for arbitrary distributions $p$ and common distances $d$ of negative type. We focus on the Euclidean and spherical geodesic cases, which both use random feature embeddings and projections to dramatically improve computational complexity within a simple framework. Amortization of a single large matrix multiplication and control variates further enable computation at large scale with low memory and runtime in situations where $d$ is held constant while $p$ varies. We demonstrate this with a comparison against direct pair sampling and bibliometric/scientometric examples on Open Graph Benchmark datasets, revealing papers, fields, and institutions with both particularly narrow and broad interdisciplinary reach from their citations and text features alone.

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• arXiv cs.ROOct 8

  CAPABLE: Capability-Aware Policy Adaptation via Behavioral Latent Encoding

  Mohammad Khoshnazar, Mohammad Dehghani Tezerjani, Deyuan Qu, Zhiyuan Gao, Yanxiang Zhan +4

  Vision-language-action (VLA) policies assume the embodiment on which they were trained and can fail when a joint fault changes how commanded actions are physically executed. Existing fault-recovery methods often require task-specific retraining, fault labels, explicit diagnosis, or privileged embodiment information. We introduce CAPABLE, a unified capability-aware adaptation framework for frozen VLAs that integrates self-supervised capability inference with residual reinforcement learning. CAPABLE infers capability, how much of the commanded motion each joint actually realizes and how that motion contributes to end-effector behavior, online from command-response history and kinematics using a temporal encoder shared across joints, Jacobian grounding, cross-joint attention, and self-supervised physical prediction. The resulting representation conditions a residual policy that adds bounded corrections to the VLA arm action without fault labels or faulty-joint identifiers. Across 28 LIBERO tasks, CAPABLE raises success on an actuator excluded from fault training from 24.8% to 59.3%, outperforming a parameter-matched global-history baseline by 17.4 points while preserving healthy…

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• arXiv cs.CVOct 8

  Learning Which Correspondences to Trust: Confidence-Weighted Event-Camera Localization in LiDAR Maps

  Panagiotis Kiousis, Kuangyi Chen, Jun Zhang, Friedrich Fraundorfer

  Localizing an event camera against a pre-built LiDAR map can be cast as dense optical-flow estimation between a rendered depth view and an event image, followed by a Perspective-n-Point (PnP) solver over the induced 3D-2D correspondences. Existing pipelines rely on geometric consensus during pose estimation, but do not explicitly model the reliability or pose informativeness, i.e., how strongly a correspondence constrains the camera pose, of individual correspondences. We show that the natural way to learn it -- using the per-correspondence error to constrain the learning of confidence -- suffers from a depth-dependent bias: small pixel errors reside predominantly at large depths and do not lead to high pose informativeness. Instead, in our method (CELL), we learn a per-correspondence confidence end-to-end through the pose, using a differentiable probabilistic PnP whose log-partition term encourages weight configurations that yield a better-constrained pose distribution. The learned confidence is used in three ways: (i) it reweights the flow supervision in a decoupled training scheme that keeps pose gradients out of the flow/edge backbone; (ii) it drives a probabilistic…

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• arXiv cs.AIOct 8

  MindFlow: Mind Supernet Powered Thinking Flows for Research Idea Innovation

  Mengdi Liu, Wenjue Chen, Wenyue Chen, Cheng Yang, Fanqi Kong +8

  Research idea innovation is a fundamental engine of scientific progress, yet it remains difficult to generate and evaluate in a scalable and controllable way. This challenge lies in its inherently open-ended and multi-objective nature, where ideas should balance novelty, plausibility and feasibility. While recent LLM-based approaches have made progress through carefully designed prompts or agent pipelines, they are constrained by predefined, static ideation workflows. To address this limitation, we propose MindFlow, a framework that explicitly formulates ideation as a graph-structured Flow in Mind, which is composed of modular thinking operators and modeled by a probabilistic mind supernet. Given a research topic, a controller dynamically samples thinking flows to generate candidate ideas. This open-ended problem is optimized using a tournament-based relative ranking, enabling the controller to progressively favor higher-quality thinking flows. We further introduce an evaluation protocol that jointly assesses problem finding and problem solving, going beyond title- or abstractonly judgments. Across diverse topics, MindFlow shows its superiority as an explicit, controllable and…

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• arXiv cs.SEOct 8

  Can LLMs Fix It Without Code? Toward Automated Verification of No-Code Bug Fixes

  Utku Boran Torun, Veli Karakaya, Eray Tüzün

  A no-code fix resolves an invalid bug report by directing the user to change a setting, update to a version where the problem is already fixed, or adjust their workflow. Manually verifying whether a proposed no-code fix resolves the reported bug takes considerable developer time. This study proposes an automated, execution-based pipeline for evaluating the capability of large language models (LLMs) to generate no-code fixes in a real browser environment. We evaluate 322 no-code fixes generated by the 12 configurations released with the benchmark of a previous study, covering bug reports categorized as Faulty Configuration, Wrong Version, or External System & Dependency. An executor agent applies each fix by following its natural-language instructions, and an issue-specific checker determines whether the reported bug persists. We repeat the pipeline with three executors: two Computer-Use Agents, OpenCUA-72B and Claude Sonnet 5, and one multimodal agentic LLM, Meta's Muse Glimmer. Only 17.6% of the candidate issues could be set up and passed both sanity gates. Across the 322 fixes, 14.6% to 49.7% resolved the bug depending on the executor, and the strongest configuration, Claude…

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• arXiv cs.CLOct 8▲ 92

  MiMo-V2.6: Scaling Reinforcement Learning Towards Self-Improvement

  Xiaomi LLM-Core Team, :, Zongming Qiao, Ziyue Hua, Zirui Ou +145

  Reinforcement learning (RL) is the central training paradigm for advancing large foundation models towards self-improvement. This report introduces the MiMo-V2.6 series, an omni-modal family that pushes the frontier of model intelligence by scaling RL compute. Prior to RL, we conduct mid-training on a broad multimodal corpus to provide ample exploration space, and build a solid infrastructure on the pretrained hybrid-SWA architecture to support subsequent scale-up. We scale RL compute along three dimensions: (1) larger batches and higher throughput, with an asynchronous training that consumes 1,568 samples and 2.7-3.7B tokens per step at context lengths of up to 1M; (2) more diverse and complex environments, spanning code, general, visual, and cyber domains under a mixture of agent harnesses; and (3) more grader compute, via groupwise agentic grading that yields more accurate reward signals for long-horizon tasks and steers the model towards shorter, more token-efficient solutions. To keep training stable at scale, we freeze the MoE router and establish a multi-layer defense against reward hacking. We further build infrastructure for mixed-task agentic RL, including a unified…

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• arXiv cs.LGOct 8

  Stochastic Grouping Conformal Prediction for Effective Subgroup Reliability

  Meihui Zhong, Wenxin Tai, Ting Zhong, Fan Zhou

  Conformal prediction offers a distribution-free coverage guarantee, making it especially attractive for clinical applications. Standard conformal prediction, however, provides such guarantees only at the population level, and its prediction sets can exhibit coverage disparities across clinically important subgroups. A natural remedy is to calibrate within predefined groups. However, this can require access to sensitive subgroup attributes and is prone to a worst-group bottleneck: protecting the most difficult subgroup can inflate prediction sets for all, increasing cognitive burden on decision makers. To this end, we propose Stochastic Grouping Conformal Prediction (SGCP), a conformal framework for subgroup-reliable uncertainty quantification. It learns a stochastic grouping map that allows each sample to draw calibration information from others with similar calibration behavior, yielding a local score law that boosts reliability across subpopulations. We prove that SGCP retains the standard coverage guarantee. Experiments on synthetic and real-world benchmarks show that it consistently reduces subgroup coverage gaps while achieving smaller or comparable prediction set sizes…

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• arXiv cs.ROOct 8

  Reliability-Aware Future Conditioning for Temporally Robust Robot Manipulation

  Mohammad Khoshnazar, Mohammad Dehghani Tezerjani, Zhiyuan Gao, Deyuan Qu, Max Gandyra +6

  A generated video of a task the robot is about to perform is useful guidance only if it depicts the phase the robot is actually in. We show that temporal misalignment can turn a task-consistent generated future into actively harmful guidance. On CALVIN, a five-frame early shift nearly erases the benefit of generated futures, reducing success from 81.3% to 54.8% against 54.0% without futures; imposed timing shifts reduce it even further to 34.2%, 19.8 points below the future-free policy. We introduce Reliability-Aware Future Conditioning (RAFC), which treats this as a control problem rather than a generation problem. At every step, RAFC estimates how far to trust the received clip and which nearby temporal hypothesis to prefer, falling back toward a static branch when neither fits, and it learns both from task reward alone without shift labels or alignment supervision. RAFC sits on top of Future-Experience Conditioning (FEC), which builds the clip once from task grounding, a robot-free digital-twin rollout, and mask-free video diffusion. Under deliberately off-grid phase shifts and rate mismatch, RAFC substantially improves success under temporal mismatch. Candidate ensembling…

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• arXiv cs.CVOct 8

  Look Where You Can: Active View Selection for CAD Reconstruction under Occlusion

  Kartik Bali, Mahish Guru, Yiderigun Borjigin, Alexandra Starostina, Christian J. Cyron +1

  CAD reconstruction methods assume a luxury reality rarely grants: unrestricted visual access to the object, photographed from any desired angle. Real objects, however, are scene-embedded, bolted against walls, wedged into corners, resting on floors, where the scene renders much of the view sphere unreachable and the remaining views unequally informative. We introduce \textbf{SightCAD}, a framework for parametric CAD reconstruction that treats view feasibility as a first-class constraint. In this work we consider objects from standard CAD benchmarks embedded in realistic indoor scenes with physically derived visibility constraints over a discrete view sphere. A learned view selector must choose $K$ feasible views for a vision--language model (VLM) that generates executable CadQuery code, scored by geometric fidelity of the executed solid. Because reward arrives only after discrete view selection, autoregressive generation, and CAD-kernel execution, we propose a joint training paradigm in which the view selector and the CAD-generation VLM are trained together against this reward. The learned selection policy departs sharply from random, uniform, and coverage-greedy alternatives,…

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• arXiv cs.LGOct 8

  Interval-valued SHAP in Tree-Based Models

  Chenrui Zhu, Vu-Linh Nguyen, Marie-Hélène Masson, Sébastien Destercke

  Shapley values are among the most popular feature-attribution explanations. Efficient approaches for computing/estimating Shapley values for tree-based models, which are state-of-the-art for tabular data sets, have been developed. However, it is known that Shapley values can be (highly) unrobust due to small and realistic changes. In this paper, we propose an imprecise Dirichlet model (IDM) based method to analyze the robustness of Shapley values in decision trees and random forests. Technically, it is done by quantifying and analyzing the interval-valued Shapley values when a few unannotated instances are randomly introduced to the leaves of the trees. The interval-valued Shapley values can be defined following common principles in handling incomplete data: the pessimistic and averaging principles. We derive various theoretical results that lead to efficient computation of the interval-valued Shapley values. We also show that the proposed method can be straightforwardly generalized to the case of Banzhaf values. We then present various case studies and experiments to illustrate the behaviour of the proposed interval-valued Shapley values and their applications in debiasing…

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• arXiv cs.CLOct 8

  When History Helps and Hurts: Selective History Use across Multimodal Turns

  Shuoyang Sun, Kerui Gu, Hao Fang, Shaoli Huang, Bin Chen

  Reliable multimodal interaction depends on selective use of conversational history: an earlier question may remain relevant while its previous answer is outdated, whereas a current request may depend on historical evidence despite conflicting new observations. Existing multi-turn evaluations rarely separate these history-use demands from underlying question difficulty. To address this gap, we introduce ReTurn, a benchmark of 7,000 base tasks spanning visual and audio evidence for evaluating selective history use. For task-carrying history, Reconfirm/Reground require applying a historical question to current media while varying historical agreement; for evidence-carrying history, Retrieve/Rebind require answering a current question using historical media while varying current-media competition. Each pair preserves the target question, media, and answer. Tasks support open-ended and multiple-choice evaluation, with matched single-turn counterparts serving as answerability references. Across 13 omni-modal, vision-language, and audio-language models, median model-level open-ended accuracy falls from 93.7% with direct input to 72.3% in conversation. Behavioral probes show that high…

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• arXiv stat.MLOct 8

  Score-Based Learning of Cluster DAGs from Interventions

  Gaetano Tedesco, Alex Markham

  Graphical approaches to causal abstraction transform a low-level causal directed acyclic graph (DAG) over many measured variables into a smaller, high-level DAG whose nodes cluster the original variables and whose edges summarize the causal relations between clusters. Such cluster DAGs are easier to interpret, but learning them requires finding the clusters and recovering the edges between them. Madaleno et al. (2026) learn the interventional coarsening (the cluster DAG that merges variables the interventions cannot distinguish) in two constraint-based phases: first the clusters, then the edges. We introduce COARSE, the first score-based method for this task: it keeps the two-phase structure but, under linear Gaussian assumptions, swaps the constraint-based edge phase for a score-based one. We show that the interventions themselves identify a causal order over the clusters, and learning the edges reduces to a single local search per cluster under a cluster-level BIC score. We prove that the procedure runs in polynomial time and, provided the variables affected by each intervention are correctly identified, that it is consistent. On synthetic and real-world interventional data,…

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• arXiv cs.ROOct 8

  TACROSS: An Efficient and Low-Cost Scalable Human Touch System Across Heterogeneous Tactile Sensors for Dexterous Robot Learning

  Bo Chen, Huanzhang Hu, Junyang Ma, Bo Yue, Fangdi Yu +9

  Collecting tactile demonstrations on robots is costly and slow, motivating the use of lower-cost human tactile gloves for scalable data collection. However, human capacitive/piezoresistive gloves and robotic tactile sensors differ fundamentally in transduction principle, sensor layout, spatial resolution, and dynamic response, making alignment of raw sensor channels ill-posed. To address this problem, we present TACROSS, a scalable system for learning from human touch and transferring it to robots that bridges this heterogeneity by aligning tactile streams at the level of contact events rather than raw sensor values. The hardware component of TACROSS integrates a piezoresistive glove with five layers and a cost of USD 10.86 with 285 sensing points. To align contact semantics, we design canonicalizers and residual adapters that map heterogeneous signals into a shared tactile latent with 256 dimensions via a temporal Transformer with attention across fingers. We further introduce a robot-grounded policy learning scheme in which robot demonstrations provide the sole source of ground-truth action supervision, while human demonstrations support tactile representation learning and…

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• arXiv cs.CVOct 8▲ 174

  Right Screen, Wrong Transition: World Models as Verifiers for GUI Agents

  Jiaming Zhang, Xuan Wang, Fuyao Zhang, Yang Cao, Lingjuan Lyu +1

  A login screen that appears after a tap on Sign in is expected; the same screen after a tap on View order is an attack. For GUI agents, safety is therefore a property of the transition rather than of the screen, and a monitor that inspects only screens can be defeated by reusing a legitimate one. Judging a transition requires an expectation of what should have followed the action. Existing GUI world models provide one, but they output it as text, code, or images, so checking it against the observed screen requires a second model to judge the two. We argue that a world model meant for verification should instead predict in the space in which observations are encoded, and present LGWM, a decoder-free, action-conditioned world model that predicts the representation of the next screen directly, trained without semantic annotation on 1.85M real GUI transitions. Verification reduces to a vector comparison, and the same signal reveals whether a mismatch is harmful. We evaluate on RSWT-BENCH, a diagnostic where each credential screen appears under both a legitimate and a hijacked transition, so detectors that see only the screen are at chance by construction. The training-free score…

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• Anomaly detectors23+53.3%
• Channel state information15+36.4%
• Character recognition OCR12+20.0%
• AI tutors14+16.7%
• Multimodal emotion8+14.3%
• Physics informed neural129−12.2%
• Machine learned interatomic36−18.2%
• Supervised & diffusion models87−24.3%