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Artificial Id: Drive and Persistent Alignment in Agentic AI
Abstract
Agentic AI is moving from bounded task execution toward systems that retain consequential state, continue operating and adapt across task boundaries. That shift creates a control problem that current harnesses largely solve by hand: objectives, retries, verification, stopping rules and other behavioral transitions are specified externally. We propose an artificial id, an adaptive internal drive for determining whether behavior should continue, stop or change. In a minimal virtual Petri-dish experiment, a controller too small to perform general-purpose reasoning and receiving no task-specific behavioral objective develops useful control through differential persistence. The same mechanism selects an unintended physical strategy when that behavior persists better and later replaces a learned sensor mapping when its environmental meaning changes. These results show that adaptive direction can emerge without being explicitly specified as a behavioral objective. The same persistence that makes such adaptive agency useful can also allow misalignment, corrupted state and unintended behavior to persist across task boundaries. A scalable artificial id would carry consequential state and adaptive drive across those boundaries, making alignment a property of the continuing agentic system rather than of a model response or single trajectory. Such systems require a persistent alignment boundary over trusted observations, consequence channels, persistent state, authority, identity, provenance and hard constraints.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11911
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MindTopo: Can Foundation Models Reason in Topological Space?
2026-09-10 17:54:32Yunfei Ge, Anbang Liu, Qineng Wang, Johnalbert Garnica, Jianwen Lyu, Zihan Wang, Reuben Tan, Jianfeng Gao, Ruohan Zhang, Yining Hong, Jiajun Wu, Manling LiAbstract
Spatial reasoning depends not only on metric properties such as distance, angle, and shape, but also on topological relations that remain invariant under continuous deformation. Cognitive science identifies these relations as foundational to spatial understanding, yet foundation-model evaluations largely focus on metric or viewpoint-dependent relations. We introduce MindTopo, a benchmark of topological intuition across five properties grounded in cognitive science and formal topology: continuity, separation, order, enclosure, and knots. MindTopo evaluates each property at two cognitive levels. Reasoning asks a model to identify topological relations or infer how they change. Planning instantiates a foundation model as a closed-loop agent whose policy selects environment actions. MindTopo contains 11,030 instances across 13 procedurally generated task types with controllable difficulty. We benchmark 14 MLLMs and study agent configurations augmented with image and video generation, including 3 video generative models in planning settings. Every MLLM performs better on reasoning than on planning, and the best-performing model remains far below observed human performance. On Qwen3-VL-2B-Instruct, supervised fine-tuning and reinforcement learning improve reasoning more than planning. Generated observations retain local cues and reach plausible endpoints, but audited rollouts do not reliably follow environment dynamics or preserve topology across transitions. Our website is at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.11900
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Caption-once, Frames-on-Demand: Visual-Need Routing for Budget-Aware Agentic Long Video Understanding
2026-09-10 17:53:59Weitong Cai, Hang Zhang, Yukai Huang, Yiqiao Xie, Shan Gao, Jiankang Deng, Songcen Xu, Jifei Song, Zhensong ZhangAbstract
Long-video understanding on edge devices must reason over hours of content under tight compute and bandwidth budgets. Subsampling visual tokens loses temporal structure, while text-only video memories lose fine-grained visual attributes. We observe a visual-textual duality: language memories carry long-range temporal structure better than dense frames, while pixels remain decisive for attribute-level perception. Building on this insight, we propose Caption-once, Frames-onDemand (CFD), a budget-aware edge-cloud agentic framework. The edge runs a single offline captioning pass that builds a dual-track narrative index, an event-level story skeleton plus a clip-level micro-log, cached and reused across queries without re-captioning. At query time, a cloud-side MLLM reasons over the index in a story-first loop centered on a lightweight Visual-Need Router: a per-query gating module that triggers bounded keyframe retrieval only for perceptual questions (appearance, on-screen text, attribute disambiguation) and keeps temporal-structural questions in language space. The router turns visual access into a first-class, query-conditioned cost, capping per-query frame consumption regardless of video length. Experiments on long-video benchmarks demonstrate strong accuracy-efficiency trade-offs while substantially reducing online visual processing.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11899
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Learning Agent-based Model Predictive Control for Holistic Vehicle Performance
2026-09-10 17:43:16Jiaming Zhong, Reza Valiollahi Mehrizi, Mohammad Pirani, Chao Yu, Alireza Kasaiezadeh, Yash Vardhan Pant, Amir KhajepourAbstract
Agent-based model predictive control (AMPC) has recently been proposed as a distributed scheme that collaborates with all agents to achieve optimal holistic performance. However, its optimality highly depends on the prediction accuracy that requires all agents or their contributions to be known, which is too idealistic for actual implementation. This research proposes a novel practical hybrid control scheme - learning agent-based MPC (LAMPC), combining the model-based AMPC approach and data-based learning methods to improve the holistic vehicle performance for multi-agent systems. The Gaussian process regression (GPR) enhanced by an online data management strategy serves as the learning core to predict unknown contributions. A novel multi-step prediction mechanism leverages the GPR learning potential along the horizon. The predicted mean, representing the learned unknown contributions, completes the system model in the MPC for more accurate control. Meanwhile, a stochastic framework is formulated to guarantee control safety and feasibility using soft chance constraints based on the prediction variance. Both simulations and experiments show that, with the learning capability, LAMPC outperforms the traditional AMPC. LAMPC can achieve higher tracking performance in well-learned scenarios and always guarantee constraint satisfaction even in less-learned scenarios. Moreover, the proposed hybrid control scheme is efficient for real-time implementation and is flexible to any control agent topology.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11871
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ORCH: Organizational Principles Enable Collective Intelligence in Embodied AI
2026-09-10 15:52:35Zhengran Ji, Jonathan Hyun, Boyuan ChenAbstract
Collective intelligence depends not only on the capabilities of individual members, but also on how those members are organized. Yet artificial multi-agent systems are typically assembled using fixed organizational structures, even when the physical tasks they perform impose fundamentally different coordination requirements. Here we show that principles from human organization theory can be operationalized to organize large, heterogeneous collectives of embodied artificial agents. We introduce ORCH (Organizing Roles and Coordination Hierarchies), which constructs task-specific hierarchical organizations by combining pooled interdependence for work that can proceed concurrently with sequential interdependence for work governed by prerequisite relationships. Across 25 wildfire-response missions spanning reconnaissance, rescue, transportation, resource management, containment and suppression, we evaluated teams of up to 50 heterogeneous agents using eight large language models. Organizations constructed using these principles consistently outperformed four representative embodied multi-agent approaches across mission outcome, execution efficiency, exploration and computational resource use. Human-designed ORCH organizations improved final score by 63.97% and execution efficiency by 74.29% on average relative to the four prior frameworks. Organizations generated automatically by language models improved these measures by 43.63% and 52.53%, respectively. These advantages persisted across missions and underlying language models. Notably, collective performance was not monotonically determined by model scale. Analysis of long-horizon missions showed that hierarchical organization enabled teams to preserve concurrent activity within specialized groups while coordinating ordered transitions between mission phases.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11737
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When Agents Disagree: Bayesian Backward Reasoning as a Label-Free Anchor for Multi-Agent Collective Decision-Making
2026-09-10 15:27:58Ken Chen, Wei Wang, Sachith Seneviratne, Hansani Weeratunge, Saman HalgamugeAbstract
When multiple LLM agents yield conflicting answers, the decision-making process dictates whether agent diversity improves performance or merely compounds shared errors. Existing collective decision-making methods, including voting, electoral rules, and LLM judges, rely on forward reasoning: they map evidence to labels in one direction. Although these methods can combine diverse forward traces, they still aggregate estimates that share this evidence-to-label factorization and can inherit correlated errors within the forward pool. We therefore construct a reverse posterior for each instance through Bayesian backward reasoning from an explicit likelihood. The forward and reverse posteriors provide differently factorized approximations of the underlying posterior. Because estimates from different factorizations may tend to share the same error less often, we use Jensen-Shannon divergence to rank agents by cross-path consistency. This cross-path consistency signal underlies three strategies: hard selection (MinJS), soft reweighting (FwdJS), and log-linear fusion (LogLin). Evaluated on DDXPlus across five LLM backbones, our proposed strategies show consistent improvements: MinJS outperforms random selection across all backbones, FwdJS generally improves over the strongest baseline, and LogLin achieves the best performance among the evaluated methods, with its largest gains on the subset where the agents disagree. Despite its weaker standalone accuracy, the reverse posterior serves as a more useful anchor than forward-only alternatives, providing complementary information for collective decision-making. When labeled data are available, a lightweight two-stage calibration can further refine the reverse anchor and improve aggregation performance.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11709
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COBRA-Skills: Contextual Bandit-Guided Evolution for Agent Skill Optimization
2026-09-10 15:12:24Pingchen Lu, Xiangyi Wang, Xiang Li, Jie Mao, Zikun Qu, Junfeng Luo, Yao Shu, Bryan Kian Hsiang Low, Zhongxiang DaiAbstract
Large language model (LLM) agents can benefit from reusable skills distilled from prior task experience, yet existing skill optimization methods often rely on costly execution-based evaluation and substantial task data. We introduce \textbf{COBRA-Skills}, an efficient framework that formulates skill optimization as budgeted sequential optimization over a dynamically evolving candidate space. COBRA-Skills couples contextual-bandit-guided prioritization with evidence-grounded skill evolution, selectively allocating evaluations to promising or informative candidates while continually refining the skill population from execution feedback. Across six heterogeneous agent benchmarks and three target models, COBRA-Skills consistently achieves the strongest average performance among compared methods, while reducing optimization cost by 55--58\% relative to SkillOpt and using only 50 unique optimization examples per benchmark. Further analyses show that COBRA-Skills remains robust to changes in the agent harness and performs effectively when the target model itself is used for skill generation and refinement.
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URL
https://arxiv.org/abs/2609.11682
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Ecdysis: Efficient and Effective Training of Runtime Harnesses for LLM Agents
2026-09-10 15:09:08Ruiqing Yue, Yu Cui, Zhuoyu Sun, Sicheng Pan, Xianhong Xue, Tingyu Li, Ting Li, Wenzhuo Zhu, Yi Chen, Yifei Liu, Baohan Huang, Zhe Cui, Haibin Zhang, Cong ZuoAbstract
Self-evolving runtime harnesses can substantially improve the capabilities of large language model (LLM) agents and provide a promising paradigm for optimizing agent execution. Existing harness evolution methods typically rely on iterative search, repeatedly evaluating and revising candidate harnesses based on execution feedback from task instances. While this paradigm enables continuous harness optimization, it incurs substantial time overhead due to repeated agent executions and code modifications, and may overfit to observed tasks and specific failure patterns, resulting in degraded generalization to unseen tasks. We identify the lack of principled failure diagnosis as a key bottleneck in harness evolution: an observed failure can reflect either model-specific deficiencies or systematic harness deficiencies, and directly optimizing against individual failures can lead to unnecessary model-specific accommodation. We therefore propose Ecdysis, an efficient and effective framework that distinguishes model-specific accommodation from harness-level repair and biases adaptation toward systematic harness deficiencies by identifying recurring cross-task failure patterns. Ecdysis adopts a batch-level cross-instance failure aggregation paradigm to jointly analyze failure evidence from multiple task instances and further introduces Failure-Driven Collaborative Refinement to diagnose failure causes and iteratively refine harness modification specifications. By combining cross-instance failure analysis with multi-role diagnosis, Ecdysis enables more effective harness evolution with lower training time. Experiments show that Ecdysis achieves up to a 1.84x speedup in harness training compared with existing harness evolution methods, while improving the reasoning accuracy of the resulting harnesses by 18.56%.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11677
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Autonomy, Social Norms, and Alignment: Towards a Developmental Framework for Autonomous Artificial Agents
2026-09-10 15:02:52Marica Notte, Ludovica Marinucci, Vieri Giuliano SantucciAbstract
In recent years, artificial intelligence has made extraordinary progress thanks to large-scale models capable of generalization and the generation of complex outputs. However, transferring this potential into embodied agents reveals a significant limitation: the most advanced systems rely on pre-existing datasets and human feedback strategies that are powerful but insufficient in dynamic or unknown contexts. To adapt, an agent must acquire knowledge through direct interaction with its environment. One strategy to address this challenge involves introducing higher-level mechanisms, such as intrinsic motivations, which leverage curiosity and competence, to guide exploration and learning in complex environments. While this flexibility expands autonomy, it complicates the task of ensuring agents remain aligned with human goals. Alignment, already a challenge for artificial systems in general, becomes even more complex in unstructured and dynamic contexts where predefined rules prove insufficient. To be effective and adaptable, norms must be rooted in experience through an epistemological process that starting from simple, situated principles allows for the gradual construction of more complex rules through experience, autonomous learning, and cooperation with other moral agents. Similarly to children learning social norms by exploring their environment and participating in collective practices, artificial agents must also be educated toward alignment. Following Dennett, the status of a moral agent is not innate but is attributed gradually based on the ability to responsibly manage increasing degrees of freedom. From this perspective, the regulatory sandboxes can be viewed as pedagogical environments for AI: dynamic spaces where alignment develops as a formative process, progressively shaping autonomous behaviors through interaction and cooperation in scenarios of increasing complexity.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11660
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MAPLE: Memory-Augmented Planning with Language and Evolution
Abstract
Domain practitioners understand their business constraints but may lack operations-research expertise or dedicated support. LLM-based optimization agents translate natural-language requirements into models or solver programs that established optimization tools can execute. This progress makes optimization more accessible, but real-world operations are dynamic: changing demand, resources, and priorities require updates to data, constraints, and objectives. Methods centered on isolated requests offer limited support for rapid adaptation that preserves earlier decisions and reuses useful search results. We introduce MAPLE (Memory-Augmented Planning with Language and Evolution), an agent for maintaining optimization problems through successive natural-language requests. MAPLE combines language-based problem construction with mathematical programming and evolutionary search. It retains the optimization program, accepted plans, earlier updates, and candidate solutions for subsequent requests. We introduce NLDO, a benchmark of 15 trajectories and 180 updates spanning selection, scheduling, rostering, routing, and cloud-resource placement. In the main evaluation, MAPLE completes all trajectories and achieves online scalar quality of 0.951 and a Pareto hypervolume ratio of 0.875. Controlled comparisons further show that maintaining executable state improves update validity and can preserve useful search information across substantial revisions.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11636
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Making Alternative Data Work: Context-Augmented LLMs for Financial Forecasting
2026-09-10 14:27:25Jihoon Kwon, Lawrence Liu, Daekyung Park, Sumin Kim, Haverty Jack, Hoyoung Lee, Katherine Bjorkman, Josh McKenney, Peter Laurelli, Nicole Kagan, Zach Golkhou, Thorsten Neumann, Edward Tong, Pete Petersen, Yoon Kim, Alejandro Lopez-Lira, Yongjae Lee, Chanyeol ChoiAbstract
When forecasting a firm's future financial performance, alternative data - data collected from non-traditional sources such as consumer transactions, web traffic, and prediction markets - can provide timely signals about firms' operating activities and broader market conditions. These signals may reveal information that is not captured by traditional public sources and can therefore provide complementary information for forecasting firms' future financial performance. However, firm-level alternative data often have limited historical coverage, are relevant only to specific prediction targets or subsets of firms, and are distributed across numerous heterogeneous channels, making them difficult to incorporate flexibly into conventional forecasting approaches. Meanwhile, large language models (LLMs) can interpret instructions, learn from in-context examples, and generate predictions by combining heterogeneous information without task-specific parameter updates. Motivated by this potential flexibility, we investigate whether an LLM can forecast firm performance by integrating alternative data with other financial information through in-context learning. We propose a two-agent framework that first identifies the firms for which each alternative data channel is likely to be informative and then predicts revenue using firm- and channel-specific context. We evaluate the framework across four commercial alternative data channels. In our experiments, adding alternative data in context alongside other financial information improves the LLM's forecasting relative to either source alone, and these forecasts are more accurate than those of standard forecasting baselines. These findings suggest that LLMs provide a flexible and practical approach to integrating alternative data with heterogeneous financial information.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11607
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Post-Training Zero-Shot TTS for Fine-Grained Emotion and Duration Control via Natural Language
2026-09-10 13:24:06Lianru Gao, Yujie Guo, Yong QinAbstract
Audiobook narration, conversational agents, and audiovisual dubbing require speech that conveys changing emotions and adapts its pacing within a single utterance. But most existing TTS systems typically rely on utterance-level style conditioning, making such fine-grained control difficult to achieve. In light of this, and inspired by the success of post-training in large language models, we propose a unified post-training framework that equips pretrained text-to-speech models with natural-language control over segment-level emotion and duration. Supervised fine-tuning establishes instruction-conditioned speech generation, while reinforcement learning with group relative policy optimization refines control accuracy using emotion and duration rewards alongside content and speaker preservation objectives. By reusing the pretrained architecture, our approach avoids additional inference-time control modules. Experiments demonstrate significantly improved fine-grained controllability while maintaining speech intelligibility and speaker identity, highlighting post-training as a practical approach to extending existing speech synthesis models.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11523
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Recursive Code World Models: Building Complex Worlds through Recursive Scene Programs
2026-09-10 13:05:06Zhiqi Li, Yuxuan Liao, Bo ZhuAbstract
Code world models represent worlds as executable programs, but this representation alone does not determine how to construct a complex world. We introduce Recursive Code World Models (RCWM), a framework for reconstructing complex 3D worlds in code from a single reference image. RCWM couples a Recursive Scene Program (RSP) representation with a construction solver that recursively calls itself. An RSP represents the executable world as compositional scene code, while each solver call follows the same complete process: establish the whole, recursively reconstruct unresolved parts, and revisit the whole to refine their composition. This global-local-global recursion gives fine-scale structures their own perception-and-editing loops while preserving scene-wide geometry and relationships. Reference-aligned views propagate a shared camera projection across levels, while parent revisitation addresses boundaries, spatial relations, and shared errors that emerge after local refinement. A vision-language coding agent directly compares reference images with scene renders to guide refinement, recursive descent, and return. Across complex scenes, RCWM outperforms prior code-based image-to-scene reconstruction methods. Ablation studies further support the benefits of recursive construction and suggest that deeper calls can improve finer-scale reconstruction. RCWM provides a recursive construction principle for building complex executable worlds from visual evidence.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11499
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From Document Silos to Process Intelligence: A Multi-Layer Knowledge Graph for CMC Process Development
2026-09-10 12:59:04Reza Amirmoshiri, Faryad Sahneh, Yasser JangjouAbstract
Chemistry, Manufacturing and Controls (CMC) process development generates an enormous body of technical information across a multi-stage, knowledge-intensive continuum from drug discovery to commercial manufacturing. This knowledge is traditionally fragmented across functions and heterogeneous formats, causing traceability gaps and significant knowledge-management costs during technology transfer and regulatory filing. We present a modular agentic-AI platform that converts a heterogeneous corpus of process-development documents into a queryable, dual-layer knowledge graph. A base knowledge layer builds a lexical graph with a Document-Section-Chunk hierarchy through lossless ingestion of digital, scanned, handwritten, and multilingual documents, while an intelligence layer extracts ontology-aligned entities and bridges cross-document concepts through a provenance-anchored domain graph. LLM agents operate across both layers, selecting the retrieval path best suited to each question. We evaluate the lexical layer with a novel three-tier protocol measuring the deployment-fidelity of a retrieval-augmented generation (RAG) system on proprietary data, demonstrated on 505 questions curated from 38 development reports of a Sanofi small-molecule program. Tier-1 multiple-choice accuracy of 95% signals strong platform reliability; the stricter Tier-2 LLM-judge pass rate of 85%, which degrades on comparative and corpus-wide questions, reveals a failure taxonomy that Tier-1 accuracy alone fails to capture. A router agent selects between layers according to question type. We anticipate this protocol will enable future designers of agentic platforms to assess their systems against nonpublic databases, and that graph-based architectures will see broader adoption in pharma as a means of transforming fragmented document repositories into structured process intelligence.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11493
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The Convention Gap: Towards Measuring Implicit Communication in Cooperative AI Evaluation
2026-09-10 12:57:03Makoto Fukushima, Hua-Dong Xiong, Ehsan Moradi PariAbstract
Cooperative AI agents are evaluated against other AIs, yet human cooperation relies on implicit conventions---shared protocols for reading meaning beyond the literal message---which AI-AI benchmarks may not capture. We propose the \emph{convention gap}, the difference between the failure probability predicted from the literal content of communication and the observed failure rate, as a metric of implicit communication. In the card game Hanabi, the finite deck and deterministic hint constraints make this posterior exactly computable. We replayed about 101,000 play actions from three public datasets of human-human (this http URL), AI-AI (HOAD), and human-AI (HanabiData) games. The gap was +26.2 percentage points (pp) in human pairs, $-$0.7~pp in AI pairs, and +16.4~pp in human-AI pairs, and was concentrated on plays of cards that had received no hints (+46~pp in human pairs). Within human-AI play, the literal information available to humans was similar across the three AI partners (mean predicted failure 38--41\%), but human failure rates ranged from 14.4\% to 34.4\% and the gap from +24.1 to +6.2~pp; the partner eliciting the largest gap produced the fewest human failures. Game score carried different information: it depended on each corpus's roster composition, whereas the gap separated human from AI play at the agent level. As a known-answer check, Off-Belief Learning agents, whose convention content is controlled by construction, gave a gap of +1.6~pp at the convention-free level, rising monotonically to +21.7~pp. These results suggest that convention compatibility, rather than AI-AI performance, may predict an AI's effectiveness with human partners.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11489
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CARLAverse: A Highly Modular, Distributed, and Multimodal Framework for Human-in-the-Loop Simulation
2026-09-10 12:44:18Patrick Rebling, Philipp Nenninger, Reiner KriestenAbstract
The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnerable road users (VRUs), where purely artificial agents often fail to capture authentic human social negotiations. While human-in-the-loop (HITL) simulators enable safe investigation of these interactions, existing multi-agent platforms struggle with the network latency and synchronization constraints required for high-fidelity haptic feedback. To resolve this, we present CARLAverse, an open-source, multimodal simulation ecosystem. Extending modular hardware abstraction, CARLAverse integrates driving (DrivoCARLA), cycling (CycloCARLA), and pedestrian (WalkoCARLA) simulators into a shared virtual environment. Its core methodological contribution is a distributed physics architecture: latency-critical ego dynamics and high-frequency force feedback are computed locally on client nodes, while a central CARLA server orchestrates non-player character (NPC) physics and global traffic. By decoupling haptic control loops from network bottlenecks, CARLAverse enables scalable, cross-institutional HITL experiments without compromising physical immersion. Code and documentation: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.11478
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VikingRAG: Accurate and Token-efficient Retrieval-augmented Generation over Structured Documents
2026-09-10 11:25:59Peiyuan Gao, Gaoyuan Zhang, Haojie Qin, Yahui Sun, Qianyi Zhang, Yunhao Zhang, Zeyu Wang, Wei LuAbstract
State-of-the-art retrieval-augmented generation (RAG) methods exploit document structures to acquire sufficient evidence, but often incur substantial token costs. To reduce structural-context tokens without compromising high RAG accuracy, we present {\sf VikingRAG}, a directory-aware semantic data management system that tightly integrates semantic and structural access to support structural-context-efficient, evidence-gap-driven multi-round retrieval. To further reduce token overhead of multi-round interaction, we materialize agentic multi-round retrieval traces as experience edges, and reuse these edges for similar queries, avoiding repeated multi-round exploration. To additionally reduce token costs when agentic multi-round retrieval is unnecessary, we introduce an adaptive escalation strategy that answers from one-round experience-augmented retrieval when the evidence is sufficient, and invokes agentic multi-round retrieval only otherwise. Experiments on real datasets show that the base system {\sf VikingRAG} matches high accuracy of state-of-the-art methods while consuming only 11.6\%--51.9\% of their tokens. With retrieval-trace reuse and adaptive escalation, token costs drop to 5.1\%--32.5\% while maintaining competitive accuracy and practical document-storage performance, showing the utility of this work for emerging AI knowledge bases.
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URL
https://arxiv.org/abs/2609.11390
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SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms
2026-09-10 11:17:20Charbel Toumieh, Niel Mistry, Benjamin Jarvis, Simon Jeger, Peize Liu, Shaojie Shen, Dario FloreanoAbstract
Aerial robot swarms have the potential to transform time-critical safety, security, and search-and-rescue operations. By coordinating multiple robots, they can rapidly survey disaster sites, map collapsed or GPS-denied environments, and search cluttered areas faster than a single robot, reducing response times and minimizing risks to first responders. Realizing this potential, however, requires robust autonomous swarm navigation, which remains an active research challenge. Progress is further constrained by existing platforms, as commercial drones are often closed-source or lack the onboard computational resources needed for agile, vision-based collective flight. Moreover, developing, deploying, and maintaining software across multiple aerial robots requires significant engineering effort. To address these challenges, we present SwarmNxt, an open-source software platform built on the open-source OmniNxt drone hardware. SwarmNxt provides an end-to-end toolkit, including detailed hardware assembly instructions with a video tutorial, automation tools for parallel software deployment and swarm-wide updates, and a ROS 2-based framework for autonomous navigation. The platform integrates state-of-the-art control, planning, and depth estimation into a single ROS 2 multi-agent system, providing an open research infrastructure for physical swarm experimentation. We validate SwarmNxt through two real-world experiments: a six-drone swarm performing decentralized planning with high-speed inter-drone collision avoidance, and a four-drone swarm executing collective flight with onboard depth estimation in an obstacle-filled environment. Both experiments were run indoors with global position from external motion capture; perception, planning, and control run onboard.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11382
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Agent-Integrated Software: Interaction Contracts and Continuous Assurance
2026-09-10 11:17:19Shengcheng Yu, Chunrong Fang, Zhenyu ChenAbstract
Embedding an intelligent agent in an existing application creates a persistent coordination problem: users can revise goals and manipulate shared objects while delegated execution continues. We argue that dependable integration requires an explicit correspondence between task-level interaction and application behavior. We introduce Agent-Integrated Software (AIS) as a software pattern combining a conventional core, direct interaction, and a built-in agent, and Intent-Level Interaction Abstraction (IIA) as the task semantics through which users inspect and control delegated work. An open transition-system model relates AIS execution to IIA states and events. Interaction contracts constrain this relation through task bindings, role-specific authority, control transitions, and outcome evidence; continuous assurance maintains scoped claims as their dependencies change. A compact disclosure contract and conditional propositions illustrate why local component validity is insufficient and how selected admission invariants can be separated from planning. Contrasting software domains expose the framework's assumptions and limits. This perspective develops a research agenda spanning application abstraction, development support, controlled execution, quality assessment, and human supervision, with the aim of making agent integration a maintainable software engineering discipline.
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URL
https://arxiv.org/abs/2609.11381
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Cognitive Digital Twins: Ethical Risks and Governance for AI Systems That Model the Mind
2026-09-10 10:11:14Vamshi Krishna Bonagiri, Juan Nicolas Sepulveda-Arias, Abdoul Jalil Djiberou Mahamadou, Monojit ChoudhuryAbstract
As AI systems become increasingly persistent and personalized, they make possible a class of technologies that we call cognitive digital twins (CDTs): dynamic computational representations of a specific person's cognition, updated from behavioral, contextual, or physiological data in order to model, predict, or simulate that person's cognition, or to act as that person's communicative or decision-making proxy. CDTs combine cognitive inference with longitudinal representation, simulation, and proxy action in ways that existing governance strategies for personal assistants, autonomous agents, recommender systems, and automated decision systems only partially address. This paper makes four contributions. First, we define CDTs and distinguish them from adjacent systems. Second, we introduce a 5A governance framework organized around authority, autonomy, access and control, accountability, and availability. Third, we identify CDT-specific risks, from misrepresentation and epistemic authority shifts to shadow twins, simulated participation, proxy action, and proxy-power asymmetries. Fourth, we analyze governance gaps and propose requirements for high-risk CDTs that strengthen consent, purpose limitation, validity, traceability, contestation, independent review, and model retirement. Existing frameworks primarily regulate data processing, automated decisions, or autonomous actions; CDTs also require governance at the level of cognitive representation itself, before any final decision or external action occurs. We argue that CDTs require governance not only because they can act for people, but because they can become infrastructures through which cognition is represented, simulated, classified, and operationalized.
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URL
https://arxiv.org/abs/2606.23094
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