194,584 papers in this slice of arXiv.
Yaxin Luo, Haobin Jiang, Jialv Zou +11
Transforming multimodal sources into condensed and structured media outputs can be fundamentally conceptualized as a long-horizon agentic process centered on a model-harness system. While an ideal harness system should align with human design priors and accumulate reusable experience through empirical exploration to drive recursive self-improvement, existing paradigms remain static and fall short of this capability. In this paper, we present AutoDesign, a framework that aligns with human design priors, where a meta-harness optimizer guides a code agent to recursively improve harness based on rollout feedback. To instantiate and evaluate this framework, we focus on the academic paper-to-poster generation task and introduce PosterBench, comprising a 100-paper Main Track spanning five disciplines and PosterBench-mini, a shared 10-paper subset for controlled evaluation. On the PosterBench Main Track, AutoDesign achieves the highest score of 78.32, surpassing the closed-source commercial system Claude Design by 7.45 points. Across seven controlled code-agent-model configurations, integrating the learned DesignHarness consistently improves performance, increasing the average PosterBench Score from 54.99 to 67.39 (+12.4%). In a fully autonomous long-horizon loop, it executes 253 tool calls and 11 editing turns within 40 minutes for under 3, reaching average conference-poster quality in human evaluation. A system-blind human study further demonstrates that AutoDesign achieves the highest human preference among evaluated systems.
Bobo Li, Hao Fei, Tianjie Ju +2
Recent advances in foundation models have enabled AI scientists to automate increasingly complete research workflows, from hypothesis generation and code execution to manuscript preparation. Yet workflow coverage alone does not provide access to the full evidence on which scientific discovery depends. Existing systems typically reason over text, code, labels, or precomputed summaries, leaving scientifically decisive spatial, temporal, cross-channel, and procedural relations unavailable to the agent. We introduce OmniScientist, an end-to-end, omni-modal AI scientist that conducts multidisciplinary research directly from heterogeneous raw evidence. A perception layer and 3 autonomous agents for ideation, experiment, and writeup operate within a deterministic pipeline, allowing observations to shape research questions, experimental decisions, and final claims throughout the research lifecycle. By running idea, rigour, and claim checks in code, the system enforces novelty screening, statistical validity, execution provenance, and numerical traceability. We evaluate OmniScientist on 36 real-data cases spanning 5 discipline families, 4 families of scientific evidence, and modalities including images, signals, audio, video, 3-D structures, trajectories, tables, formulae, and graphs. The system completes the full path from raw data to a compiled manuscript in all 36 cases and achieves a mean overall paper score of 6.3 with the reference reasoning backbone. In paired comparisons against a blind variant that receives only precomputed scalar features, direct perception improves all 7 evaluation dimensions and wins 85% of head-to-head judgments. These results show that lifecycle-wide perception is essential for evidence-grounded scientific discovery and provides a practical path toward broadly capable AI scientists.
Dairu Liu, Zekun Qi, Jiayu Zeng +11
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Shangao Li, Yao Zhang, Volker Tresp +1
LLM coding agents issue Bash commands through interfaces that may serialize, wrap, and reparse model output. Matched execution scores alone cannot distinguish command-generation errors from failures introduced after generation. QuoteBench measures this boundary with exact final-state validation on 56 one-shot tasks from 14 incident-derived families, crossing the generation contract with the execution transport around one deliberately unescaped added parser. Escaping at the interpolation point reproduces each replayed reply's raw-path outcome, so any recovery under a disclosed boundary must come from the model changing its generation. Across eight same-window configurations, replaying the same reply through the added parser lowers success by 55.4 to 73.2 percentage points; disclosure recovers 30.4 to 60.7 points for six configurations, and zero or slightly negative for the other two. Raw generation is nearly saturated at the frontier; boundary adaptation is what still separates models. GPT-5.6-sol's matched gap of -3.6 points hides -64.3 points of damage and +60.7 points of compensation. The deployment configuration reorders models: one reversal among 26 comparable pairs is unambiguous and four more sit on single-task margins. Evaluations of command-issuing agents should report the model configuration, generation contract, execution path, operating point, and final-state validator rather than treat a matched score as an intrinsic model property.
Fanfei Li, Jana Zeller, Manuel Prada-Corral +4
Modern language models are trained on heterogeneous web-scale text corpora. Consequently, studying knowledge and skill acquisition is difficult, as prior exposure to related content is hard to characterize. To address this challenge, we introduce LITTLECURRICULUM, a curated 88B-token pretraining corpus tailored to U.S. elementary school material, explicitly excluding concepts, facts, and vocabulary taught above Grade 5. Training a 5B-parameter LLM from scratch on LITTLECURRICULUM yields LITTLELEARNER, a model with sufficient language competence for open-ended evaluation, yet with clear knowledge and capability boundaries mapped to interpretable curriculum guidelines. We release LITTLECURRICULUM and LITTLELEARNER as a developmentally restricted sandbox to study how models acquire, represent, and use data under a well-defined training scope. We illustrate the sandbox's utility in a first suite of experiments on injecting new knowledge through post-training and in-context learning. These methods let LITTLELEARNER better utilize existing knowledge, but do not raise out-of-scope capabilities. Our findings underscore the value of this controlled environment for future investigations.
Zhe Ye, Hantao Lou, Yuechun Sun +8
AI agents are increasingly used for programming, but do not provide any guarantee on the correctness of generated code. Verified code generation, in which an agent produces both an implementation and a machine-checked proof of its specification, offers a stronger path toward trustworthy AI-generated software. Existing benchmarks in this direction either focus on individual functions or only evaluate proof generation with provided implementations. It is still an open question whether agents can make coherent implementation and proof choices across real multi-module codebases. To bridge this gap, we introduce Vero, the first benchmark to evaluate joint implementation and proof synthesis at the repository level. Vero contains 43 multi-module instances sourced from real-world repositories spanning Python, Dafny, Verus, and Coq, and covering diverse domains from cryptographic protocols to distributed systems. Each instance consists of a multi-module Lean 4 repository with predetermined API interfaces, manually curated formal specifications, and reference implementations, supporting both proof-only and code-and-proof evaluation modes. To improve benchmark reliability, Vero also includes an audit mechanism where agents are allowed to formally prove unsatisfiability of provided specification or incorrectness of reference code, which surfaces and corrects latent code and specification errors during curation. We evaluate frontier coding-agent configurations with Lean toolchain access. The strongest agent fully solves only 27 of 43 instances and closes no specifications on the hardest repositories. Vero provides a concrete testbed for measuring progress toward repository-scale verified software synthesis, where current agents still fall short. We release the benchmark, curation pipeline, and evaluation harness at https://github.com/sunblaze-ucb/vero.
Martin J. Wainwright
We study masking diffusion for discrete sampling and introduce a path-resolved measure of data geometry called the unmasking growth complexity (UGC). Its local increments directly control Kullback--Leibler (KL) discretization error, yielding a unified analysis of Bernoulli-subset and fixed-cardinality unmasking schemes. In log-reveal-odds coordinates, this structure yields optimized single-block and multi-block schedules, and quantifies the gains from adapting computational effort to data geometry. Crucially, we show how UGC increments can be estimated from samples via KL increments along coupled reveal trajectories. This leads to certified-optimal samplers that achieve a prescribed KL error with high probability and iteration complexity within a constant factor of the corresponding oracle procedure. Collapsing the path yields the aggregate UGC mass, which connects to classical multivariate dependence measures and complexity measures from previous analyses of discrete diffusion. In the fine-partition limit, the squared integral of the square-root UGC density determines the sharp leading-order optimal Euler discretization error. Examples exhibit substantial dimension-dependent gains over coarse schedules, including Ω(d) improvements achievable with a constant number of adaptively placed blocks.
Peter Schneider-Kamp, Jacob Nielsen, Gianluca Barmina +2
Current large language model development relies on massive, often non-permissible datasets, creating a high barrier for researchers committed to open-source and ethically sourced data. We introduce Mimir v1, a 1-billion-parameter language model based on the Hierarchical Reasoning Model (HRM) architecture, that is trained from scratch and delivers highly competitive performance for English and sets a new state of the art for Danish using only permissible post-training data. Trained on a mixture of 161 datasets, Mimir v1 outperforms the original HRM-Text 1B and competes with larger frontier models like Qwen 3.5 4B and Gemma 4 E2B, tested across 20 benchmarks for English, Math & Code and Danish. The model is available on the Hugging Face Hub: https://huggingface.co/danish-foundation-models/DFM-Mimir
AlayaWorld Team, Kaipeng Zhang, Chuanhao Li +15
This report presents an improved version of AlayaWorld. While the backbone architecture, chunk-wise autoregressive generation scheme, and training data remain unchanged from the previous release, we substantially revise how conditioning signals are represented and integrated into the model. The new design is guided by a simple principle: conditioning signals should match the generated content as closely as possible in both latent representation and temporal structure. To this end, we make two major changes. First, we replace the previous depth-warping-based spatial memory with a streaming 3D point-cache renderer. Second, we redesign the conditioning pipeline so that visual conditions are encoded in the same causal-VAE latent space, with temporal statistics consistent with those of the generated video. Concretely, the new version introduces six modifications: (1) replacing static-frame image conditioning with motion-aware latent conditioning; (2) causally encoding re-rendered spatial memory as a continuous sequence; (3) aligning the temporal-memory window in pixel space; (4) adopting hard memory dropout that removes memory tokens rather than zeroing them; (5) unifying the VAE encoding and decoding protocol across training and inference; and (6) removing the camera AdaLN branch, such that viewpoint control is provided entirely through the re-rendered spatial condition.
Dananjay Srinivas, Saksham Khatwani, Maria Pacheco
When asked about entities outside their knowledge boundary, LLMs routinely fabricate plausible-sounding details rather than backing off to safer, more general claims. We frame this failure through a Gricean lens: a cooperative speaker who is uncertain about a referent retreats up the specificity hierarchy, trading informativeness for truthfulness. We ask whether LLMs have the ingredients to perform this retreat. Using a T-REx-based benchmark that varies entity familiarity and referent specificity, we probe models to answer two questions: (i) do their activations encode whether a referent falls inside the knowledge boundary, and (ii) do they anticipate the specificity of the referent they are about to generate? We find that the answer to both is yes, but the two signals are not reconciled in generation. Models overwhelmingly prefer specific referents even when the entity is unknown to them, and do so even when offered correct generic alternatives. The substrate for a Gricean retreat is present, but the policy that would act on it is not. We position our findings as a first step toward Gricean alignment, training or steering objectives that couple knowledge-boundary awareness to referent-specificity during generation.
Julian Minder, Viktor Moskvoretskii, Raghav Singhal +12
As language-model-based AI is increasingly deployed in autonomous settings, aligning its goals and values with those of humans becomes critical. Today, alignment, and the assistant identity itself, are typically introduced only after pretraining, once behavioral priors are already established. This can make values a thin overlay, rather than deeply rooted, and facilitate subsequent misalignment. Pursuing a different paradigm, we introduce Synthetic Persona Pretraining (SPP), which installs the desired assistant persona from token zero in pretraining. First, we annotate pretraining documents with value-aligned first-person reflections derived from a normative value constitution. Second, we pretrain via the standard cross-entropy loss on standard pretraining documents as well as their reflections, which installs the desired persona among a multitude of other personas. Finally, we post-train on user-assistant dialogue data, which binds this desired persona to the assistant identity, a process we call persona binding. By pretraining models up to 3B parameters on 500B tokens, we show that SPP improves constitution following and jailbreak robustness, and reduces the misalignment rate in out-of-distribution moral dilemmas, while preserving capabilities. Early intervention matters: compared with alignment from token zero, introducing SPP only at the end of pretraining yields weaker constitution adherence, does not shift value priorities, and leads to less aligned choices in dilemmas. This advantage depends on persona binding and, importantly, increases with pretraining budget. Overall, our results show that shaping values early is critical for alignment and establish pretraining-time persona interventions as an effective approach to do so.
Saisha Shetty, Satvik Tripathi, Austin Lin +6
We present Multi-Agent Reasoning and Coordination (MARC), an open-source framework that replaces monolithic LLM prompting with deterministic multi-agent orchestration for clinical reasoning. MARC coordinates role-specialized agents for extraction, reasoning, answer generation, and evaluation, with explicit context passing and traceable intermediate outputs, enabling stage-wise failure attribution. We additionally introduce a Decomposer module that generates task-specific agent prompts from a plain-language description, eliminating manual prompt engineering. The framework supports both API-based and local CPU-compatible deployments and is entirely configurable via YAML, without code modifications. MARC is designed to be model-agnostic, interpretable, and accessible to clinical domain experts without programming expertise. The full framework is available at https://github.com/Penn-RAIL/MARC-v1.
Mohammed Ayman Habib, Rylan Hart, Morteza Fayazi
Analog circuit design is a time-consuming, iterative process in a nonlinear and high-dimensional design space that relies heavily on expert intuition. Among recent developments, LLMs have introduced a promising approach by bringing natural language reasoning to circuit design tasks. The majority of conventional LLM-based approaches provide fragmented solutions that focus either only on sizing or topology generation. These methods require adding specific technical knowledge manually, which is inefficient and prone to hallucinations during circuit sizing. Moreover, the inherent trade-off in meeting different specs makes current approaches iterative and tedious. Another shortcoming is the inability to create innovative topologies, which may lead to sub-optimal designs due to reliance on conventional topologies. In this paper, we present AaLLM, an open-source end-to-end multi-agent LLM workflow that takes user specs as input and outputs the appropriate netlist, encompassing both topology generation and circuit sizing. AaLLM automates the creation of a relevant knowledge base from research papers and textbooks to combat tedious manual data collection. A RAG model is implemented to emulate circuit design expertise using this knowledge base. Moreover, AaLLM uses a novel tri-agent feedback system comprising a Designer that determines circuit component values, a Critic that scrutinizes these values, and an Evaluator that minimizes circuit sizing iterations by arbitrating between the other two agents. AaLLM-generated novel topologies achieve a figure of merit (FoM) comparable to that of known topologies, and up to 3x higher for certain circuits. Testing on several circuit topologies, our results show a 3x - 4.5x decrease in the number of SPICE calls at inference when compared to SOTA multi-agent LLM pipelines. The results also show a 40x decrease in wall-clock time compared to existing approaches.
Christofer Washington Berruz Chungata, Martin Jurecek, Katerina Potika +2
Concept drift refers to changes over time in the statistical properties of data, as compared to the data that was used to train a learning model. Machine learning models for malware detection or classification are particularly susceptible to performance degradation caused by concept drift, as attackers constantly modify existing malware. In this chapter, we analyze two machine learning-based approaches to automated concept drift detection-a novel approach based on One-Class Support Vector Machines (OCSVM) and a previously-studied technique based on Minibatch K-Means (MK-Means). For comparison we also consider Maximum Mean Discrepancy (MMD), a statistical technique for detecting changes in multidimensional data. We conduct an extensive series of experiments comparing the effectiveness of four learning models, namely, Multilayer Perceptron, Random Forest, Support Vector Machines, and eXtreme Gradient Boosting. For each of these models, we consider three distinct scenarios: A static scenario where no model retraining occurs, a periodic scenario where models are constantly retrained irrespective of concept drift, and a drift-aware scenario where models are only retrained when concept drift is detected. Under the drift-aware scenario, we analyze the tradeoff between accuracy and training efficiency using Pareto Front analysis. We find that all three concept drift detection techniques achieve classification accuracy comparable to periodic retraining, while offering substantially greater efficiency in terms of the number of models that must be retrained. In addition, drift-aware retraining based on our OCSVM technique generally outperforms the MK-Means and MMD approaches. Overall, these results provide strong evidence that we can accurately detect concept drift in malware classification models.
Daniel Perkins, John Squires, Janou Milligan +2
Modern image classification models excel when trained on single task-specific datasets but often struggle to generalize across domains and difficulty levels. We propose ARMDIL, an Adaptive Router for Multi-Domain Image classification with LLMs. ARMDIL is an ensemble that uses a multimodal large language model (MLLM) agent to dynamically route each image to the most suitable vision backbone. Our diverse ensemble employs convolutional neural networks (ResNets), self-supervised representation learners (SSL), and vision-language models (VLMs), each trained on a unified label space constructed from multiple image datasets with differing distributions and characteristics. Empirical evaluations illuminate the distinct capabilities and vulnerabilities of each architecture across disparate visual domains. Crucially, we show that ARMDIL effectively navigates these trade-offs, performing competitively with specialized training-based routers. Furthermore, it drastically improves adaptability by allowing new information to be integrated via simple prompt modifications, while enhancing interpretability through natural language reasoning traces. These advances in cross-dataset image classification pave the way for more reliable general-purpose vision systems such as AI assistants and autonomous robots.
Jim Woodcock, Gabriel Leite, Augusto Sampaio +1
We address the use of large language models (LLMs) to help discover Isabelle proofs. An Isabelle build establishes that the submitted theory is accepted, but not that an LLM changed only what the developer authorised. We present CAPRI, a contract-aware repair workflow in which Isabelle checks the proof and an independent checker enforces a machine-readable edit contract. Prompts, proposals, candidate repositories, diagnostics, verdicts, and hashes are retained for audit. We evaluate five workflows on twelve failed proofs from four developments, with three replicates per task and condition, giving 180 runs and 138 valid repairs. Of 144 terminal candidates accepted by Isabelle, six had modified protected text; all arose in iterative workflows that could edit a complete theory. A proof-body-only interface produced 29/36 valid repairs and no contract violations, compared with 31/36 for the corresponding full-theory workflow. One-shot repair produced 22/36, while a later prospectively frozen iterative workflow produced 32/36; these figures compare complete workflows rather than individual mechanisms. A separate post hoc OpenRouter campaign found no improvement in the designated Luna comparisons. A Sol configuration with matched demonstrations produced 33/36 repairs, compared with 29/36 in the frozen OpenAI Responses condition, but the difference was not statistically significant in a one-sided exact McNemar test (p=0.0625).
Avinash Kori, Fabrizio Russo
World Models (WM) are increasingly seen as a foundation for intelligent agents that can predict, plan, and act beyond their training distribution. In this paper, we study WMs from a causal perspective across multiple levels of abstraction, ranging from perceptual observations to building a conceptual representation of the structure governing the environment dynamics. We argue that useful WMs must go beyond generative capabilities alone: they should also capture entity properties, entity-to-entity interactions, and entity-to-environment interactions that determine and explain the dynamics of a system. We provide a formal definition of Causal WMs (CWMs) grounded in the tasks they are intended to support, connecting world modelling with existing work in causal representation learning, object-centric learning, causal discovery, structural causal models, and model-based decision-making. Finally, we relate CWMs to the literature on identifiability, clarifying when the components of a WM can be recovered from data and up to which equivalence. With this, we ground WMs in representations and structures that support causal reasoning and informed decision-making.
Yukun Dai, Mingzhe Dai, Tianshi Wang +3
Vision-Language-Action (VLA) models have emerged as generalist robotic policies capable of following diverse language instructions and performing a wide range of manipulation tasks. However, their direct control over embodied agents also exposes them to adversarial interference that may cause unsafe physical behaviors. Existing attacks on robotic policies are typically optimized for a single task or instruction, leaving the cross-task vulnerabilities of multitask VLAs largely unexplored. We introduce UniTexture, a cross-task universal adversarial texture attack that uses a single textured 3D object to induce targeted deviations in VLA action predictions across multiple tasks. UniTexture backpropagates gradients from the policy's action outputs to surface texture parameters through a differentiable renderer. It jointly optimizes the shared texture over a distribution of tasks, instructions, states, and viewpoints using a targeted action-space objective, steering predicted actions toward attacker-defined targets without optimizing a separate texture for each task. We evaluate UniTexture on OpenVLA and π0.5 across diverse manipulation tasks and multiple evaluation settings. UniTexture reduces the mean task success rate from 90.0% under benign conditions to 48.4% under attack, induces target-aligned action shifts, and further exhibits cross-suite and cross-model transfer without re-optimization. Together, these findings reveal shared cross-task vulnerabilities in multitask VLAs that can be systematically exploited through a single adversarial surface texture.
Alison R. Panisson, Maria Eduarda W. M. Vianna, Italo Firmino da Silva +9
Academic leagues have become important mechanisms for promoting extracurricular education and strengthening the integration between universities and society. This paper presents the organizational framework adopted by the Academic League of Artificial Intelligence (LIA) at the Federal University of Santa Catarina (UFSC), designed to integrate teaching, research, and university extension through a student-centered, project-based approach. The framework combines democratic governance, collaborative learning, and dynamic project organization to foster both technical and transversal competencies. The framework is illustrated through representative initiatives, including competition teams, study groups, open lectures, knowledge repositories, and AI-powered applications with social impact. These projects demonstrate how diverse educational, scientific, and extension activities can be developed within a common organizational structure while promoting leadership, scientific production, community engagement, and knowledge preservation. The reported experience indicates that the proposed framework provides a flexible and replicable model for integrating the three university pillars into engineering and computing education, offering practical guidance for academic leagues and similar student organizations.
Gehan Zheng, Matthew Johnson-Roberson, Weiming Zhi
Contact-rich manipulation failures are often detected only after the robot has committed to contact. This is especially limiting in wrist-camera setups: close gripper--object views help observe contact, but a poor approach may already push, miss, slip, or disturb the object before conventional detectors react. We introduce ContactGuard, a pre-contact execution monitor for chunked visuomotor policies. Given the policy's planned action chunk, ContactGuard predicts its short-horizon consequence in latent visual space and aborts if the predicted future latent indicates likely failure. Its latent world model is trained from unlabelled robot trajectories to predict compact multi-view visual embeddings under planned actions, avoiding pixel-level video prediction. A lightweight failure probe is then trained from a small labelled set of pre-contact clips. At deployment, ContactGuard anchors prediction before an imminent contact event, rolls the model forward under the policy's own actions, and verifies the predicted post-contact latent. Across real-world contact-rich manipulation tasks, ContactGuard predicts failure more accurately than direct and corrupted-action ablations, and transfers to live robot as a pre-contact abort signal without modifying the underlying policy.