Autonomous
-
CalibForge: Adversarial Solver Calibration for Scaling Learnable Terminal Tasks
2026-08-06 17:53:18Fanzhe Meng, Guoxin Chen, Jiale Zhao, Shuang Sun, Zhiyu Lin, Wayne Xin Zhao, Ruihua Song, Ji-Rong Wen, Kai JiaAbstract
Training terminal agents requires executable and verifiable tasks that are not merely solvable, but appropriately challenging for learning. Executable validation establishes feasibility, yet does not reveal how a task behaves relative to a given solver setting. In this paper, we present CalibForge, an autonomous terminal-task synthesis system that uses verified solver behavior to revise candidate tasks through adversarial solver calibration. Multi-solver calibration targets disagreement within a heterogeneous solver pool, whereas contrastive solver calibration targets a designated strong-pass/weak-fail relation; both operationalize a solver-relative learnable zone anchored in demonstrated solvability. Using CalibForge, we construct 5,431 calibrated terminal tasks. Our ablations show that both strategies yield more effective supervision than authoring and validation alone or ordinary single-solver feedback. Models trained on the full collection achieve 32.58% and 47.57% on Terminal-Bench 2.0. The largest improvements over the corresponding base model reach 24.71 percentage points on Terminal-Bench 2.0, 27.68 points on SWE-bench Pro, and 30.04 points on Doc2Repo. Together, these results support solver-relative learnability as a practical target for constructing effective and transferable agent training data.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06352
PDF
-
From Passive Mirrors to Active Agents: Holonic Digital Twins for Physical AI over Networks
2026-08-06 16:17:43Christo Kurisummoottil Thomas, Omar Hashash, Walid SaadAbstract
Despite advances in artificial intelligence (AI) across multiple sectors, today's AI tools, including deep learning and generative AI, still fail when embedded into physical systems, such as robots and vehicles operating under real-world physical laws. This stems from their inability to maintain reliable world models for long-horizon planning under uncertainty and generalize to unseen scenarios. In this context, wireless networks, through pervasive sensing and communication, can orchestrate physical intelligence. However, current architectures optimize throughput, latency, and reliability and cannot support real-time physical AI coordination, requiring agents to maintain shared spatiotemporal context. To address these challenges, a network of holonic digital twins (HDT-Nets) framework is proposed to deliver real-time physical AI inference through holonic agents that actively reason about their environment rather than passively mirror physical assets. Each HDT is realized as a hierarchical structure spanning the physical agent and network edge, reasoning autonomously at the local level while cooperating with neighboring HDTs to form collectively intelligent units. In HDT-Net, causal Markov blankets spanning sensing, communication, and control determine which agents must coordinate and enable counterfactual reasoning over multi-domain interventions. Active inference within these boundaries unifies perception, action, and learning by minimizing expected free energy while deciding which beliefs to transmit based on their cognitive value to the receiver. Category theory ensures that transmitted beliefs preserve semantic structure across heterogeneous agents with incompatible representations. Finally, integrated information theory quantifies when collective intelligence exceeds independent operation and how network intelligence evolves through coordinated learning and information exchange.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06227
PDF
-
Design and Evaluation of a Touchscreen-Based Teleoperation Interface for Robotic Manipulators
2026-08-06 16:10:02Juan Jos\'e Garc\'ia C\'ardenas, Alperen Kenan, Hamidreza Raei, Paul Bremner, Manuel Giuliani, Arash Ajoudani, Adriana TapusAbstract
Intuitive teleoperation interfaces are crucial for the safe and effective operation of robotic manipulators in challenging environments. In the nuclear industry, surface contact tasks such as swab sampling require precise path and force tracking, obstacle avoidance, and sustained operator attention, which conventional joystick interfaces struggle to support effectively. This study designs and evaluates a novel touchscreen teleoperation interface that maps continuous finger movements directly to robotic manipulator motions, provides finer velocity control, and integrates control with visualization, enabling more natural, precise, and intuitive surface interaction than conventional controllers. A comparative user study with 20 participants evaluated task performance and workload using the proposed touchscreen, a conventional joystick, and a single-click autonomous mode. Tasks simulated realistic surface manipulation using a Franka Emika Panda arm, remotely controlled from another country. Kinematic, physiological, and behavioral data were recorded to comprehensively assess task performance, cognitive load, and operator trust across each control condition. Participants completed teleoperation tasks more efficiently and accurately with the touchscreen interface, achieving a 53.5% reduction in completion time (median: 2.50 vs. 5.38 min), higher in-area coverage on the sinusoidal path (90.7% vs. 84.1%), and lower overshoot on both path geometries compared with the joystick. Cognitive load, quantified via NASA-TLX (0-100), decreased from joystick to touchscreen (mean TLX 52 to 43; -9 points, -17.3%) and was lowest under the autonomous one-click mode (31; -21 points vs. joystick, -40.4%; -12 vs. touchscreen, -27.9%). This research presents an easy-to-implement touchscreen interface that improves performance in teleoperated surface tasks while reducing cognitive load.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06219
PDF
-
Comparative Approaches to Agent Retrieval over Large Skill Libraries
2026-08-06 15:54:23Indivara Kolluru, Nathan SportsmanAbstract
Agents backed by large skill libraries must decide which skills to load and in what order. Loading the entire library into context is expensive and provides no structure for autonomous sequencing. We study two systems for this problem over a corpus of 690 skills: a hybrid ranker combining lexical and dense-embedding retrieval for sparse, on-demand loading, and a typed knowledge graph encoding workflow relations such as prerequisites, data flow, and ordering. On a set of 117 realistic, non-echoing queries, the hybrid ranker retrieves the correct skill within the top five in 73.5% +/- 8.0 of cases, leaving roughly a quarter of queries unserved. When used as the design intended (substituting graph neighbours for additional ranked results at matched token budget), the graph is significantly worse (-11.2 points, p = 0.0007). Its LLM-generated edge layer adds nothing over neighbours obtained free from a local embedding pass, and 73% of the queries the ranker misses are not reachable through the graph at all. We attribute this to a pre-filter topology bound. Because the graph's candidate edges are drawn from the same embedding neighbourhood the ranker already searches, 98.6% of typed edges connect skills the ranker had already surfaced together. The graph can enrich relation semantics but cannot extend retrieval reach. We further show that evaluating on author-written queries overstates hit@5 by up to 44 points, which would have hidden these results entirely. Our contribution is a mechanistic account of why added structure does not improve retrieval over a strong ranker, and identify the conditions under which adding structural interdependence into the retrieval is optimal.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06196
PDF
-
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
2026-08-06 15:36:12Giorgio Tonetti, Laurent Kneip, Abel Gawel, Marco HutterAbstract
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely on purely local visual clustering or strict geometric heuristics, such as wall-separated rooms, which fail in open-plan or arbitrarily-structured environments. We propose Prior-SG, a task- and prior-driven framework that casts scene graph generation fundamentally as a probabilistic alignment problem. As the robot explores, it continuously aggregates an incoming RGB-D sensor stream into a physically grounded Instance Graph utilizing a multi-scale, open-vocabulary feature fusion strategy. The system then infers the high-level functional semantics of this map through a Maximum A Posteriori (MAP) estimate, guided by a Prior Graph-a logical expectation of the environment's structure and task-relevant vocabulary synthesized dynamically by a Large Language Model. By optimizing a Markov Random Field that fuses heterogeneous experts (visual, geometric, and discrete objects) with these topological priors, the system resolves local perceptual ambiguities. We validate this approach across diverse simulated residential datasets and large, open-plan real-world environments. Prior-SG achieves state-of-the-art semantic region segmentation accuracy compared to recent baselines, robustly delineates distant functional boundaries in the absence of physical walls, and uniquely provides zero-shot ontological flexibility, enabling the robot to entirely restructure its spatial partitioning based on a given high-level task.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06170
PDF
-
Topometric Autonomous Vehicle Localization by Combining Visual Embeddings and Feed-Forward 3D Models
2026-08-06 13:26:47Eulogio Quemada-Torres, Alberto Jaenal, Francisco-Angel Moreno, Javier Gonzalez-JimenezAbstract
Effective Visual Localization (VL) requires a map of the environment that combines compactness for efficient scalability with robustness against visual appearance changes and metric precision. Through low-dimensional image embeddings, Visual Place Recognition (VPR) is able to successfully meet the first two requirements, but its low metric accuracy makes it less suitable than standard VL approaches based on local features or neural representations. This limitation can be overcome by integrating VPR with the accurate local trajectory estimates produced by feed-forward neural 3D geometry (FF3D) models. In this paper, we address sequential appearance-based localization through a topometric framework that iteratively combines probabilistic VPR with FF3D metric pose estimation in controlled image sets. Our approach proposes an automatic offline mapping tool that models the topometric pose-appearance interaction in the different parts of the scene. This map is later employed by an online particle filter that estimates the pose from odometry and belief over places for FF3D inference, successfully incorporating neural metric estimation into probabilistic appearance-based localization. We extensively evaluate the framework on three known benchmarks, demonstrating substantial improvements over existing appearance-based methods. The modularity of our approach allows the descriptor extractor and FF3D model to remain interchangeable, and a focused analysis further shows that sequential belief can mitigate severe failures under perceptual aliasing.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06021
PDF
-
Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features
2026-08-06 13:13:07Sining Ang, Yuguang Yang, Yan WangAbstract
Large video diffusion models provide rich spatiotemporal priors for autonomous driving, but existing world-action models often inherit the cost of iterative future-video generation even though deployment only requires an ego trajectory. We ask a more basic question: how much of a video diffusion model must be executed to make a reliable driving decision? Through a controlled study of video denoising timesteps and Diffusion Transformer (DiT) depth, we find that planning performance is largely insensitive to the tested video-noise levels, whereas strong trajectories can already be decoded from intermediate layers. Based on this observation, we introduce Adaptive-WAM, a quality-aware multi-exit planner built on a Wan2.2-5B backbone. Trajectory diffusion heads are attached to selected DiT blocks, and a lightweight trajectory-quality scorer terminates inference once the best trajectory decoded so far satisfies a quality threshold; otherwise, computation continues from the cached hidden state to a deeper exit. The deployed planner therefore avoids the iterative classifier-free denoising loop and VAE decoding required for future-video synthesis, while dynamically allocating backbone depth according to trajectory quality. On NAVSIM, the adaptive single-trajectory planner achieves 90.8 PDMS; a separate fixed-exit variant reaches 92.6 PDMS with 64 proposals. It further obtains 89.9 EPDMS on NAVSIM v2, yielding the best reported results among the compared front-view video world-model planners. Without target-domain fine-tuning, Adaptive-WAM transfers to nuScenes with 0.88 m average L2 error and a 0.08\% collision rate. On an A100, adaptive routing improves PDMS from 90.62 to 90.79 while averaging 170 ms end-to-end planning latency, approximately 10\% below the 190 ms fixed block-15 planner and 47\% below the 320 ms fixed full-depth planner. Code will be released.
Abstract (translated)
URL
https://arxiv.org/abs/2608.06008
PDF
-
OPERA: Operator-residual feedback for reliable autonomous optical experiments with language-model agents
2026-08-06 13:03:22Ning Xu, Xiang Zheng, Fuqiang Zhong, Huadong Wang, Xiaolong Wu, Zhiyuan Liu, Hui NingAbstract
Autonomous agents choose actions using scores that may not reflect experimental success. We developed OPERA, an operator-residual framework for optical experiments. It represents experimental actions as optical operators and evaluates their outcomes using physically interpretable residuals. Operators specify executable changes to measurement, control or reconstruction, while residuals report departures from specified physical conditions. The agent uses both to select, combine or generate operators, and physical performance is evaluated independently against a withheld reference. Across three optical tasks, score-only feedback produced score increases without physical improvement in 23.6--39.0\% of decisions, compared with 0.9--1.9\% for operator-residual feedback. Operator-residual feedback increased the probability of reaching and maintaining task targets and reduced experimental budgets. Protocols selected in digital twins were transferred to three optical instruments, and repeated experiments showed a lower projection budget in structured-light reconstruction. Together, operators and residuals guide autonomous decisions using measurable physical evidence.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05990
PDF
-
Seeing Is Not Deciding: Can Multimodal LLMs Act as Effective CEOs?
2026-08-06 10:43:33Yuyang Dai, Xueqing Peng, Yuxia Wang, Preslav Nakov, Zhuohan XieAbstract
Large language models are increasingly applied as autonomous decision-making agents. However, in executive business decisions, existing benchmarks are limited to textonly settings. This makes it unclear whether models can perceive visual business evidence and effectively integrate it to improve decision quality. We introduce C-SUITEBENCH, a controlled multimodal benchmark that includes five decision tasks under paired text-only and multimodal conditions across 50 scenarios. We place nine frontier models in the role of a chief executive officer and evaluate their decision-making ability. Multimodal inputs consistently improve evidence-centric reasoning, with the largest and most reliable gains appearing in risk forecasting and board-facing justification. However, we uncover a multimodal integration paradox: adding visual business information degrades constrained resource allocation for all nine models, even as visual grounding itself improves. Ablation experiments reveal that this failure emerges from signal crowding, although each visual channel helps individually, their combination disrupts constraint satisfaction during decoding. These findings demonstrate that visual perception and constrained action are separable bottlenecks in multimodal agents, and that indiscriminate visual augmentation can harm high-stakes decision making, motivating selective grounding strategies for future executive AI systems.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05864
PDF
-
Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment
2026-08-06 08:30:52Hanlin Wang, Xin Wang, Xinwei Wei, Jiaxu Liu, Le Wang, Shengze Cai, Chao XuAbstract
Acoustic field-driven manipulation provides a non-contact and non-invasive strategy for controlling microscale and nanoscale objects, yet its extension to millimeter-scale robots was limited by insufficient propulsion efficiency in confined biological environments. Here, a coordinated multi-acoustic-field approach is introduced, which harnesses the synergistic action of acoustic radiation forces and acoustic streaming flows to enable controlled locomotion of millimeter-scale helical robots and enhance propulsion. Multiphysics simulations captured the dynamics of millimeter-scale helical robots under combined acoustic fields, and experimental validation demonstrated their locomotion capabilities, including planar navigation, inclined climbing, and vertical motion. Semi-autonomous navigation experiments further confirmed that ultrasonic synergy substantially improved maneuverability. In vitro tests in porcine venous vessels demonstrated that coordinated acoustic fields supported both unidirectional and reciprocating motion under biologically relevant confinement. These findings provide mechanistic insight into scaling acoustic micromanipulation to the millimetre regime and support biomedical applications requiring versatile and controllable robotic mobility.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05746
PDF
-
StreamArena: Toward Continuous, Interactive, and Long-Horizon Agentic Streaming Video Understanding
2026-08-06 07:46:37Xichen Zhang, Guankai Li, Yinghao Zhu, Shijian Wang, Sitong Wu, Shaozuo Yu, Meng Chu, Yuan Lu, Jiaya JiaAbstract
Deploying autonomous multimodal agents in continuous, real-world environments requires them to ingest unbounded audio-visual streams and maintain hour-scale memory. However, current evaluations predominantly rely on brief clips and multiple-choice formats. This design allows minimal baselines that process only the last four frames to match or surpass complex streaming models, while answer options also expose language shortcuts. We introduce StreamArena, a benchmark for hour-scale, interactive streaming video understanding. StreamArena contains 243 full-length videos averaging 88.8 minutes and 3,646 rigorously annotated, open-ended question-answer pairs that evaluate real-time perception, historical retrospection, proactive interaction, and multimodal tool utilization. Evaluation across diverse systems exposes a tension between continuous interaction and long-horizon multimodal comprehension. Methods that retain only recent frames cannot recover distant events, methods that convert past observations into text lose visual evidence, and methods that repeatedly compress visual memory struggle to preserve fine-grained details over time. We address this tension with StreamMind, a two-tier architecture that assigns latency-critical interaction and proactive monitoring to independently scheduled frontend workers, while backend workers asynchronously construct persistent multimodal memory and perform historical recall and external search. StreamMind outperforms existing streaming baselines across all four capabilities and reduces query-to-answer latency by reusing persistent state.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05703
PDF
-
Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot
2026-08-06 07:19:02Hyoto Yamaguchi, Zenji Yatabe, Seiya KasaiAbstract
Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoeba-inspired autonomous walking robot. To classify ground condition without image sensing and processing, we implemented artificial proprioception by integrating a three-axis accelerometer, eight foot pressure sensors, and reservoir computing (RC). Even when large fluctuations in the sensor outputs are caused by dynamic motions of a four-legged robot in walking, our system can classify the ground condition, flat or rough, with high accuracy. We demonstrate on-site switching of walking gait depending on ground condition in the robot. We also discuss the contribution of each sensor to ground condition classification.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05684
PDF
-
SkillHEX: Improving Agent Skills via Hypothesis-Driven Autonomous Exploration and Exploitation
2026-08-06 05:51:02Yuru Feng, Yaoqi Chen, Beidi Zhao, Qianxi Zhang, Xinjiang Wang, Jianan Lu, Zhirui Wang, Shusen Xu, Zengzhong Li, Qi ChenAbstract
Although agent skills equip LLMs with reusable procedural knowledge, manual maintenance suffers from high costs, unscalability, and misalignment. Real-world deployments thus require autonomous, on-demand skill evolution at test time, constrained by limited interaction budgets and a lack of training or validation sets. This setting introduces a severe sparse reward challenge, where outcomes conflate multiple latent failure causes. Under such ambiguity, existing methods that greedily refine a single incumbent skill are particularly vulnerable to an exploitation trap, allowing early misdiagnoses to exhaust limited trials along unproductive trajectories. To address this, we introduce SkillHEX, a closed-loop framework coupling hypothesis-driven self-verification with evidence-guided tree search. SkillHEX translates falsifiable failure hypotheses into executable tests, producing diagnostic evidence as dense reward without additional environment attempts. This evidence guides a search over persistent skill-revision branches, dynamically balancing the exploitation of supported edits with the exploration of plausible alternatives. Evaluated on 87 tasks from SkillsBench, SkillHEX outperforms existing self-evolving methods and achieves an average pass rate of 55.9% and 57.9% using GPT-5.3-Codex and Claude Opus 4.7 under a five-iteration budget, respectively.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05628
PDF
-
StepReflect: Structured UI Transition Reflection for Mobile GUI Agents
2026-08-06 04:17:27Linqiang Guo (Peter), Wei Liu (Peter), Li Gu (Peter), Yang Wang (Peter), Tse-Hsun (Peter), ChenAbstract
Autonomous mobile GUI agents require accurate action reflection for reliable long-horizon execution. Existing approaches rely on open-ended multimodal reasoning after each action, which is costly and poorly matched to the structured nature of GUI state transitions. We propose StepReflect, which formulates per-step GUI reflection as supervised structured prediction conditioned on explicit transition specifications and paired visual evidence. StepReflect is trained through a staged pipeline combining supervised fine-tuning, teacher-student distillation, and preference- and reward-based refinement. Offline, the resulting 8B model achieves 82.16% transition-level accuracy on AndroidWorld, exceeding zero-shot GPT-5.2 by 11.83 percentage points under the same structured input. Online, across M3A, Agent-SAMA, MAI-UI-8B, and Seed-2.0-Pro, StepReflect achieves higher task success in three of four agent configurations and remains within one successful task of the GPT-5.2 Reflection Agent in the fourth. It also reduces paid API charges relative to GPT-based reflection in all four configurations. These results establish StepReflect as a practical, locally deployable alternative to repeated frontier-model reflection for long-horizon mobile GUI agents.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05587
PDF
-
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning on Point Clouds
2026-08-06 04:17:13Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang, Ioannis PoulakakisAbstract
Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To resolve this bottleneck, we introduce PathCover, a framework driven by RISP; a novel randomized algorithm that constructs convex polytopes directly from raw point cloud data in expected linear time under a mild probabilistic elimination condition. PathCover generates sequences of overlapping, obstacle-free polytopes that safely constrain downstream MPC and trajectory optimization. We mathematically guarantee that the algorithm terminates in finite steps while ensuring continuous progress along any obstacle-free reference path. Extensive benchmarks on synthetic and real-world LiDAR datasets demonstrate an order-of-magnitude speedup over state-of-the-art methods while maintaining comparable corridor volumes. The complete pipeline is validated via high-fidelity quadrotor simulations and physical deployment on a quadrupedal robot navigating constrained environments using live LiDAR perception.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05586
PDF
-
From Sports to Safety: Benchmarking Proactive Risk Inference in MLLMs
2026-08-06 03:25:39Jiawei Qiu, Yichen Xu, Jianzhe Ma, Mingyang Yu, Wenbin Zhu, Yang Han, Pinzheng Lv, Wenxuan WangAbstract
Timely anticipation of physical hazards is essential for real-world safety, yet existing MLLM evaluations focus on harmful content or general risks, leaving proactive physical hazard prediction underexplored. Sports provide a well-suited testbed: accident causes span diverse injury dimensions and pre-accident spatiotemporal cues draw on reasoning capabilities shared with broader safety domains such as autonomous driving and fall detection. We introduce SPRINT (Sports Proactive Risk INference Testbed), a benchmark of 2,888 real-world sports videos (2,440 accident, 448 safe controls) spanning 14 sports and 3 environmental settings. Accident videos feature fine-grained annotations of early hazard cues, accident timing, and hierarchical causes; safe videos are manually verified as accident-free and serve to diagnose prompt-induced false alarms. Evaluating state-of-the-art MLLMs under diverse prompts and temporal windows reveals a sharp gap between hazard sensitivity and understanding: the best model exceeds 95% in signaling hazards yet falls below 50% in identifying their causes. Diagnostic experiments further show that explicit danger queries trigger severe false alarms even on hazard-free videos. These findings indicate that current MLLMs exhibit only superficial proactive safety, lacking stable, cause-grounded early warning, and underscore the need for reliable proactive safety in dynamic physical environments. Data and code will be open-sourced upon acceptance.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05560
PDF
-
Vibe Compiler: A Research-Logic Synthesis Tool That Runs without Prompt Engineering -Toward Enhancing Metacognition for Sustaining Agency in the Age of Generative AI-
2026-08-06 02:51:03Riichiro Mizoguchi, Tomoki Aburatani, Kento Koike, Machi ShimmeiAbstract
Generative AI used as a capable servant has greatly accelerated intellectual work, but it also risks eroding human epistemic agency by encouraging uncritical acceptance of AI-generated reasoning. This creates a need for mechanisms that preserve human agency by augmenting metacognition during AI-assisted intellectual work. To address this, we propose the Synthesis-Analysis Reciprocity Model, which views intellectual construction as a reciprocal interaction between Synthesis, which combines components into an artifact, and Analysis, which critically evaluates them against objective indicators and constrains subsequent synthesis. Grounded in this model, we present the Vibe Compiler, a research-logic compiler that helps researchers transform vague ideas (Vibes) into coherent research logic. The system compiles these ideas using a research paper ontology of sixteen academic parameters. Compilation failures indicate missing logical components; rather than filling them autonomously, the system prompts researchers with reflective questions that encourage them to develop the missing reasoning. The framework characterizes structural gaps along two dimensions: cognitive function (Synthesis vs. Analysis) and executing agent (human vs. AI), yielding four origin types that identify where breakdowns arise. Our design emphasizes AI probing its own synthesized output to stimulate human metacognition, encouraging researchers to remain managers who critically direct and validate AI-generated reasoning rather than passive recipients. Experience with a prototype built on NotebookLM and Gemini suggests that effective AI-assisted reasoning depends less on sophisticated prompting than on the knowledge structure provided to the AI. This paper was developed using the proposed Vibe Compiler.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05545
PDF
-
Innovation-Residual Auditing of Autonomous Analysis Agents: Localization, Detection Limits, Error Control, and Identifiability
2026-08-06 00:42:43Ahmed Hassoon, Mark DredzeAbstract
Autonomous agents now carry out entire data analyses, selecting cohorts, joining tables, and fitting models with little step-by-step supervision. When such an analysis turns out to be wrong, someone must determine which operation caused it. A recent approach does this without any labelled mistakes, learning instead from analyses known to be sound and flagging operations that depart from what that model predicts; how reliable such audits are has not been studied. This paper supplies that analysis. The choice of score determines whether an error can be localized at all. If each operation is scored by how surprising it is given the operation immediately preceding it, then operations that merely inherit an earlier error are indistinguishable from correct ones, so one mistake produces one flag; scores computed against a longer reconstruction of the intended analysis instead spread a single mistake across many operations. We quantify how far they spread, and how to choose the comparison length when an error accumulates gradually rather than at once. We then give procedures that control the proportion of falsely flagged operations within a single audited analysis, requiring only that sound analyses be exchangeable rather than that the fitted model be correct, and we quantify how much the guarantees weaken when the model is imperfect or when the analysis was selected for review in a way that depends on its content. Finally we establish a limit on what any such audit can report: errors below a certain magnitude cannot be attributed at all, being indistinguishable from ordinary variation among sound analyses. This limit falls so slowly as more sound analyses are collected that at the representation sizes now in use a hundredfold increase reduces it by under two percent, so the dimension of the representation rather than the volume of training data is the binding constraint.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05490
PDF
-
SCP-NL2TL: Selective Conformal Prediction with Semantic Verification for Natural Language to Temporal Logic Specifications
2026-08-05 22:17:09Yixuan Wang, Licheng Luo, Yu Fu, Kaidi Xu, Yue Dong, Mingyu CaiAbstract
Translating natural language instructions into machine-interpretable formal specifications enables robots and autonomous systems to plan, reason, and formally verify their behavior. However, existing translation models typically generate a specification for every input, even when the result is unreliable or fails to capture the user's intent, creating risks in safety-critical applications. Inspired by selective conformal prediction, we propose a selective translation framework that not only generates formal specifications but also determines when they can be trusted. Reliability is scored by two complementary black-box signals, the fidelity of the specification back-translated into natural language and the dispersion of repeated translations under exact semantic equivalence, which fail on different errors and jointly separate incorrect translations more sharply than either alone. Conformal risk control calibrates this score into a decision that accepts a specification or abstains, with a distribution-free bound on the rate at which incorrect specifications are accepted for execution, and a conformal anomaly detector on instruction embeddings screens out-of-distribution inputs before any translation is attempted. The proposed framework is general across formal specification languages, with experiments on Signal Temporal Logic (STL), Linear Temporal Logic (LTL), and geometric Spatio-Temporal Logic (SpaTiaL) demonstrating improved translation reliability, robustness under the evaluated cross-tier shifts, and effective uncertainty-aware abstention. This work establishes a foundation for trustworthy natural language interfaces by enabling AI systems to recognize when generated specifications may not be reliable.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05439
PDF
-
DoctorAgents: an agentic framework to iteratively refine AutoML pipeline for small clinical temporal data
2026-08-05 19:52:55Ruilin Wang, Bo-Hong Wang, Elizabeth Kourbatski, Jun Bai, Hegang Chen, Ziyang Song, Gilles Boire, Marie Hudson, Yue LiAbstract
Clinical machine learning (ML) has the potential to support high-stakes medical decision-making, but reliable deployment is often constrained by scarce, heterogeneous, and temporal complexity. Developing effective ML pipelines for such data remains time-consuming and error-prone, while existing automated machine learning (AutoML) systems only partially address this challenge because they largely rely on brute-force search over predefined spaces and lack explicit reasoning and memory. We therefore reformulate AutoML for small clinical data from exhaustive search to reasoning-driven refinement. We propose DoctorAgents, an agentic AI framework that autonomously constructs and optimizes end-to-end ML pipelines through specialized large language model (LLM) agents for generation, validation, and refinement. DoctorAgents backpropagates natural-language feedback through textual gradient descent to perform targeted updates without exhaustive search. Experiments across diverse clinical tasks show that DoctorAgents consistently outperforms established AutoML baselines while producing more interpretable task-specific representations.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05375
PDF
