Knowledge
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SimEX: Simulation-Integrated Robotics AutoResearch
2026-09-30 04:58:21Jiaheng Hu, Roberto Martin-Martin, Peter Stone, Rocky Duan, Zhenyu Jiang, Guanya ShiAbstract
Coding agents powered by large language models (LLMs) have shown remarkable abilities to autonomously reason about and achieve goals in the digital world. However, bringing this success to the physical world remains challenging. On the one hand, direct generation methods (e.g., Code as Policies) often suffer from the LLMs' insufficient understanding of robots and physical environments. On the other hand, iterative trial-and-error tuning in the physical world (e.g., physical autoresearch) induces significant experimental cost and safety concerns. We introduce SimEX: Simulation-Integrated Robotics AutoResearch, an autoresearch framework that tightly integrates simulated experimentation, enabling coding agents to efficiently acquire physical capabilities for controlling real robots. SimEX operates in two stages. First, the agent conducts open-ended probe-and-optimize iterations in simulation, developing a robot toolbox with robust and generalizable capabilities. Second, the agent adapts the toolbox and the simulator together through only a few physical trials: each trial corrects the simulator, and the corrected simulator is used to diagnose failures and screen candidate repairs. We evaluate SimEX extensively in sim-to-sim settings and on physical robots. On challenging real-world manipulation tasks including towel folding, barcode scanning, and plate manipulation, SimEX enables coding agents to efficiently acquire robot skills without any demonstration and with only 10 minutes of real-robot interaction. These results suggest that simulation can be a critical component in achieving physical intelligence, not only as a source of training data that must closely replicate the real world, but also as a roughly correct laboratory where a coding agent develops the knowledge and procedures needed to act on the robot. More details and robot videos at this https URL
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URL
https://arxiv.org/abs/2609.38982
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Refusals That Bend: Measuring and Predicting Task Malleability in Embodied VLM Planners
2026-09-30 04:44:22Leo Y. Lin, Mikhail Kuznetsov, Muslum Ozgur Ozmen, Z. Berkay CelikAbstract
Embodied vision-language models (VLMs) are increasingly deployed as high-level planners for robots because they generalize across diverse environments. However, this requires their safety alignment to also hold in unseen environments. Existing red-teaming assumes an adversary who optimizes the prompt, the pixels, or text in the environment, and existing benchmarks ask whether a planner recognizes or mitigates a hazard in a fixed scene. Neither asks whether a refusal the planner has already given survives an ordinary change to the environment. We ask that question by placing a single everyday object into the environment, with no pixel, gradient, or prompt under adversarial control. On $846$ tasks that a constitution-guarded planner initially refuses, we find $20.2\%$ of tasks can be flipped to compliance by one or more objects, and the number of objects differs from one task to another. In addition, the object need not be chosen for the task, i.e., items drawn from a fixed list, with no knowledge of the environment or the instruction, bypass safety about as often as items proposed for the specific task. We qualitatively contrast the tasks bypassed most and least often and find that the distinction lies in how conspicuous the hazard is in the instruction and environment. Susceptibility to safety bypass is therefore a property of the task, which we call its \emph{malleability}, and we show that it can be predicted before the target is ever queried. A composite of signals read from a small open-source VLM identifies malleable tasks $2.4\times$ as often as picking at random. Everyday objects, whether placed by an adversary or introduced by ordinary rearrangement of the environment, are thus sufficient to overturn a refusal. Because susceptibility is determined by how a task is specified, we recommend assessing malleability per task prior to deployment.
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URL
https://arxiv.org/abs/2609.38971
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DrivingBench: Can Vision-Language Models Drive a Toyota Corolla?
2026-09-30 04:16:59Aditya Ramabadran, Simon Mahns, Tobias GesslerAbstract
Frontier models excel at many digital benchmarks, yet their ability to drive a real car, an everyday human skill, remains largely untested. We present DrivingBench, to our knowledge the first benchmark where general-purpose vision-language models must drive a real car. Through three tools, the models see camera frames from a Toyota Corolla and directly command its steering and velocity around a parking lot cone course at low speeds. The car may continue moving while the model thinks and new commands replace the currently running one, so inference latency is part of the task, testing the models' abilities to observe, act, monitor, recover, and complete a long-horizon objective under such constraints. We benchmark GPT-6 Astra, Claude Fable 5.1, GPT-5.6 Sol, and Grok 4.6 in vendor-native harnesses (Codex, Claude Code, Cursor) with up to three attempts each in one conversation; Astra is the only model to finish the course, on its second attempt, with no other attempt passing 50% of the course. Two of the four models improved materially across attempts with retained context. We also detail the design principles behind our action interface, and show how the tool output format and the framing of the task combined to determine whether models would drive at all or refuse. We release our harness, prompts, course map, and traces with video and telemetry for reproducibility.
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URL
https://arxiv.org/abs/2609.38948
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Prototype-guided Bilateral Alignment Multimodal Federated Learning
2026-09-30 04:08:08Tianchi Liao Tianchi_Liao, Lele Fu, Sheng Huang, Qing Hu, Hong-Ning Dai, Chuan ChenAbstract
Multimodal federated learning (MFL) has emerged as a pivotal paradigm for leveraging distributed data to enhance model performance. However, existing methods predominantly rely on idealized assumptions of model homogeneity and balanced modality distributions, rendering them ill-suited for practical scenarios characterized by heterogeneous client architectures and severe modality imbalance. To address these challenges, we propose a \textbf{M}ultimodal \textbf{Fed}erated learning Prototype-guided Bilateral Alignment (MFedPBA) framework. MFedPBA facilitates robust knowledge synergy through a dual alignment mechanism: (i) at the feature level, it aligns heterogeneous feature spaces via a projection encoder optimized by contrastive learning and the Gromov-Wasserstein distance; (ii) at the decision level, it employs an entropy-weighted aggregation of naturally aligned logit prototypes. This novel design achieves robust MFL by jointly tackling heterogeneous feature spaces and collectively aggregating decisions. Extensive experiments demonstrate that our method significantly outperforms state-of-the-art baselines under conditions of model heterogeneity and modality imbalance.
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URL
https://arxiv.org/abs/2609.38925
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Unlearning Deceptive Behaviors in LLMs with Contrastive Forget Sets
2026-09-30 03:55:35Haoran Tang, Rajiv KhannaAbstract
Large language models often know the truth and say otherwise: a model that answers correctly when asked neutrally will affirm a user's mistaken belief, or misstate a fact its system prompt wants hidden, once the context rewards it. Such deception is a behavior conditioned on context, not knowledge, yet machine unlearning, the natural tool for removing a behavior from the weights, is built to forget facts that a deceptive model still needs. We propose to unlearn when a model deceives rather than what it knows, with a contrastive forget unit built from the model's own realized deceptions: the same question under a deception-triggering and a neutral context, admitted only where belief holds and behavior flips. Standard objectives on this unit face a dilemma. Suppression objectives such as NPO leave much of the deception in place. Target-based objectives, which distill the model's neutral behavior into the pressured context, remove it but induce context blindness: a target generated without the context teaches the model to stop reading it, eroding benign system-prompt instructions, secret-keeping and the reasoning a monitor inspects, a failure invisible to deception rates and capability benchmarks. We introduce PACT, which trains toward pressure-aware counterfactual targets (the model's own honest response, with a trace that registers the pressure and resists it) while retaining the benign uses of the triggering context. On two 32B reasoning models, PACT reduces held-out deception from over 50% to under 3% while system-prompt adherence, secret-keeping and the reasoning trace stay at the base model's level. On a tug-of-war score of removal against retention, PACT reaches 0.94 and 0.86, against at most 0.77 and 0.60 for any baseline. Like removed knowledge, removed deception is shallow under relearning, and terms that simulate the attacker hold it only at a cost in context use.
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URL
https://arxiv.org/abs/2609.38909
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K2P: Label-Free Knowledge to Prompt Distillation
2026-09-30 03:45:19Yingchuan Zhang, Haoran Lu, Wenxuan Zhong, Ping MaAbstract
Knowledge distillation can transfer reasoning from stronger teachers to frozen students through reusable prompts, but avoiding weight updates does not eliminate supervision. Without ground-truth answers, teacher solutions are unverified, and agreement with the teacher can reward shared mistakes. We introduce Knowledge-to-Prompt (K2P) for label-free knowledge distillation to prompts. K2P synthesizes reusable instructions from teacher solutions, refines them using paired teacher and student responses, and guides search and selection with answer agreement. It retains candidates that adaptive search may undervalue and selects on reserved questions. Deployment uses only the frozen student and selected prompt. Our theory separates generation and selection gaps and gives conditions under which agreement-guided construction yields accuracy guarantees despite imperfect teacher references. Across reasoning tasks and students, K2P outperforms label-free alternatives overall and remains competitive with supervised prompt optimization. Ablations and archive diagnostics assess the contributions of teacher solutions and refinement, while revealing the limits of agreement-guided selection.
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URL
https://arxiv.org/abs/2609.38898
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Unmerge: Efficient Machine Unlearning via Task Arithmetic
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Approximate machine unlearning seeks to remove the influence of a forget set from a trained model without full retraining. Existing gradient-based methods require data-dependent hyperparameter search, struggle when forget and retain knowledge are entangled, and offer little insight into where unlearning actually happens inside the network. We recast unlearning through the lens of task arithmetic: if finetuning produces a merged task vector $\tau_m$ that combines learning on forget and retain sets, unlearning is the inverse operation that subtracts a learned forget component $\tau_F$ to recover the retain task vector $\tau_R$. The forget signal is concentrated: at every layer, forget activations lie in a subspace spanned by a handful of dominant directions, so we factorize $\tau_F$ in a low-rank forget basis, which is faithful up to a small tail-eigenvalue residual and limits how far the correction can perturb retain. We then optimize three intuitive goals (match the merged vector inside the forget span, suppress leakage into the retain span, and bound the correction size) that provably bound forget leakage and retain damage in activation space. The resulting algorithm, Unmerge, is fast and powerful: on class-level unlearning with ResNet-50 on CIFAR-100 and Tiny ImageNet, it improves Tug-of-War by up to ~24% over a baseline of comparable runtime and by up to ~18% over stronger baselines that run ~5x slower, keeps membership-inference exposure at the level of retraining, and shrinks the feature-distribution gap to the retrained model, where relabeling methods leave forget features cleanly separable. Further studies show that Unmerge also applies to ViT-S/16 and scales to Llama-3.2-3B. The per-layer basis geometry that drives the algorithm also serves as a layerwise diagnostic for when and where unlearning becomes structurally hard.
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URL
https://arxiv.org/abs/2609.38895
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PRICE the Action Chunks: Physical Relational Credit Assignment for Embodied Reinforcement Learning
2026-09-30 03:37:31Yangang Zou, Jiajun Lu, Weitao Zhou, Haibao Yu, Bozhou Zhang, Jiawei Wang, Honglong Tian, Minglei Li, Li ZhangAbstract
Outcome-based reinforcement learning (RL) post-trains vision--language--action policies using terminal success signals, but assigns the same trajectory-level advantage to every action chunk. A failed episode can thus penalize useful early actions as if they caused the failure. Existing approaches seek finer-grained feedback through learned evaluators, adding task-specific supervision or additional model training. We explore, for the first time to our knowledge, whether physical relations across trajectories can provide action-chunk credit in embodied RL from terminal outcomes alone, without an auxiliary evaluator. The key insight is that rollouts reaching corresponding physical situations can serve as references for one another: their terminal outcomes provide evidence for assessing local progress. We introduce Physical Relations for Inferring Credit from Episodes(PRICE), with two components: (i) a physical relational graph that pools current and historical outcomes at corresponding chunk boundaries to estimate success potentials; and (ii) confidence-gated credit assignment that uses changes in these potentials to refine trajectory-level supervision. Our analysis connects oracle potential changes to the terminal-success objective and provides a finite-sample directional bound for outcome-independent evidence pools. Independent continuation tests show that PRICE's retained credits align with local progress, while experiments on LIBERO, RoboTwin 2.0, and real robots demonstrate improved task success over outcome-based baselines and faster learning.
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URL
https://arxiv.org/abs/2609.38890
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Right Answers, Costly Models: The Efficiency Gap in LLM-based Optimization Modeling
2026-09-30 03:34:18Zhong Li, Xin Huang, Jinhui Wan, Xiangyi Wang, Shenkai Zhang, Ruiqi Chen, Wenyu Liu, Zaiwen Wen, Ziyan LuoAbstract
Optimization modeling formulates real-world decision problems as mathematical programs that solvers can use to find optimal decisions. Large language models (LLMs) can automate this process, but the resulting correct formulations can require substantial time and memory to construct and solve, limiting practical scalability. Therefore, we systematically investigate whether LLMs can identify problem structure from natural-language descriptions and apply suitable optimization modeling techniques to generate mathematical models and solver code that solve the problems correctly and efficiently. To this end, we first curate OptTips, a knowledge base of 50 expert modeling techniques in eight families. Using this knowledge, we develop OptDachshund, a multi-agent framework that transforms problems from existing optimization benchmarks into new tasks for evaluating LLMs' use of modeling techniques. It constructs conventional and expert mathematical models with solver code for the same task and data, providing baselines for correctness and computational cost. The resulting EfficientOpt benchmark contains 561 expert-reviewed tasks with paired reference implementations. Evaluation of 11 representative LLMs reveals an efficiency gap on correctly solved tasks with comparable measurements: for every LLM, most generated programs take longer to solve than their expert counterparts. Within the comparable reference-size subset, 57\% of programs with correct objective values and fewer variables and linear constraints have longer recorded solver times. Case studies show that different modeling techniques can achieve the same optimal value at similar recorded cost. Faster solving may not reduce execution time if the code takes longer to prepare data and build the model. LLM optimization modeling should therefore be evaluated for both correctness and computational efficiency.
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https://arxiv.org/abs/2609.38884
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StateTree: Enhancing Long-Term Dialogue Reasoning via Reinforcement Learning
2026-09-30 02:38:52Naen Xu, Wanqing Cui, Yibo Hu, Shixin Hong, Hengyu An, Meiguang Jin, Junfeng Ma, Tianyu DuAbstract
Large language models deployed as personalized assistants must reason over long, evolving interaction histories. However, in long-term dialogue reasoning, relevant evidence is scattered across sessions, preferences may be revised over time, and standard long-context training fails to address these challenges under data scarcity and prohibitive computational costs. We propose StateTree, a data-driven RL method that constructs a challenging auxiliary task from scarce dialogues with verifiable ground truth. StateTree augments multi-session dialogues with a tree-structured path-tracing task: key-value records are embedded across sessions to form a binary tree. Solving the task requires the model to traverse from root to leaf by retrieving records across sessions and comparing timestamps to resolve branches, then recover the hidden target question among distractor leaves. We apply curriculum RL training progressively increasing tree depth and introduce a compositional variant whose edges carry step-level reasoning fragments, training the model to compose partial cues into coherent queries. Trained on 10K-token contexts, StateTree generalizes to 128K tokens without full-length RL costs and exhibits capabilities including cross-session retrieval, temporal reasoning, knowledge update, and compositional multi-hop reasoning. StateTree outperforms both SFT and RL-based baselines while preserving short-context general reasoning. StateTree-7B achieves gains up to +23.60% on LongMemEval (128k), and StateTree-14B reaches 59.00% accuracy on LongMemEval, surpassing QwenLong-L1-32B (45.20%).
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URL
https://arxiv.org/abs/2609.38809
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GraphCert: Bootstrap Agentic Graph Reasoning with Certified Evidence Rubrics
2026-09-30 02:29:32Weiqi Jiang, Yuchen Ying, Rui Wang, Kaixuan Chen, Bingde Hu, Shunyu Liu, Yu Wang, Tongya ZhengAbstract
Graph agents extend large language models (LLMs) with the ability to actively explore and reason over knowledge graphs through multi-step interactions with graph tools. However, training capable graph agents typically requires large collections of question-answer pairs and reasoning trajectories, whose manual construction is costly and difficult to scale. Moreover, employing proprietary LLMs to generate such supervision further risks exposing sensitive graph data to external services. Therefore, we propose GraphCert to bootstrap agentic graph reasoning with certified evidence rubrics during post-training. Specifically, the Bootstrapped Graph Quizzer guided by generation controls produces graph-grounded QA pairs and marks supporting evidence, which undergo execution certification and semantic curation. The accepted evidence is then canonicalized into certified evidence rubrics that later reward Graph Solver evidence alignment alongside answer correctness during GRPO training. Experiments on five graph reasoning domains in GRBENCH demonstrate that GraphCert consistently outperforms substantially larger LLM agents and post-training method. Furthermore, our analysis demonstrates that the learned policy transfers robustly across heterogeneous graph domains, suggesting that GraphCert acquires reusable graph-reasoning capabilities rather than domain-specific patterns. These results establish executable self-certification as an effective approach to self-training compact graph reasoning agents. Our code will be made publicly available.
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URL
https://arxiv.org/abs/2609.38798
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Evaluating Persistent Calibration under Evolving Model Knowledge
2026-09-30 02:29:31Victor Wang, Thomas Hofweber, Mohit Bansal, Elias Stengel-EskinAbstract
As AI systems move from static repositories to agents that are capable of continual adaptation and learning, maintaining their trustworthiness means equipping the models backing them with the ability to produce confidence estimates that dynamically reflect their changing skills and knowledge. We introduce the problem of persistent calibration, which requires a confidence estimator to faithfully reflect the knowledge contained in a model as that knowledge changes, without recurring supervision. We operationalize this by examining persistent calibration across checkpoints of open models, asking whether confidence estimators trained on earlier checkpoints can generalize to later ones. Specifically, we aim to shed light on whether confidence is dependent on knowledge, a question with implications for the reliability of confidence estimates. To measure this relationship, we define and evaluate calibration on knowledge contrast sets: subsets containing questions that one checkpoint answers correctly and another checkpoint answers incorrectly, reflecting a change in knowledge. We show that both inference-time and fine-tuning methods fall short on contrast-set calibration compared to oracle methods trained on future checkpoints, even for methods that are well-calibrated on the full dataset. We provide evidence for the hypothesis that persistent calibration is challenging because there is a vast space of possible confidence functions that are well-calibrated on a given checkpoint, out of which only some rely on meta-knowledge features that would generalize to other checkpoints. Towards improving contrast-set calibration, we show that multi-checkpoint training helps, suggesting an avenue for identifying confidence features that remain robust across changing knowledge.
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URL
https://arxiv.org/abs/2609.38797
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A barrier or a booster? Familiarity effects on Mandarin emotion prosody recognition using AI-powered voice cloning
2026-09-30 02:26:48Feng Xu, Gaoyuan Zhang, Shanshan Xue, Yixiang Chen, Hanrui Zhou, Xurong Xie, Hui ChenAbstract
Emotion prosody perception requires simultaneous processing of acoustic cues and speaker identity. While listeners effortlessly decode natural speech, AI synthetic voices introduce cognitive complexities due to subtle acoustic atypicalities. It remains unclear how these synthetic features interact with a listener's prior social knowledge and memory of a familiar speaker. This study investigated how speech sources (human vs. AI) and speaker familiarity affect emotion recognition accuracy and cognitive load. A within-subject task with Mandarin-speaking adults evaluated behavioral (accuracy, reaction time) and physiological data (heart rate variability). Results showed that human voices yielded significantly higher accuracy and faster processing times than AI voices, while HRV did not significantly differentiate between conditions. These findings show that decoding synthetic speech is gated by top-down social cognition, highlighting limitations in current AI synthesis technologies.
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https://arxiv.org/abs/2609.38794
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Self-Evolving Algorithm-Design Agents: Escaping In-Context Evolutionary Stagnation via Population-Curated Policy Optimization
2026-09-30 01:43:45Chen Lu, Ke Xue, Siyuan Xu, Mingxuan Yuan, Chao QianAbstract
Large language models are increasingly participating in complex real-world tasks in the form of algorithm-design agents, designing and refining algorithms. Many successful algorithm-design agents adopt pure in-context evolutionary frameworks, but they may quickly plateau in domains that require specialized knowledge. Parametric adaptation offers a way to internalize specialized knowledge, but conventional training requires abundant domain-specific corpora while high-quality algorithms are scarce in complex algorithm-design scenarios. In this paper, we propose sample-efficient parametric self-evolution where agents can explore and learn from self-generated algorithms. First, we characterize in-context evolutionary stagnation and analytically propose the Improvement Chain proposition, showing how learning successive self-generated algorithms can locally increase the likelihood of neighboring algorithms. Motivated by this local-transfer perspective, we further propose Population-Curated Policy Optimization (PCPO) to utilize a global population and a hybrid policy update scheme for retaining and reusing high-quality, diverse self-generated algorithms, shifting the policy towards stronger algorithms. In the task of learning rate schedule design for global placement in electronic design automation, trained only on 4 chip cases, PCPO outperforms the state-of-the-art in-context evolutionary methods (e.g., OpenEvolve and ShinkaEvolve) on average across 16 chip cases. With an 8B-size base model, PCPO achieves competitive performance compared to frontier closed-source models such as GPT-5.5. PCPO also reduces inference-time token cost by internalizing grounded domain knowledge and prompt distillation. Moreover, PCPO achieves significant speedups on four GPU kernel designs, with an average of 8.27$\times$ speedup against the PyTorch Eager baseline.
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URL
https://arxiv.org/abs/2609.38757
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Learning to Route in Visual Space via Multi-Step Embedding Retrieval
2026-09-30 01:28:06Tianyu Chen, Mingyuan Zhou, Jiaxing WuAbstract
LLM agents rely on retrieval tools to access external knowledge, yet visual agentic search remains severely bottlenecked by standard single-step retrievers. In current pipelines, the agent must issue text queries for every intermediate step, struggling when visual clues are difficult to describe or when the retriever fails to surface necessary intermediate evidence within its top results. We hypothesize that offloading multi-step navigation across the entire embedding space directly to the retrieval tool resolves this performance bottleneck. To study this systematically, we introduce VHOP, a flexible data generation framework and benchmark with five core difficulty levels testing both visual matching and search planning. Using this framework, we develop VHOP-Router, an end-to-end training pipeline---combining supervised fine-tuning, online imitation learning, and reinforcement learning---that transforms a standard embedding model into an autoregressive multi-step retriever. Operating directly in the visual latent space, VHOP-Router retrieves linked image chains in a single tool call without requiring the agent to formulate intermediate text queries. Experiments show VHOP-Router boosts retrieval performance from under 5\% to 76.3\%. In agentic search, it improves task success rates by 52.7\% and reduces the average token length by 61\% from 1886 to 728, whereas upgrading the agent yields only a 3.7\% gain. Compared to a strong baseline where the agent retrieves the top 50 results per step, VHOP-Router maintains superior performance while reducing in-context images by $23\times$ and cutting the cumulative API payload by $35\times$. The models also generalize robustly to unseen difficulty levels and realistic test sets. Ultimately, VHOP and VHOP-Router provide an efficient and effective solution for visual agentic search that leaves native LLM capabilities entirely intact.
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URL
https://arxiv.org/abs/2609.38743
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Concept-Grounded Attention: A Controlled Evaluation of Graph-Injected Attention, Temporal Versioning, and Epistemic Status
2026-09-30 00:10:03Sachin Dev Duggal, Pradyumna Swarnalatha Ramanna, Alexandros VassiliadesAbstract
Knowledge-intensive language-model systems typically represent external knowledge as text chunks or static graphs, with limited support for concept evolution, point-in-time reasoning, and distinctions between validated and inferred knowledge. We introduce the Concept Lifecycle Model (CLM), which represents concepts as persistent, graph-grounded, temporally versioned entities with explicit provenance and epistemic status, and Concept-Grounded Attention (CGA), which injects concept-graph structure into transformer computation through graph-biased self-attention (Form A) and gated cross-attention over concept nodes (Form B). We evaluate the framework in controlled settings using disabled-mechanism baselines. On 200 MuSiQue and HotpotQA questions with retrieval fixed, concept-graph retrieval recovers explicit multi-hop paths but does not improve evidence recall. Form A appears to steer attention, with 2.76 times more attention on gold than distractor concepts, but the same ratio occurs when Form A is disabled; the learned bias is negligible and no answers change. An identity-preserving Form B improves F1 from 0.188 to 0.221, but control concepts yield 0.213, indicating that most of the gain reflects added capacity. On LongMemEval, explicit temporal representation improves answer accuracy by 13 to 25 points across all tested generators, up to 122B parameters, while simplified CLM version resolution performs similarly to dated serialization because concept identity is not established reliably. On a synthetic source-independence task, protocol-derived epistemic status reduces unsupported assertions from 28% to 0.1% in a fine-tuned small model and from 19-68% to 0-5% in 72-122B models. Overall, the results support making temporal validity and epistemic status explicit, while showing that graph-attention diagnostics are not informative without disabled-mechanism controls.
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URL
https://arxiv.org/abs/2609.38684
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Bandits with Multiple Optimal Arms: Minimax Regret and Non-Adaptivit
2026-09-29 23:33:10Kaixuan Ji, Qiwei Di, Qingyue Zhao, Heyang Zhao, Quanquan GuAbstract
We study multi-armed bandits (MAB) with multiple optimal arms, motivated by the fact that many practical decision making problems admit multiple correct answers. For $K$-armed bandits with $A$ optimal arms, we first provide a sharper analysis of previous sub-sampling algorithms (De Heide et al., 2021; Zhu and Nowak, 2020), establishing a $\tilde{O}\Big(\frac{K-A}{\sqrt{KA}}\sqrt{T} \Big)$ minimax regret, where $T$ is the total number of interactions and $\tilde O(\cdot)$ drops all constant and logarithmic factors, improving the previous $\tilde{O}(\sqrt{KT/A})$ regret. We then provide a matching lower bound up to logarithmic factors, indicating that our established rate is nearly minimax-optimal. We further show that the knowledge of $A$ up to $\tilde{O}(1)$ factors is necessary to achieve near-optimal regret, as near-optimal algorithms for one number of optimal arms must incur substantially larger regret than optimal regret for a smaller number. Overall, our results provide a comprehensive minimax characterization of $K$-armed bandits with $A$ over the entire range of $1 \leq A \leq K-1$.
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URL
https://arxiv.org/abs/2609.38659
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Vision-Language-Action Autonomous Driving Agent with Language-based Memory
2026-09-29 23:00:01Kai Yan, Xiangyu Chen, Yulong Cao, Alex Naumann, Peter Karkus, Yan Wang, Jef Packer, Alex Schwing, Yuxiong Wang, Boris Ivanovic, Wenjie Luo, Marco PavoneAbstract
Vision-Language-Action (VLA) foundation models have recently emerged as one of the prevailing solutions for autonomous driving, as they can utilize knowledge acquired during vision-language pretraining for accurate and interpretable driving. However, VLAs can take only a limited number of frames as visual input due to the high token cost of an image, which is problematic for memory-dependent tasks such as determining the arrival order at all-way stops and long-horizon driving scene understanding. Existing solutions use latent vector memories accessed through cross-attention, which are neither interpretable nor portable. In this paper, we propose AD-Memo, a general-purpose VLA driving agent with language-based memory. The agent outputs memory as an extension of its Chain-of-Thought (CoT) to record surrounding objects critical to driving; this memory becomes part of the agent's future input. We curate memory-based datasets and train VLAs with a two-stage recipe: Supervised Fine-Tuning (SFT) and \textit{Da Capo}, a novel semi-closed-loop Reinforcement Learning (RL) algorithm which uses trajectory-level advantage for memory and step-level advantage for driving, leading to better credit assignment. Across scenarios such as all-way stops and general driving, AD-Memo improves driving quality, enables better question answering on driving scenes, and produces plug-and-play memory for other models.
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URL
https://arxiv.org/abs/2609.38641
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Prompt2Skill: Unsupervised Skill Optimization From Natural Language Instructions
2026-09-29 21:53:56Bo Ni, Li Li, Ryan A. Rossi, Franck Dernoncourt, Tyler DerrAbstract
Skills are external artifacts that Large Language Models (LLMs) consume at inference time to improve their performance on specialized domains by incorporating relevant procedural and domain knowledge. Expert-authored skills are expensive to produce, and the resulting artifacts are not optimized for the specific model that consumes them, whose failure modes can vary with version, scale and training. In addition, emerging tasks may fall outside the scope of existing skill libraries, creating a need to develop new skills before curated training data become available. Recent works have explored automated skill optimization through reflection, but they require a curated, in-distribution training set, which users might not always have. To address these limitations, we present Prompt2Skill, a framework that builds skills from natural-language task description alone. From the prompt, the system derives a task specification, discovers or synthesizes datasets, and refines the skill in a closed loop of reflective editing. Across four domains spanning question answering, reading comprehension, spreadsheet manipulation, and mathematical reasoning, Prompt2Skill consistently outperforms the direct prompting baseline, achieving an average improvement of 10.8 across open-source and frontier models.
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https://arxiv.org/abs/2609.38593
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Restoring without Forgetting: Filter-Level Continual Image Restoration via Parameter-Space Integrated Gradients
2026-09-29 21:49:25Xin Feng, Jin Zhao, Yizhen Zhang, Wenjie Pei, Fanglin Chen, Guangming LuAbstract
Adapting image restoration models to a stream of new tasks without revisiting past data remains challenging due to catastrophic forgetting. In this work, we propose Restoring without Forgetting (RwF), a filter-level continual adaptation framework for image restoration built upon a critical observation: task-specific knowledge is centered in a small subset of filters and can be separated from those reconstructing general content. RwF first performs parameter-space integrated gradients attribution to localize degradation-critical filters in a coarse-to-fine manner. It then adapts to new tasks by generating task-specific filters from a filter bank using compact factorized low-rank transformations, further augmented with cross-task attention and prototypical contrastive learning, and lastly assembles them back only at localized positions. Experiments on six restoration tasks show that RwF effectively avoids forgetting and achieves competitive restoration quality against all-in-one methods that have full data access, and outperforms LoRA-style adaptation with $\sim$10$\times$ fewer additional parameters. Code is available at this https URL.
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URL
https://arxiv.org/abs/2609.38591
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