GAN
-
Towards Agentic Robots: Model, Data, Environment, and Harness
2026-10-14 16:32:22Chonghan Qin, Dongming Wu, Kaituo Feng, Jiaxu Wang, Xinlei Yu, Peiwen Sun, Yijia Fan, Xilin He, Bingao Chen, Weitong Lian, Ryan Ji, Wenqi Ren, Xiaobin Hu, Dahua Lin, Yu-Gang Jiang, Xiangyu YueAbstract
Foundation models are driving a paradigm shift in robotic intelligence, moving beyond low-level action prediction to goal-directed orchestration of data collection, model training, task planning, and real-world execution. We characterize this emerging paradigm as an agentic robots, in which agents reason over human instructions, interact with robotic environments, rectify execution errors autonomously, and dynamically adjust operational strategies. Although this field develops fast, current studies are not well connected. Researchers have no consistent view of how to combine different agentic functions into a complete robot system. This paper provides a unified overview of existing research on agentic robots. We first trace the development from robot policies to agentic systems, covering vision-language-action models, world models, and world-action models. We then clarify the definition and scope of agentic robots and organize existing research into seventeen categories across four functional domains: Model, Data, Environment, and Harness. Across these domains, we examine how agents shape model learning and robot decisions, collect and curate robot data, construct worlds, tasks, and tests for learning and evaluation, and organize capabilities for robot use. Finally, we discuss open challenges and outline directions for future research. Looking forward, we hope this work contributes to a clearer understanding of agentic robots and supports new approaches to making them more capable, reliable, and adaptive.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20442
PDF
-
CSWBench: Evaluating Context-Sensitive Code-Switching in Creative Writing
2026-10-14 14:33:48Zewen Jiang, Yahan Li, Chenlu Guo, Diana Inkpen, Yuan Wu, Yi ChangAbstract
Large language models (LLMs) have demonstrated multilingual capabilities across diverse language generation and understanding tasks. Yet effective code-switching requires more than multilingual proficiency: models must decide when, where, and why to switch languages in ways that fit the surrounding context. This context-sensitive ability remains insufficiently evaluated. We introduce CSWBench, a benchmark for evaluating context-sensitive code-switching in creative writing through two complementary settings: Focused Narrative and Extended Narrative. We further propose CSWEval, a theory-informed framework with two complementary levels: event-level evaluation of Licensing, Contextual Appropriateness, and Functional Gain, and whole-text evaluation of task-specific quality---overall literary and narrative quality in Focused Narrative and quality emphasizing multilingual organization in Extended Narrative. Evaluating twelve LLMs, we find that models exhibit meaningful but uneven code-switching competence across narrative contexts. Model differences are particularly pronounced in multilingual literary integration, while multilingual-focused dimensions show stronger difficulty effects overall than the general narrative dimensions; narratively salient switches are associated with stronger contextual and functional realization; and event-level CS quality is moderately associated with whole-text performance.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20272
PDF
-
GLoD-LVSM: Learning Geometry-Grounded Continuous-LoD Scene Representations for Large View Synthesis Models
2026-10-14 14:25:44Weikai Lin, Nicholas Milef, Carl S Marshall, Grant Kaijuin Yang, Todd Keeler, Yuhao ZhuAbstract
Large view synthesis models (LVSMs) reconstruct scenes from sparse views and render novel views quickly, but they incur unnecessary storage and rendering costs due to token redundancy. We present GLoD-LVSM, a compact, geometry-grounded scene representation for LVSMs with continuous levels of detail. First, instead of learning a fixed set of scene anchor initializations, GLoD-LVSM learns a continuous field that initializes a flexible number of anchors to match the desired budget. A condenser then aggregates scene information into these anchors, with both the field and condenser trained end-to-end. Second, the condenser infers reference-token and anchor geometry to guide compression through geometry-grounded attention, improving rendering quality and enabling frustum culling during decoding. Compared with existing LVSM scene-compression baselines, GLoD-LVSM achieves the best trade-off between rendering quality and scene token count. Compared with the uncompressed base model, GLoD-LVSM reduces the scene-token count by 33.4% and accelerates rendering by $1.23\times$ with no quality loss. Under a relaxed quality-loss budget, the reduction increases to 85.5%, with $3.00\times$ rendering speedup. Further analysis reveals that view-synthesis supervision yields emergent scene depth and self-organized anchors that align with surfaces and adapt their density to local texture complexity. Beyond rendering, we further show that our scene representation also supports scene-semantic understanding, highlighting its potential for broader downstream tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20254
PDF
-
ObjDream: Guiding Vision-Language-Action Models with Object-Level Understanding and Future State Prediction
2026-10-14 14:06:03Huailiang Ma, Yuxuan Li, Ziyi Zhao, Xinkai Wang, Mingyu Li, Xinyu Guo, Lifeng Zhu, Aiguo Song, Cewu Lu, Jianhua SunAbstract
Vision-language-action (VLA) models have emerged as a powerful paradigm for robotic manipulation, enabling robots to generate actions from visual observations and language instructions. However, most existing VLA models still operate on image-level visual representations inherited from pretrained vision-language backbones, while lacking fine-grained object understanding for manipulation. As a result, their robustness can degrade under out-of-distribution object layouts, clutter, and background variations. To address these limitations, we introduce ObjDream, an object-centric VLA framework centered on object-level understanding and future object state prediction. ObjDream uses a spatio-temporal object encoder to organize visual observations into temporal object slots, where persistent object identity and dynamic object state are represented through separate channels. These structured object representations are inserted into the token sequence of the vision-language model (VLM), where identity-guided routing modulates VLM attention to the corresponding object tokens. In addition, an action-conditioned object dynamics module predicts compact future object states relevant to manipulation during training, explicitly supervising object state evolution under robot actions without requiring future prediction at inference. Experiments on LIBERO, LIBERO-Plus, and RoboTwin 2.0 show that ObjDream improves generalization under diverse distribution shifts and scene perturbations. Real-world robot experiments further demonstrate that ObjDream transfers to physical manipulation settings with novel object arrangements and background changes.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20223
PDF
-
AlphaDiana: A Measurement System for Agents in Verifiable Reasoning Tasks
2026-10-14 14:04:48Zhanke Zhou, Zongze Li, Weikai Huang, Xuan Li, Chentao Cao, Xiao Feng, Xiangyu Lu, Jinbo Hu, Yi Xie, Nico Pelleriti, Shiyang Liu, Menghan Lu, Max Zimmer, Brando Miranda, Jiangchao Yao, Bo Liu, Sanmi Koyejo, Sebastian Pokutta, Bo HanAbstract
Agents pair reasoning models with harnesses that organize model calls, execute tools, load skill instructions, and retain history in memory. Understanding agent performance requires linking execution conditions to outcomes, behavior, and resource use. We introduce AlphaDiana, a measurement system with modular interfaces for datasets, agents, environments, and scorers. It preserves harness-native control loops while controlling file reuse and memory retention separately. AlphaDiana supports macro analyses of complete agents and micro interventions on agent components such as tools, skills, and memory under matched conditions. We study three open-source models and three open-source harnesses on five answer-based benchmarks, with two models also tested on two interactive benchmarks. We find that harnesses do not consistently improve the accuracy of reasoning: gains on questions unsolved by the model alone can be outweighed by losses on questions it answers correctly without tools. This inconsistency extends to component interventions: neither skill guidance nor retained history reliably improves accuracy. Behavior and output-token use must be assessed with correctness: low token entropy can accompany wrong answers, and less output per execution can mean more output tokens per correct answer when accuracy falls. AlphaDiana links answer correctness and execution status to traces and resource records for comparing agents and diagnosing failures under shared task and resource policies.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20675
PDF
-
NeoHorse-1: Towards Recursive Self-Improvement via Agentic Post-Training with Routing Harness
2026-10-14 13:51:20NeoHorse Team, Guoliang Cao, Guohao Dai, Tianyu Guo, Kai Han, Hailin Hu, Zihan Jiang, Xiang Kuang, Boxun Li, Yulong Li, Zehua Pei, Yuchuan Tian, Jiamin Wang, Yu Wang, Yunhe Wang, Yihong Wu, Haiyang Xu, Shuo Zhang, Hang Zhou, Siyang Cheng, Jiayu Fan, Wei He, Qingrui Jiao, Hongguang Li, Zhiyuan Li, Runke Liu, Xi Liu, Xinchen Liu, Sinno Jialin Pan, Yi Ren, Liuyang Song, Chenyu Wang, Bei Yu, Quanlu Zhang, Xiangyu Zhang, Mengyu Zheng, Yingjie ZongAbstract
Recursive self-improvement (RSI) requires a concrete mechanism through which an AI system observes its capabilities and converts that evidence into the next round of learning. We present NeoHorse-1, a family of agent-native models developed to explore this path through agentic post-training. Our system combines a heterogeneous model pool with intelligent routing, recording the predicted capability demand, selected service tier, and subsequent interaction for each user turn. These records are converted into training examples that preserve interleaved reasoning, tool calls, and harness context, and are admitted through structural validation, six-dimensional semantic evaluation, and subscene-level labeling. Routing signals organize supervised fine-tuning into a three-stage curriculum and extend to routing-guided on-policy distillation, where a teacher supervises student-generated responses under the same progression. Capability-guided allocation then converts evaluation feedback into the next training mixture, closing an evaluation-selection-update loop in which what the system learns to do shapes what it learns from next. Across eleven benchmarks covering harness-based agents, tool use, coding, and instruction following, post-training raises the macro-average from 58.94 to 64.87 at 4B and from 65.60 to 69.04 at 9B, substantially narrowing the aggregate gap between the post-trained 4B model and the 9B base model. We further adapt NeoHorse-1-4B into NeoHorse-Jev-4B, a prefill-only model that returns structured decisions and probabilities for agent workflows. NeoHorse-1 provides an initial prototype of this feedback-driven process and a path toward harness-mediated RSI across successive iterations.
Abstract (translated)
URL
https://arxiv.org/abs/2609.08183
PDF
-
Tactile-Guided Robot Learning: From Representation Learning to Foundation Models
2026-10-14 12:54:05Kiyanoush Nazari, Luchen Li, Haoshu Fang, Nima Fazeli, Zhibin Li, Fumiya Iida, Thomas George ThuruthelAbstract
Tactile sensing is becoming central to robust, adaptive, and dexterous robotic manipulation. Beyond its traditional role in contact detection and reactive control, touch is increasingly used to learn transferable representations, condition manipulation policies, and support embodied physical reasoning. Yet existing surveys largely emphasize tactile hardware and perception, leaving the rapid shift toward learning-based tactile manipulation insufficiently synthesized. This paper reviews tactile-guided skill learning from a learning-centric perspective, organized by the functional role of touch across the learning and control pipeline. We examine tactile representation and policy learning, tactile foundation models, predictive and adaptive control, and generalization across objects, tasks, sensors, embodiments, and simulation-to-real transfer. Across these directions, we identify common design principles and remaining challenges in learning transferable physical representations, integrating semantic reasoning with contact-level control, and scaling tactile learning across heterogeneous data and hardware. Finally, we outline emerging directions toward tactile foundation and world models that can predict, reason about, and adapt physical interactions. Together, this review characterizes the transition of touch from a task-specific feedback signal toward a core modality for general-purpose embodied intelligence. An accompanying database of the reviewed literature and associated resources is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20134
PDF
-
Towards Modality-Agnostic Seizure Classification: A Unified Deep Learning Framework for Heterogeneous EEG and Intracranial EEG Signals
2026-10-14 10:13:15Ramya Sundaram, Muhammad Aslam Jarwar, M Uma, Sunder Ali Khowaja, Qurat-Ul-Ain MastoiAbstract
Seizure prediction and detection, essential for clinical treatment of epilepsy, remain the crucial task of this neurological disease. EEG and iEEG are widely used to analyze epilepsy due to its capability of capturing discriminative brain activities at high time resolution. However, existing works generally analyze either EEG or iEEG seizure activity separately, where EEG analysis has been well-researched, while more and more works consider iEEG for its higher specificity at the spatial level and signal quality. Currently, most of the existing seizure prediction systems are single-modal in nature, which limits its application to a variety of clinical conditions. Therefore, a common framework to analyze seizures with both EEG and iEEG signals needs to be developed. This paper presents a new framework of multimodal seizure classification integrating the heterogeneous EEG and iEEG recordings from different subjects and sources. A specific framework, called Unified Multimodal Signal Harmonization (UMSH), is developed for harmonizing signals with varied sampling rates and recording conditions. Moreover, to handle the extremely class-imbalanced problem in the data sets, we use a Conditional Generative Adversarial Network (cGAN) based data augmentation technique to generate synthetic samples to balance the class distribution. The proposed framework uses the EEGNet-Vision Transformer (EEGNet-ViT) as the feature extraction and classification network to learn the local discriminative patterns as well as global contextual information in the multimodal seizure data. Experimental results demonstrate the effectiveness of the proposed framework for robust seizure classification, emphasizing the potential of integrated EEG-iEEG multimodal learning in advancing next-generation epilepsy monitoring and clinical decision-support systems.
Abstract (translated)
URL
https://arxiv.org/abs/2610.16596
PDF
-
MolHop: Scaffold-Hopping Molecular Design with Agentic Reinforcement Learning
2026-10-14 10:11:10Yanyi Su, Chenyan Wang, Yulei Gong, Yeyun Chen, Xiaohui Yang, Jun ChengAbstract
Molecular design is often formulated as an optimization problem over existing molecular spaces. However, molecular optimization and the discovery of structurally distinct replacement molecules represent two fundamentally different search problems. LLM-based molecular design agents typically perform the former, conducting local refinement within the neighborhood of existing structures to improve target properties through structural modifications. In contrast, the latter requires exploration of a broader chemical space to discover molecules with entirely different scaffolds while preserving the functional characteristics of reference molecules. We propose MolHop, an agentic framework for cross-scaffold molecular discovery that enables models to navigate and edit within a pre-organized chemical space. MolHop organizes approximately 1.6 million molecular scaffolds from commercial molecules into a coarse-to-fine hierarchical action space. The agent selects new exploration regions through scaffold navigation actions and adjusts candidate properties through molecular editing. The framework maintains historical trajectory memory to support long-horizon search processes. On drug molecule and commercial compound tasks, connecting Grok-4.6 and DeepSeek-Flash-V4.1 to the MolHop framework substantially improves their cross-scaffold joint success rates. We develop MolHop-9B through agentic reinforcement learning, and MolHop-9B outperforms generative baselines including GPT-5.6-sol, Claude-5-Opus, and Gemini-3.1-Pro, while generating candidate molecules with larger scaffold differences from the reference molecules. These results demonstrate that effective molecular discovery beyond the traditional optimization paradigm requires structured chemical and action spaces, enabling agents to explore new structural regions rather than merely refine existing molecules.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19920
PDF
-
Multimodal Medical Image Parsing with Task-Specific Low-Rank Adapters
2026-10-14 09:59:17Taha Sabir, Alberto Montero Molina, Thinh Quang Ly, Veronika Dmitrenko, Mohammad Yaqub, Tausifa Jan SaleemAbstract
Adapting a single vision-language model to medical image parsing requires training choices that reflect the demands of each task. We study task-specific adaptation with Qwen3.5-9B for FLARE 2026 Task 3, covering six task families and seven imaging modalities. Our system couples a shared, frozen 4-bit backbone with LoRA adapters selected from the input question. We customize adapter ranks and prompts, rebalance rare classification targets, and supplement regression training with dermatology classification examples. On the fixed internal holdout, the task-specific adapters achieve a dataset-macro balanced accuracy of 0.7791 for classification, a dataset-macro micro-F1 of 0.6286 for multi-label classification, a counting mean absolute error (MAE) of 11.73, a dataset-macro detection F1 of 0.8914, a dataset-macro regression MAE of 9.78, and a report-generation CRIMSON score of 0.8204. On the organizer's 1,703-example hidden-validation set, the submitted system achieves 0.8496 classification balanced accuracy, 0.5338 sample-averaged multi-label F1, and 14.5950 regression MAE. The final 30.1 GB container averages 3.1 seconds per case, including model loading, and produces identical outputs across repeated verification runs. The benefits vary across tasks, supporting the use of task-specific adapter configurations and image budgets within a shared medical vision-language model. Code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19901
PDF
-
The World Won't Wait: Evaluating and Teaching Agents Under a Live Clock
2026-10-14 09:35:54Ningxin Pan, Hanyu Li, Yeqing Shen, Ning Ding, Yehui Tang, Wentao ZhangAbstract
Large language model (LLM) agents can solve complex interactive tasks, yet reasoning and tool calls take time. In continuously changing environments, an otherwise correct action may arrive too late. We introduce RealtimeBench, with 180 tasks across six game types, to evaluate agents while games continue running during inference. Paired evaluations show that GPT-6.1-sol outperforms the faster Jev when games are paused, but falls behind when they keep running. We propose Two-Timescale Offline Recursive Self-Improvement (TORSI): a slow teacher studies failures and tests corrections in paused games between attempts, then writes reusable instructions for a fast student. The student acts without teacher calls during gameplay, and validation scores determine which updates are adopted. Two rounds raise Jev's average test score from 13.51 to 24.19 on a 0--100 progress scale, improving all six game types. The instructions also improve average scores for three other models without retuning. These findings point toward real-time intelligence: enabling powerful LLM agents to remain effective in a continuously changing world by organizing deliberation, learning, and action across timescales.
Abstract (translated)
URL
https://arxiv.org/abs/2610.20665
PDF
-
EGCForest: Structured Agent Memory Organization for Enterprise Group Chats
2026-10-14 09:07:53Lingxi Cui, Jinhao Ruan, Wenqing Wei, Guo Yi, Li Rao, Ke Chen, Lidan ShouAbstract
Enterprise group chats record project progress, decisions, task ownership, and other organizational information valuable to enterprise agents. Reliable retrieval is challenging because evidence spans interleaved threads, channels, and time, with meaning and authority conditioned on the speaker. Neither RAG's independent chunk retrieval nor memory systems' summary-based consolidation can reliably recover such distributed evidence. We present EGCForest, a novel multi-view hierarchical memory framework for enterprise group chats. EGCForest organizes an immutable message log into three complementary forests: a Channel forest for temporal workflows, an Actor forest for speaker-conditioned context, and an Artifact forest for deliverable lifecycles. Cross-view connections are enabled by a Placement Map and sparse structural bridges. Built on this memory backbone, EGCForest retrieves and assembles evidence by jointly leveraging message-level relevance, hierarchical context from forest summaries, and cross-view links, recovering distributed evidence. Experiments on three enterprise-chat benchmarks show that EGCForest consistently outperforms RAG and memory-system baselines, improving answer accuracy by up to 20.85 points over MemOS while supporting efficient online retrieval.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19836
PDF
-
Evolve Together, Fall into Place: How Social Scaffolding Shapes Self-Evolving Multi-Agent Systems
2026-10-14 08:42:05Seojin Hwang, Youngmin Choi, Hwanhee LeeAbstract
Recent work lets LLM agents evolve their own harness, up to the team itself. Yet in human groups, the same abilities achieve different outcomes under different social conditions. Borrowing the notion of scaffolding from developmental psychology, we investigate whether the social scaffolding of a self-evolving multi-agent system (MAS), namely its team composition and structure of interdependence (e.g., collaboration, conformity, or competition), shapes how the team evolves. We present AGORA (Agents Growing through Organization and Relational Arrangements), a framework that varies the two axes independently across three evolution mechanisms. Across web search, codebase understanding, and document QA, we find that (1) evolution alone rarely helps, while the right scaffolding surpasses a strong agent evolved alone by up to 25 points; (2) it does so by moving authority to the most capable member while the others step back; and (3) this member, having grown within the team, outperforms the same model alone. Designing a self-evolving MAS thus requires designing its social scaffolding, which shapes not only how its agents learn, but who gets to lead.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19799
PDF
-
Coordi-pi: Coordination-Aware Dual-Hand Action Representation for Bimanual Dexterous Manipulation
2026-10-14 08:08:45Yiming Meng, Yanming Shao, Weijie Shen, Kunyang Lin, Jiayu Sun, Ping Luo, Yao MuAbstract
Vision-language-action (VLA) models have shown strong potential for general-purpose robotic manipulation, but extending them to bimanual dexterous manipulation introduces a high-dimensional and structured action space. Existing bimanual VLA policies commonly concatenate right- and left-side arm--hand actions at each control timestep, leaving cross-hand interactions implicit within a single action vector. We introduce Coordi-$\pi$, a structured action representation for bimanual dexterous manipulation. Coordi-$\pi$ represents the right- and left-side arm--hand actions as individual action tokens and organizes them into an interleaved sequence, explicitly exposing the two sides within the action sequence. To explicitly encode hand identity and temporal synchronization in this interleaved representation, a learnable hand-identity embedding distinguishes the two sides, while sequence--control-timestep factorized rotary positional encoding (RoPE) separates sequence position from control timestep, allowing actions at the same control timestep to share a temporal coordinate while retaining distinct sequence positions. Across all five bimanual dexterous manipulation tasks in DexJoCo, Coordi-$\pi$ achieves state-of-the-art performance under both \textit{rand-obj} and \textit{rand-full}, improving the average success rate over $\pi_{0.5}$ from 31.9\% to 51.3\% and from 18.3\% to 32.3\%, respectively. Coordi-$\pi$ also consistently outperforms $\pi_{0.5}$ across four real-world bimanual dexterous manipulation tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19753
PDF
-
RouteWeaver: Weaving Mode Selection and Execution into Unified LLM Routing
2026-10-14 07:33:05Xiaohan Wang, Haozhen Zhang, Qingyuan Liu, Tao Feng, Wenya WangAbstract
LLM routing dynamically selects and coordinates heterogeneous language models across diverse tasks. However, existing approaches are largely built around a predefined execution paradigm, such as single-round, multi-round, or agentic routing, which fixes how model calls are organized and limits adaptation to different query needs. We propose RouteWeaver, a unified routing framework that integrates these routing modes within a single LLM policy, jointly learning which mode to use and how to select models within that mode. To jointly optimize mode selection and within-mode execution, we develop COMET-GRPO (COordinated Mode-Execution Training), which decouples the trajectory-level advantage into separate signals for mode selection and within-mode execution, enabling more targeted credit assignment to each decision level. We further introduce progressive exploration, which gradually shifts training from externally assigned modes to autonomous selection, so that the router first learns how to execute each mode before deciding when to use it. We evaluate RouteWeaver across mathematics, coding, knowledge, logical reasoning, and factual recall. RouteWeaver achieves an average accuracy of 61.4%, an 11.03% relative improvement over the strongest baseline, and outperforms all compared baselines in each of the five domains. Ablations show that both COMET-GRPO and progressive exploration are important for adaptive routing; without progressive exploration, the routing policy collapses entirely to single-round execution.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19705
PDF
-
ABot-ER: Unified Embodied Reasoning through Agentic Data-Model Co-Evolution
2026-10-14 06:44:13Qiuyu Ding, Heng-Da Xu, Changda Xia, Jiajun Shen, Zihao Guan, Zhengchen Yuan, Jianfang Zhang, Di Yang, Jiayi Tian, Yuting Xu, Fei Wang, Shiao Liu, Wei Zhang, Xiaolong Wu, Wenbin Tang, Zedong Chu, Mu XuAbstract
We introduce ABot Embodied Reasoning (ABot-ER), a unified embodied reasoning foundation model that breaks the tension between breadth and depth in embodied reasoning. Embodied intelligence demands the joint mastery of perception, planning, and execution, yet reconciling generality with specialization across this spectrum remains an open challenge. Within a single unified model, ABot-ER commands specialist-level depth across all three competencies, spanning spatial, scene, and temporal reasoning in perception; long-horizon action organization in planning; and point grounding and affordance in execution. The Agentic Data-Model Self-Evolution Engine continuously adapts data strategies to the model's evolving capability state. The Task-Conditioned Adaptive Training Strategy uses task tokens to activate lightweight low-rank residuals over a shared backbone, separating updates from heterogeneous output formats while retaining shared embodied knowledge. Across a systematic evaluation on twelve benchmarks covering three core competencies and five capability dimensions, ABot-ER achieves state-of-the-art overall performance across perception, planning, and execution within a unified parametric framework, demonstrating that breadth and depth can coexist in unified embodied reasoning.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18355
PDF
-
Beyond Perfect Teammates: Multi-Agent Collaboration with Unreliable Colleagues
2026-10-14 06:05:41Chen Huang, Yiyang Zhang, Yuhao Wu, Yang Deng, Wenxuan ZhangAbstract
LLM-based multi-agent collaboration is increasingly used to solve complex tasks by dividing work among specialized agents and integrating complementary expertise. Yet existing systems and evaluations largely rest on an implicit perfect-colleague assumption: collaborators provide correct and complete information and respond promptly to requests. In realistic teamwork, however, collaborators may return information that does not answer the intended question, provide insufficient detail to support a decision, or fail to respond to a request. To separate task-solving competence from the ability to recover an unreliable evidence-gathering process, we introduce the Unreliable Colleagues Benchmark (UnCoBench), which organizes behavioral failures through Misaligned, Incomplete, and Missed settings. The main agent need to verify contextual correctness, diagnose information gap and track unresolved dependencies in order to obtain the correct evidence for solving the task. We also introduce a verifiable and scalable automated generation pipeline that pairs LLM-based scenario generation with executable checks of answer uniqueness and role necessity. Results across ten models show that similar reliable-setting performance can result in different robustness to unreliable evidence. Trace analysis reveals frequent omissions of corrective follow-up, and the recovery behavior involves inefficient waiting and redundant queries. These findings show that robust collaboration requires not only sound reasoning, but also targeted action to diagnose evidence failures, recover relevant information, and integrate it into decisions. Our data and source code are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.16117
PDF
-
Pack Light, CarryOn: Building Object-Oriented Context for Long-Horizon Agents
Abstract
Long-horizon agents accumulate progress in persistent task state, yet repeatedly process interaction histories describing how that progress was achieved. This raises a natural question: can long-horizon context instead be organized around reusable progress rather than the history that produced it? In this paper, we introduce CarryOn, an object-oriented context runtime that organizes continuation around reusable task objects. Rather than treating compressed histories or reconstructed accounts of progress as the primary basis for continuation, CarryOn builds a context view from continuation carriers, complementary execution context, and a live tail of recent interactions. A core challenge is keeping this reusable basis valid after its surrounding history is retired: how can CarryOn update the basis without reconstructing the full representation at every fold? CarryOn maintains carrier records across folds, revising affected records against bound evidence and applicable environment checks while carrying forward unaffected records and jointly updating execution context. Experiments on OSWorld 2.0 and BrowseComp-Plus show improved gains of 5.8% and 7.0% while reducing total token usage by 51.9% and 22.9%, respectively. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.18784
PDF
-
Typed Decision Models on Tabular Data
2026-10-14 03:54:19Baowen Zhang, Hangting Ye, Hongyuan ZhaAbstract
Typed decision models are language models that answer a question with a fixed set of possible answers by returning a probability for each answer instead of generating text. We study them on tabular data and compare four decision models with three large language models (LLMs) on row classification, fact verification and anomaly detection. Every request is sent in its original form and under 21 types of rewrite that keep its content, such as renaming the options or writing the table in another format. The decision models perform as well as the LLMs at a lower cost. Three of them are also far more robust to how the question is formulated. No model we test is robust to how the table is organized. For every model, at least a third of the row decisions change under some rewrite of the table or the question. The decisions to which a decision model gives low probability are the ones most likely to change. Decision models are a practical choice for tabular decisions, but their robustness remains an open problem.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19536
PDF
-
Dual-arm Cooperation for Tabletop Wiping with Temporal Object Removal
2026-10-14 03:45:19Pengqi Zhang, Longchang Yu, Daohan Li, Liang Yan, Hangxin LiuAbstract
We devise a dual-arm cooperative planning framework for wiping table surface in the presence of scattered objects. Unlike conventional surface-cleaning strategies that only cover free areas and detour around obstacles, our framework explicitly assigns one arm to rearrange objects while the other performs coverage wiping, thereby enabling access to previously obstructed regions. Specifically, we first construct a set of wiping and object-rearrangement action primitives. Based on these primitives, we introduce Geo-MILP, a geometry-aware task planner formulated as Mixed-Integer Linear Programming (MILP). By integrating Logic-Based Benders Decomposition (LBBD), Geo-MILP iteratively optimizes action sequencingand timing to resolve geometric conflicts, promoting efficient cooperation between wiping and object rearrangement. We then employ K-Order Markov Optimization (KOMO) to generate smooth, collision-free motions to ensure feasible execution. Simulation and physical experiments demonstrate that the proposed framework not only increases reachable coverage by enabling access to obstructed areas, but also significantly improves time efficiency compared to Task and Motion Planning (TAMP) baselines, reducing planning time by up to 9 times and execution makespan by approximately 40%.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19527
PDF
