日刊論文

LLM agents learn by interacting with environments, yet these environments are hand-built and static: blind to an agent's weaknesses, and quickly left behind as it improves. While recent environment generation methods attempt to address this, they require domain-specific pipelines, rely on expensive or unreliable verifiers, and still produce static environments. To alleviate the engineering burden of rebuilding environments from scratch, we propose Environment Harness (EnvHarness), a programmable layer of plug-in components that wraps a static environment to reshape its behavior without modifying the underlying logic. Operating through standard interfaces, EnvHarness applies across diverse domains while ensuring every reshaped environment retains its original verifier. To automate this process, we introduce EnvRigger, which treats the target policy as a black box, observing its execution trajectories to synthesize EnvHarness components targeting diagnosed flaws, and validating them via fresh rollouts. Across five benchmarks in four domains, EnvHarness outperforms both original environments and domain-specific environment generation pipelines, achieving up to a 9.0-point improvement on held-out instances with 9.8% fewer execution steps. Furthermore, EnvHarness provides a superior optimization signal for reinforcement learning, enabling continuous, targeted co-evolution of the policy and its environment.

Training terminal agents requires scalable executable supervision, yet synthesizing high-quality terminal tasks remains challenging. Each task couples an instruction, an initialized environment, a reference solution, and an executable verifier; if these artifacts are generated from inconsistent assumptions, the resulting task may be unsolvable or incorrectly evaluated. Meanwhile, multi-stage synthesis can discard the goals, dependencies, state transitions, and procedural constraints encoded in the original sources. We present FACET (Fine-grained Agentic Construction of Executable Tasks), a framework that addresses both information preservation and cross-artifact consistency. FACET reconstructs related agent skills into coherent, information-rich scenarios, then realizes and repairs the execution environment before generating the final task artifacts. The resulting container state serves as shared grounding for the instruction, solution, and verifier, while execution-based validation and targeted repair correct artifact-specific failures without unnecessarily regenerating valid components. FACET produces complex terminal tasks with dense executable checks, and successful trajectories collected from these tasks provide effective, data-efficient supervision. Fine-tuning models across multiple scales consistently improves performance on Terminal-Bench 2.1, while analyses of alternative generation schemes support the importance of environment-grounded construction for task validity and solution-verifier alignment. These results establish source-intent preservation and shared executable-state grounding as key principles for scalable terminal-task synthesis.

我々は、未校正の単眼ビデオから4D人体を再構成するフレームワークである4DAnyoneを提案する。本手法では、再構成グレードの多視点一貫性のあるビデオを生成し、それらを4D Gaussian Splatting (4DGS) へとリフティングする。既存のカメラ制御型ビデオ拡散モデルは、もっともらしい新規視点ビデオを合成できるが、4DGS再構成に必要な数十の目標視点に拡張した場合には一貫性を維持できない。我々はこの失敗を、有界アテンションコンテキスト問題として特定する。目標視点数が単一のDiTフォワードパスの容量を超えると、それらをグループに分割しなければならず、相互に連関する二つのボトルネックが顕在化する。参照コンテキスト側では、以前に生成されたすべての視点への条件付けがO(N)で増大し、視点間の外観ガイダンスが弱まる。ターゲットコンテキスト側では、互いに素なグループは情報を直接交換できないため、全体的な構造ドリフトが生じる。4DAnyoneは、これらの二つのボトルネックに対して、相補的な二つの設計で対処する。Reference Context Packing (RCP)は、増え続ける参照視点を固定長の混合解像度コンテキストに圧縮し、O(1)の参照コンテキスト複雑度を実現する。一方、Target Context Routing (TCR)は、デノイジング中に目標視点のグループ分けをローテーションし、高ノイズステップではグループ間でコンテキストを共有し、低ノイズステップでは詳細を安定化させる。さらに、社内のゲームエンジンを用いてMVGameHumanデータセットを構築し、これをライトステージおよび実環境のビデオデータセットと組み合わせて学習に用いる。DNA-RenderingおよびDyMVHumansにおける実験により、4DAnyoneは新規視点ビデオの品質と下流の4DGS再構成の両方において既存手法を上回り、実環境への頑健な一般化を示す。ビデオ結果とソースコードについては、プロジェクトページ(https://4danyone.github.io)を参照されたい。

Software increasingly functions as part of the scientific instrument itself, making failures in scientific code capable of compromising not only program behavior but also the evidence underlying scientific conclusions. Yet existing evaluations of coding agents largely emphasize aggregate task success, providing limited insight into why agents fail when repairing scientific software. We introduce SWE-bench Science, a repository-level benchmark for scientific software engineering comprising 119 tasks from 98 GitHub repositories across 20 scientific domains. Each task is organized into one of three paradigms: Issue-driven, Expert-exploratory, and Engineering-integration. Even the best-performing agent, Claude Code with Opus-5 (max), achieves a pass@1 below 50\%, highlighting the substantial challenges posed by scientific software engineering. We identify four recurring failure mechanisms: deficits in scientific knowledge or abstraction, misguided exploration or surface-level repair, incomplete repair coverage or system integration, and failures to generalize scientific knowledge beyond observed cases in our analysis. We further conduct a paired ablation that removes explicit scientific guidance while preserving the repository and executable engineering context. The results show that scientific knowledge is not uniformly beneficial: well-grounded information can constrain repair and improve average performance and token efficiency, whereas poorly aligned guidance can induce anchoring and does not necessarily improve exact repair success. Together, SWE-bench Science provides a broad testbed for studying both the capabilities and failure mechanisms of coding agents in scientific software engineering.

Identity-preserving image generation becomes increasingly unreliable when a scene must contain many specified people. Beyond retaining each identity, the model must bind every reference to a distinct person and location, while training-time identity losses must establish correspondence among several noisy predicted faces. We introduce WithEveryone, a unified framework for generating group images up to ten reference identities. WithEveryone injects each selected identity as an addressed token, predicts a structured identity--layout plan, and renders the plan as a visual condition. Its key objective, Layout-Grounded ID Loss, uses annotated face regions to supervise the intended identities directly, avoiding unstable embedding-based face matching; ID Representation Forcing additionally trains a prediction for each identity before image synthesis. On an identity-disjoint benchmark, WithEveryone achieves the highest target-context identity similarity, improving face similarity from 0.462 for GPT-Image-2 to 0.499, while reducing copy-paste artifacts from 0.169 to 0.055. It further covers 97.3\% of the requested identities with a duplicate rate of only 2.8\%. These results show that explicit identity--layout grounding enables identity-preserving generation to scale to larger groups without relying on direct reference-face copying.

Memory has become a key component of large language models, enabling them to retain information and learn from long-term interactions. However, existing memory benchmarks mainly evaluate whether information is correctly extracted, stored, and retrieved, while largely overlooking how retrieved memories reshape model reasoning and affect performance on the current task. We identify memory-induced cognitive traps: even faithfully recorded and semantically relevant memories can distort model reasoning or beliefs and degrade current task performance. To systematically evaluate these failure modes, we introduce MemTrapBench, which covers two forms of cognitive traps: Reasoning Fixation and Belief Distortion. Experiments across two model families and five representative memory frameworks show that MemTrapBench is challenging: all evaluated memory strategies underperform the no-memory setting, with even the strongest methods suffering drops of more than 10%. To mitigate these cognitive traps, we propose AdaptiveMem, a simple yet effective inference-time method that instructs LLMs to avoid memory traps. AdaptiveMem mitigates cognitive traps on MemTrapBench while preserving or improving performance on standard memory benchmarks across diverse memory frameworks.

Agent Skills are today either hand-authored or produced in a single LLM generation pass, and consequently possess no closed loop through which they might improve from the interaction failures they actually cause. Recent work does close this loop, but derives its feedback from single-turn question-answering evaluation. The consequence is a sharp asymmetry: once the first round has patched the gaps that a single exchange can reveal, the evolution gradient decays, the defects that surface only across multiple turns remain invisible, and evolution stalls. Governance in these systems is likewise driven by an end-to-end verification score, a scalar gate that can reject a degraded candidate but can neither localize nor repair its structural cause. We argue that the binding constraint on sustained skill evolution is neither editing capability nor the number of iterations, but whether the evaluation feedback keeps supplying trustworthy evolution gradients. We introduce SkillEvo, in which trustworthy feedback generates the gradient and controllable governance constrains its direction. The first component recasts multi-turn user simulation from an evaluation endpoint into a feedback generator: follow-up questions expose defects layer by layer, so that every round of revision both consumes feedback and produces new feedback. The second replaces the passive rejection of a scalar gate with an independent governance layer that actively repairs factual degradation and structural bloat, preventing the gradient from drifting as degradation accumulates. Across six categories of cloud services, 9 production Skills, and 98 skill-reference files, SkillEvo surpasses self-reflection-based evolution by 23.0 points and single- turn-QA-driven evolution by 15.4 points.

Action-conditioned video world models require low-latency causal generation and reliable responses to game-native controls. Although causal distillation enables one- or few-step video synthesis, extending it to interactive world models remains challenging, as discrete keyboard states and continuous mouse motion must remain aligned with temporally compressed latent chunks during causal training and autoregressive rollout. We introduce ForgeWM, a progressive framework that transforms a bidirectional action-conditioned video generator into efficient few-step world models through domain adaptation, teacher-forced causal training, causal consistency distillation, and on-policy distribution matching with a bidirectional teacher. The resulting budget-specialized students operate at steady-state denoising budgets of 1, 2, and 4 steps. ForgeWM further supports a dual-path deployment protocol combining latency-critical interaction with optional replay-time refinement, where the one-step student re-noises and refines its saved draft. On paired Minecraft trajectories, ForgeWM leads the evaluated systems in Imaging Quality, reference-aligned motion-profile agreement, action-sign accuracy, and mouse-control accuracy, while achieving the lowest reference LPIPS; the same four-stage recipe transfers to gamepad-controlled FPS gameplay. Replay-time refinement matches four-step reference quality while remaining roughly three times closer to the experienced trajectory than regeneration from noise. These results demonstrate ForgeWM's effectiveness for controllable few-step video generation.

Large language model agents have made substantial progress in code generation, yet most existing systems assume a predefined repository architecture. This assumption does not hold in zero-to-all code generation, where an agent must construct an entire software project directly from natural-language requirements while maintaining a modular repository architecture throughout development. We present Repo0, a continuous structural evolution framework for zero-to-all code generation. Repo0 maintains an explicit architectural state instantiated as a Dual-Directed-Acyclic-Graph (Dual-DAG), consisting of a requirement-level DAG, a component-level DAG, and their alignment relation. Starting from natural-language requirements, it iteratively evolves component boundaries through structural actions guided by modularity metrics until structural convergence, after which the converged architecture guides test-driven development code generation. We evaluate Repo0 on six real-world repositories from RepoCraft using GPT-5 mini and DeepSeek V3.2. Repo0 achieves the highest Functionality Coverage and Pass Rate across all settings. Compared with RPG, the strongest repository-planning baseline, Repo0 improves Functionality Coverage by up to 20.08 percentage points and Pass Rate by up to 29.74 percentage points. Ablation and structural-evolution analyses further demonstrate the importance of the Dual-DAG architectural state, modularity-guided structural evolution, and explicit structural convergence.

Long-context modeling is a pivotal capability for Large Language Models, yet the quadratic complexity of attention remains a critical bottleneck, particularly during the compute-intensive prefilling phase. Our previous work, FlashPrefill, mitigates this cost through instantaneous pattern discovery and max-based dynamic thresholding; however, it remains an algorithmic prototype that is still distant from production deployment. In this paper, we present FlashPrefill V2, which evolves FlashPrefill from a prototype toward practical long-context serving along three dimensions. First, we introduce a mean correction term that effectively suppresses the approximation error, keeping performance degradation manageable even at extreme sparsity levels. Second, we redesign the sparse attention operator with PackGQA memory access, warp specialization, and pingpong pipelining, fully aligning with the latest FlashAttention-3/4 implementations and supporting FP8 inference to meet practical quantization requirements. Third, FlashPrefill V2 natively supports paged KV cache and continuous batching, allowing integration as an attention backend in modern inference frameworks such as SGLang. Extensive evaluations on NVIDIA H20 GPUs---among the most widely deployed inference accelerators---demonstrate that FlashPrefill V2 delivers up to 47.26x and 27.19x speedups over FlashAttention-2 at 128K context length under FP8 and BF16 precision, respectively, and, in FP8, still achieves a 30.49x speedup against an FA3/4-aligned dense baseline.

Take three frontier mixture-of-experts models (Alibaba, OpenAI, NVIDIA; 3.6-4.0B active parameters each) and fine-tune them to reason in a low-resource language. On accuracy benchmarks almost nothing happens, and the benchmark itself is noise at this scale: changing only the random seed moves the score by 7.7 points, more than every data and recipe effect we measured. That null is our first result. The real changes live where accuracy cannot see. Base models never think in Greek: 0 of 1,000 reasoning traces, even when the question is Greek, so the model answers correctly while reasoning in a form its user cannot read, audit, or correct. After supervised fine-tuning (SFT), every released checkpoint reasons in the language of the question on ~98% of items, one family at 3x fewer tokens, with judged grammaticality improving on all four models and general ability within a few points of each base: nothing was forgotten, and fluency was gained. We propose six behavioural dimensions that make such changes measurable, each gated to reject any metric that correlates with output length, and we report how our own instruments lied: six failures, each caught by a control. What SFT cannot do is fix its own defects: a quarter of answers skip the requested format, answers leak into the reasoning channel, and an explicit "think in English" is obeyed under half the time. Reinforcement learning with verifiable rewards, pre-registered before training, fixes the first two outright (fallback 24% to 2.5%, leak 3.5% to 0.0%, both against a flat random-reward control) and moves the third (+9.1pp), while the Greek reasoning habit survives an accuracy-only gradient untouched. We release five checkpoints. The instruments, the controls and the pre-registration travel to any low-resource language; Greek is the case that let us measure them.

How to efficiently finetune robot policies to learn new tasks on the fly? State of the art robotic manipulation policies are based on behaviour cloning of large vision-language-action (VLA) models with billions of parameters on huge teleoperation datasets. While this simple approach has enabled significant advances for robotic manipulation, finetuning of VLA policies for learning new tasks still remains an open problem. In particular, collecting teleoperation datasets requires hundreds of hours of expensive human labour and the alternative, reinforcement learning (RL), can be notoriously sample-inefficient especially for long-horizon tasks. In addition, RL with VLAs imposes several challenges due to the model's size and architectural design. In this work, we propose EXIMO, an efficient algorithm for finetuning of VLA policies. EXIMO operates in three stages: explore, imitate, and optimize. During the explore phase, EXIMO equips the VLA with a vision language model (VLM) that acts as a planner. The VLM thinks and breaks down challenging long-horizon problems into shorter ones for the VLA. The VLM, together with the VLA, is used to collect an orchestrated dataset on new tasks. During the imitate phase, the VLA is finetuned with the orchestrated data. Finally, during the optimize stage, we use residual off-policy RL to further finetune the policy. In our experiments, we ablate all three stages of EXIMO and show that it outperforms existing approaches significantly in terms of sample-efficiency and final performance.

Large language models often fail to answer questions about a bounded document collection when the source documents are not retrieved at inference time. We study this setting as document knowledge internalization: converting a fixed corpus into usable parametric knowledge for retrieval-free question answering. We propose IAR (Inject, Align, and Recover), a three-stage post-training framework that separates structured document knowledge injection, QA behavior alignment, and general ability recovery. Unlike conventional continued pretraining, Inject converts source documents into continuation, rewrite, and instruction-conditioned reconstruction objectives. Align then adapts the injected model with answer-only QA supervision, while Recover merges the domain-adapted model with the base instruction model to recover general capabilities. Across Common Corpus (CC) and CCI, and across Llama, Phi, Qwen, and SmolLM model families, IAR improves the domain-primary domain-general frontier for retrieval-free document internalization. In the main comparison, IAR improves over Vanilla SFT on all four reported metrics in 7 of 8 dataset-model settings, with average gains of 3.6 percentage points in domain QA accuracy and 12.1 percentage points in mean general performance across IFEval, MMLU, and MSBench. Extended CC baselines show that LoRA and FAPM can win individual general metrics, but among methods that also reach leading or near-leading domain internalization, IAR retains one of the strongest general profiles.

Public benchmarks are important measures of Automatic Speech Recognition (ASR) model capabilities. However, by nature of being public, there is risk of models being optimized for these benchmarks in ways that do not generalize well to real-world data. We present a methodology for quantifying benchmark optimization, focusing on cases where the audio underdetermines the reference transcript. We identify three families of behavioral probes that reveal models' capabilities of reproducing benchmark reference spans despite underdetermined audio: reference disagreement, masked-number recovery, and orthographic switching. We find that the highest-scoring open source models output verbatim reference transcript spans even when the relevant audio is contradictory, masked, or ambiguous. Using a variety of mechanistic probes, we show that models respond to narrow acoustic cues to override the faithful representation of the audio in favor of a benchmark-optimized policy. We show the benchmark-optimized behavior can be causally manipulated via low-rank linear steering or simply appending audio to the end of a segment in some cases. Overall, our results indicate that high-performing models exhibit benchmark-conditioned behaviors that can inflate benchmark performance without reflecting improved general-purpose transcription ability.

長期的なロボット操作には、ロボットが個々のスキルを確実に実行するとともに、長時間にわたるタスクにおいてそれらを一貫して順序立てることが要求される。ほとんどの階層的ビジョン・言語・アクション（VLA）モデルは、このような各決定を単一のフォワードパスで行っており、困難または重要な選択に追加の計算を割り当てる仕組みを持たない。我々は、ワールドモデル誘導のテスト時計算を通じて高レベルのサブタスク生成を計算スケーラブルな推論問題として定式化する階層的ロボット基盤モデル τ_0-VLA を提案する。各推論ステップにおいて、高レベル方策は実行メモリを用いてサブタスクを生成し、必要に応じて出力を確定する前に代替案を探索する。その後、低レベル方策が生成されたサブタスクを複数のロボット身体構造にわたって実行する。本方策は、マルチモーダル共学習を用いて40,115時間の異種混合の実世界データで訓練される。ドメイン内設定と分布シフト設定の両方において、追加のテスト時計算の割り当ては次サブタスクの予測精度を大幅に向上させ、これらの利得は長期的なロボット操作タスクにおける閉ループ成功率の向上につながる。

Humans continuously learn from experience, whereas conventional large language model (LLM) evaluations ignore the models' ability to improve through inference-time interaction. In this paper, we study how LLMs learn from iterative experience at test time, a setting we refer to as Chain-of-Experience (CoE), where models accumulate experiential traces through iterative interactions with self or environmental feedback to form a continual improvement loop beyond zero-shot inference. We instantiate CoE with diverse feedback mechanisms, including model self-feedback and environmental signals such as correctness or public coding test pass rates, and evaluate across math, coding, and knowledge domains using 8 LLMs, including GPT-5, Gemini-2.5 Pro, Claude-4.5 Sonnet. Our study shows that leveraging iterative experience consistently outperforms feedback-free baselines, achieving substantial gains with self feedback alone, alongside a 5.6% overall improvement and 19% lower API cost across tasks and models. We further show that combining complementary feedback channels (e.g., model and correctness signals) yields additional gains, and that CoE delivers higher accuracy per token than existing test-time strategies. We observe a positive correlation between LLM base ability and improvement capacity, and show that models remain robust under weak or spurious feedback, with different feedback contributing to distinct improvement aspects and most gains emerging early in the iterations.

Customer-service LLM agents must follow organizational policy when acting on a user's behalf. Compliance failures arise from either forbidden actions, such as granting an ineligible change, or omitted procedural requirements, such as identification or confirmation. Runtime safeguards can intervene on risky actions, but action-local checks do not guide an agent through a multi-step procedure. Workflow-following systems support prescribed process execution, but primarily target workflow completion rather than safeguarding agent behavior. PolicyGuide instead compiles each domain policy into a workflow graph and invokes a proactive verifier at user-turn boundaries. From persisted graph state, the verifier reconciles open requests and returns step-specific remediation along a policy-compliant path. Across the τ^2-bench airline, retail, and telecom domains with a GPT-5.4 agent and verifier, PolicyGuide raises mean Pass^4 from 0.42 to 0.62, with the largest gain on telecom (0.19 to 0.61), the most workflow-structured domain. The same workflows transfer to Claude Sonnet 4.6 and Gemini 2.5 Pro agents. Complementary evaluations find the lowest observed attack-success rate under adversarial users and the strongest procedural compliance in an author-designed workflow-level validation.

Modern LLM agents are often improved by modifying prompts, tools, or workflows manually, while the executable scaffold surrounding the model---the harness---is typically treated as a fixed artifact after deployment. This work studies an alternative where the harness is task-specific and continuously evolvable: each task family maintains its own harness, which is hot-swapped across iterations through a fixed task-injection seam and rewritten using environment feedback. We introduce Hierarchical Self-Improvement (HSI), a framework in which a single frozen LLM M operates across three hierarchical scopes: a task harness H that executes tasks, an evolver that rewrites H, and a meta-evolver that rewrites the evolver's strategy code under a frozen outer anchor. A thinking-on/off design isolates the contribution of harness evolution by disabling reasoning during task execution while enabling it during self-modification. HSI is bounded by two factors: a feedback-fidelity bound, since evolution requires informative reward signals to guide selection, and a backbone capability bound, since harness redesign cannot overcome limitations of the frozen model. On BALROG with DeepSeek-V4-Flash-Preview as the frozen backbone, HSI achieves consistent gains over the initial harness on moderate-difficulty tasks (+39.3 on BabyAI, +33.0 on Crafter, +25.0 on TextWorld, and +15.0 on MiniHack, all in raw \% Progress), while obtaining strong held-out generalization on BabaIsAI sub-suites (0.98 best-test on BreakStop and 1.00 on GoTo from a 20% unseen split). On tasks beyond the backbone's capability (NLE), harness evolution provides no improvement. These results demonstrate task-specific harness evolution as a viable axis for improving frozen LLM agents under clear empirical limits. Code is available at https://github.com/TailinZhou/hsi.

We introduce TinyCast, an attention-free zero-shot forecaster that emits a predictive distribution from 146,505 parameters, on the premise that at this size the periodic structure of a context is worth computing rather than learning. A zero-parameter spectral detector supplies the dominant periods, the context is folded on their phase, and a dilated convolutional encoder and a block-autoregressive quantile decoder model the rest. It is smaller than every zero-shot entry on the GIFT-Eval board whose parameter count can be established. On probabilistic accuracy it defines the size-accuracy frontier. Among zero-shot entries declaring no test-data leakage it is the only one below 1.4M parameters that emits a predictive distribution, and every entry scoring better carries at least that budget. On Chronos-ZS and fev-bench every neural model ahead of it carries at least 28 times its parameters. Because the mixing path is convolutions and matrix multiplications only, it exports to static INT8 and forecasts end to end on an embedded device without per-signal fitting.

Long-form video understanding encompasses tasks that go beyond retrieving isolated events, including tracking an evolving narrative and interpreting social meaning that may remain implicit. However, existing benchmarks rarely evaluate these capabilities jointly, particularly in high-context, non-English media. To address this gap, we introduce NARU, a benchmark designed to evaluate Narrative evolution and Reasoning on cultural Understanding in Japanese long-form video. NARU consists of 1,481 questions grounded in 155 videos totaling 146.8 hours, spanning four narrative and five cultural dimensions. To construct the benchmark at this scale, we propose a hierarchical memory-based annotation pipeline that transforms raw video into structured event, narrative, and cultural annotations, then generates questions via task-oriented synthesis and iterative shortcut removal. The construction process includes two native-speaker verification stages involving 68 annotators. Evaluations across eight model configurations reveal substantial limitations in both long-range narrative integration and culturally grounded reasoning. By exposing these persistent gaps, NARU offers a systematic testing ground for developing MLLMs capable of reliably interpreting long-form, high-context video.

現在の器用な把持プランナーは、主に物理的安定性を最適化し、物体を把持できるかどうかに焦点を当てており、下流の機能的タスクを支援するためにどのように把持すべきかには焦点を当てていない。しかし、特定の人間の把持タクソノミーに把持合成を条件付けるには、通常、法外に高価な物体アノテーション付きデータセットが必要となる。これらの限界に対処するため、我々はCoToGraspを提案する。これは、特定の接触トポロジーに厳密に条件付けられた多様で安定した把持を合成する新しい生成的フレームワークである。データ収集のボトルネックを回避するため、CoToGraspは完全に物体非依存の方法で訓練される。我々は、局所的な物体特徴を統一されたグリッパ中心の領域に射影する特徴ベースの正準ワークスペースを導入し、意味的な機能意図を任意の物体形状から効果的に分離する。このワークスペース内でグリッパの内在的接触多様体を学習することにより、我々のモデルは推論時に未見の物体へのゼロショット汎化を達成する。大規模なDexGraspNetデータセットにおける広範な評価は、CoToGraspが最先端の性能を達成し、既存のタクソノミー誘導型プランナーを上回ることを実証している。最後に、実ロボットプラットフォーム上で、合成された接触トポロジーの物理的実現可能性と運動学的実現可能性を示す。コードはプロジェクトウェブサイト（https://cea-list.github.io/cotograspweb/）で公開されている。

Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-specific datasets. We introduce a fundamentally different approach, grounded in the observation that the gripper and the object share identical surface geometry at their mutual contact points. We propose GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation, a novel deep generative model that learns a compact latent representation of a specific gripper's contact surface distribution, enabling the efficient sampling of valid grasp configurations without relying on object-specific training data. We show that by introducing object features only at inference time, our model can effectively retrieve admissible contact areas that are compatible with the gripper's capabilities. We validate our approach through extensive experiments on established grasp protocols in both simulated and real-world scenarios, demonstrating its effectiveness with different grippers from the literature. Our method delivers state-of-the-art results on the objects from the MultiDex dataset, achieving an average success rate of 86.93%. It offers significantly faster processing when generating numerous grasps, while matching the performance of leading approaches specifically trained on this dataset. Unlike these methods, our approach does not rely on object-specific training data, highlighting the advantages of object-agnostic learning. It effectively addresses the generalization challenges faced by traditional data-driven grasp planners. Code and videos are available on our project website https://cea-list.github.io/goagweb/ .

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.

Should you replace your text-embedding pipeline with a large language model? We answer this with a controlled, cost-aware comparison of ten LLMs across six families and 26 embedding models (118M to 14B parameters) on 37 tasks spanning classification, semantic textual similarity (STS), clustering, pair classification, and retrieval. In aggregate the two paradigms are effectively tied: the best LLM (Gemini 3.1 Pro, 77.6) and the best embedding model (77.2) differ by 0.4 points. Their strengths differ by task: LLMs lead on reasoning-heavy retrieval, embedding models lead on classification, and the two match on clustering, STS, and pair classification. Reaching that parity is expensive. An LLM costs up to 1,431x more than an embedding model of comparable quality (USD 154 vs. USD 0.11 per benchmark pass), and the open LLMs tested process tokens 2.5 to 736x more slowly on the same GPU. Reasoning tokens account for 28 to 81% of LLM inference cost; lower reasoning budgets preserve or improve retrieval quality for most models in our ablation. The Pareto frontier contains the leading embedding models and one LLM, Gemini 3.1 Pro. These results support a division of labour: use embedding models for similarity, classification, and clustering, and reserve LLMs for reasoning-intensive retrieval. Our code, datasets, and results are publicly available at https://github.com/embeddings-benchmark/embedders-dilemma.

Self-supervised learning (SSL) has driven substantial progress in audio representation learning, though existing methods have increasingly relied on elaborate pre-training recipes to reach competitive performance. A markedly different pre-training philosophy underpins the most influential progress in language modeling and, more recently, in visual representation learning: rather than train encoders as static feature extractors, models are trained to predict the next element, a discrete token or a continuous embedding, from the preceding context. Autoregressive prediction thereby provides a unified pre-training interface that transfers across modalities, compelling the model to learn the underlying data distribution. We ask whether such a simple causal paradigm can yield strong audio learners, given that audio's temporal structure makes autoregressive prediction of patch embeddings a natural fit. We introduce NAPE (Next-Audio-Patch-Embedding prediction), a self-supervised framework in which a causal Transformer predicts each next patch embedding of a log-mel spectrogram from the previous ones, using causal masking and stop-gradient as its sole training signal. The design is intentionally minimalist, avoiding reconstruction decoders, acoustic tokenizers, student-teacher setups, and auxiliary regularization losses. Across six audio and speech benchmarks, NAPE achieves state-of-the-art fine-tuning performance on several tasks, scales consistently across encoder sizes, and yields strong linear-probing results. NAPE also produces structured attention patterns without explicit supervision.

Large language model agents can adapt to complex tasks by constructing workflows at inference time, but procedures discovered in one episode are usually discarded after execution. Existing skill libraries provide reusable executable routines, but are typically assembled offline and do not grow from the agent's own workflows. We introduce FlowEvo, a training-free framework in which workflows and skills co-evolve at inference time. FlowEvo compiles successful workflows into callable skills, stores them in a persistent bank, and uses retrieved skills either through direct execution or as context for constructing new workflows. It also tracks each skill's downstream utility and suppresses skills that cause negative transfer. Using a shared GPT-4o-mini backbone, FlowEvo achieves the highest accuracy among 8 baselines on the full standard splits of ALFWorld, HumanEval, MBPP, GSM8K, and MATH-500. On ALFWorld, it reaches 85.6%, 26.4 points above the strongest baseline, while using roughly one third as many tokens. Across 10 base models spanning 7B to 671B parameters, FlowEvo outperforms ExpeL in 49 of 50 model-dataset comparisons. Code is available at https://github.com/DEFENSE-SEU/FlowEvo.