每日AI论文

作者:

Meng-Hao Guo, Zhe-Han Mo, Jia-Jun Wang, Yi Zhang, Kejin Wang, Yi-Xuan Deng, Jia-Peng Zhang, Yongming Rao, Shi-Min Hu

标题:

Transferring the Intelligence of VLMs to Robotic Control

Arxiv:

http://arxiv.org/abs/2609.22966v1

摘要:

Humans can seamlessly adapt to both physical and digital worlds, suggesting that while a digital-to-real gap exists in embodiment, environment and task, human intelligence itself may transfer across this gap. This naturally raises a fundamental question: can the intelligence of vision-language models (VLMs) similarly generalize from the digital world to the physical world for robotic control? We investigate this question through RoboDawn, a human-intuitive interface that exposes robotic control to an agentic VLM through a compact set of discrete translation, rotation, and gripper commands. Using this interface, the VLM controls a robot in a closed loop: it observes the current visual state, reasons about the next action, executes it, and adapts subsequent decisions to the resulting state. Furthermore, we introduce an in-context learning (ICL) scheme that uses a few demonstrations to ground the VLM in both interface usage and task-solving strategies. Experiments on RoboTwin 2.0 C2R and RoboDojo demonstrate that RoboDawn achieves strong performance without task-specific robot training. In the zero-shot setting, RoboDawn outperforms several strong policies trained on benchmarkspecific robot data, while a single in-context demonstration further yields substantial performance gains and establishes state-of-the-art (SOTA) results. On RoboTwin 2.0 C2R, the success rate increases from 53.2% zero-shot to 73.6% one-shot, exceeding the solid baseline {\pi}0.5 (46.0%). Similar gains are observed on RoboDojo, where success rate improves from 35.67% zero-shot to 47.17% one-shot. The same framework also transfers to real-world robots, performing block-in-basket and block stacking on Franka.

作者:

Binxu Li, Haoyi Duan, Yuhui Zhang, Yaohui Zhang, Zihao Lin, Kaituo Feng, Suozhi Huang, Xiangyi Li, Yu Li, Chunyuan Li, Shilong Liu, Mengdi Wang

标题:

VideoGen-Agent: Reinforcing Video Generation Agents

Arxiv:

http://arxiv.org/abs/2609.24997v1

摘要:

Recent advances in video generative models have enabled high-fidelity, temporally coherent video generation. However, these models often struggle to satisfy prompts requiring specialized knowledge, specific identities, physical consistency, or ordered events. In this paper, we present VideoGen-Agent, a multimodal agent trained through multitask agentic reinforcement learning to use external tools for video generation. The agent coordinates augmentation, generation, and verification tools through multi-turn interactions, using the prompt and intermediate observations to guide its decisions. We train a shared policy on a category-balanced dataset spanning six tasks. Supervised fine-tuning on teacher-generated trajectories establishes tool-use behavior, which is then refined through reinforcement learning. A category-aware hybrid reward evaluates tool-call validity, task-appropriate tool use, and generated video quality. We further introduce VABench, a held-out benchmark of 600 prompts covering procedural knowledge, single- and multi-entity identity preservation, physical consistency, scene composition, and multi-shot temporal structure. On VABench, VideoGen-Agent improves over its base text-to-video generator by 19.1 points, from 56.5 to 75.6. Upgrading the generation tools further raises the score to 86.1 without additional agent training. Human raters prefer the upgraded configuration over the strongest standalone baseline in 84.3% of comparisons. These results support learning tool use across video-generation tasks and show that the trained agent can benefit from subsequent advances in generation tools.

作者:

Haozhe Liu, Tian Ye, Sensen Gao, Qihang Cao, Yitong Li, Mingchen Zhuge, Duomin Wang, Ruihua Zhang, Ping Luo, Jiawang Bian, Lei Zhu, Ligeng Zhu, Enze Xie, Song Han

标题:

SoL-Pi: Recursively Scaling Auto-Research Loops for Efficient Agent Harness

Arxiv:

http://arxiv.org/abs/2609.20519v1

摘要:

As coding agents move from supervised code completion to unattended, around-the-clock exploration, their work expands from isolated predictions into long trajectories of reasoning, tool use, and feedback. Token efficiency therefore becomes important for scaling recursive self-improvement. We take an RSI-inspired approach at the harness layer, scaling auto-research loops across increasingly numerous and diverse environments for harness rollouts. At this scale, the process yields reusable improvements that transfer beyond their development setting, moving automated harness discovery toward production-level outcomes. Four mechanisms survive selection and form SoL-Pi, spanning action execution, context compaction, observation handling, and delegated reading. On the 51-task EdgeBench evaluation, SoL-Pi achieves performance comparable to Pi across GPT-5.6 Sol and Opus 5 while reducing recorded token traffic by 44.7-49.0% and API cost by about one third. In other words, estimated hourly savings are \$8.75-\$13.50 relative to native Codex and Claude Code harnesses, and \$4.36-\$5.71 relative to Pi.

作者:

Run-Ze Fan, Zihao Zhang, Simin Ma, Yebowen Hu, Shouju Wang, Kaiqiang Song, Fei Liu, Hamed Zamani, Xiaoyang Wang

标题:

An Empirical Study of Harness Design for Coding Agents

Arxiv:

http://arxiv.org/abs/2609.20804v1

摘要:

Coding harnesses shape how autonomous coding agents translate model capabilities into long-horizon software-engineering performance, yet existing work typically evaluates harnesses as monolithic systems, leaving the effectiveness of individual components unclear. To enable component-level comparisons, we study this question with a lightweight coding harness whose execution loop is fixed while three components are varied: planning, action space, and context management. Across four models evaluated on SWE-Bench Verified and Terminal-Bench 2.1, we evaluate 176 matched settings spanning five context-management strategies, four context-window budgets, and targeted ablations of planning and action space. We find that: (1) Context management becomes increasingly valuable as the context-window budget tightens, with most of its benefit coming from preventing context-overflow failures. (2) Staging rule-based elision before LLM-based summarization provides the strongest overall efficiency among the context-management strategies, whereas making elided content recoverable adds machinery that models rarely use and yields no accuracy gain. (3) Planning shifts from an accuracy scaffold for weaker models to a cost saver for stronger models, with little change in accuracy. (4) Predefined tools improve performance for models with weaker bash proficiency, whereas bash-capable models can operate effectively with a bash-only interface and achieve substantially lower cost, especially on command-line-centric tasks. Trajectory-level analysis explains these effects: context management extends execution trajectories without substantially altering agent behavior, planning changes where trajectories stop, and the action space changes the granularity at which code is written. These findings inform model- and budget-aware harness design and provide a modular framework for evaluating future harness components.

作者:

DeepSeek-AI, Anyi Xu, B. Li, Bangcai Lin, Bing Xue, BingCheng Xian, Bingzheng Xu, Bochao Wu, Bowei Zhang, Boyi Deng, C.C. Yu, Chao Jin, Chaofan Lin, Chen Dong, Chenbing Wang, Chenfan Feng, Chengda Lu, Chenggang Zhao, Chengqi Deng, Chengyuan Zhang, Chenhao Xu, Chenqi Zhao, Chenze Shao, Chuhao Wang, Chuqi Zhang, Damai Dai, Dejian Yang, Deli Chen, Di Huang, Di Wu, Donghao Li, Erhang Li, Eric Fu, F. Zhou, Fangwei Zhou, Fangyun Lin, Fangzhou Yuan, Feiyu Xia, Fucong Dai, Guangbo Hao, Guanglin Li, Guanting Chen, Guoai Cao, Guofan Fan, Guolai Meng, Guowei Li, Haichuan Zhang, Haiyang Ma, Haiyang Shen, Han Li, Han Yu, Han Zhang, Hangyuan Deng, Hanwei Xu, Hanxiang Xu, Hanxun Zhong, Hao Guo, Hao Jiang, Hao Li, Hao Qin, Haodong Wen, Haofen Liang, Haofeng Huang, Haohua Liu, Haoling Zhang, Haoming Luo, Haoran Yang, Haotian Xu, Haotian Yuan, Haoting Huang, Haowen Luo, Haoyang Cai, Haoyu Chen, Haozhe Ji, Hengran Zhang, Hengrui Wang, Hengxu Wu, Honghui Ding, Hongxuan Tang, Huadong Wang, Huanqi Cao, Huazuo Gao, Hui Qu, Hui Zeng, J. Yang, J.H. Jin, J.H. Zhang, J.X. Zou, Jia Yu, Jiahui Zhou, Jiajun Chen, Jialiang Huang, Jialin Zhao, Jiamin Tang, Jian Zhou, Jianan Tong, Jianwen Li, Jiaqi Zhu, Jiarui Wang, Jiasheng Ye, Jiashi Li, Jiaxin Xu, Jiaying Ding, Jibai Lu, Jiewen Hu, Jin Yan, Jincheng Zhai, Jingchang Chen, Jingcheng Hu, Jingli Zhou, Jingsheng Xu, Jingting Xiang, Jingyan Yun, Jingyang Yuan, Jingyuan Cheng, Jinhua Zhu, Jinpeng Wang, Jinyi Chen, Jinyi Hu, Jiping Yu, Jueliang Guo, Junbo Pei, Junbo Sun, Junguang Jiang, Junjie Qiu, Junkang Zhou, Junqi Liu, Junren Li, Junxian Li, Junxiao Song, Junyi Guo, Kai Dong, Kaifeng Chen, Kaige Gao, Kang Guan, Kangdong Yuan, Ke Hong, Ke Xu, Kefan Zhao, Kexin Ji, Kexin Zhang, Kexing Zhou, Kuai Yu, Lan Zhang, Lean Wang, Lecong Zhang, Lei Wang, Letian Gao, Liang Zhao, Liansheng Xu, Lihua Guo, Lingxiao Luo, Lingyue Fu, Litao Deng, Litong Wang, Liyue Zhang, Longhao Chen, Lu Chen, Luotian Huang, Luyao Ma, Luyao Wang, M.S. Di, Max Mei, Menghao Ye, Miao Cui, Mingchuan Zhang, Minghua Zhang, Minghui Tang, Mingjing Zhang, Mingqi Wei, Mingshu Chen, Mingxing Liu, Mingxu Zhou, Mingyu Xu, Mingyu Yang, Mingze Wang, Muyang Chen, Ni Shentu, Ning Wang, Niufang Ning, Panpan Huang, Peixin Cong, Peiyi Wang, Peiyuan Xin, Pengfei Ren, Pengfei Yan, Pengle Zhang, Qi Kang, Qi Tang, Qiancheng Wang, Qiang Li, Qihao Zhu, Qingyang Li, Qinyu Chen, Qiushi Du, Qizhou Guo, Rongxian Xu, Rui Ding, Rui Hu, Rui Tian, Rui Yu, Ruidong Zhu, Ruifan Xu, Ruihan Yang, Ruihang Xia, Ruijie Lu, Ruilin Geng, Ruipeng Hong, Ruiqi Ge, Ruisong Zhang, Ruize Sun, Ruizhe Pan, Runji Wang, Runqian Chen, Runxin Xu, Ruohong Tian, Ruomeng Shen, Ruoyu Zhang, Ryan X., S.H. Liu, Shanghao Lu, Shangyan Zhou, Shanhuang Chen, Shaofei Cai, Shaoheng Nie, Shaoyuan Chen, Shengding Hu, Shengkai Lin, Shengwen Ran, Shengyu Liu, Shengyuan Jia, Shi Bai, Shi Feng, Shicheng Xu, Shichun Liu, Shiqiang Hu, Shirong Ma, Shiyu Wang, Shiyuan Feng, Shufan Gong, Shuhan Lin, Shuiping Yu, Shunfeng Zhou, Shuo Yang, Shuomeng Wang, Shuting Guo, Shuting Pan, Shuying Yu, Sinuo Cao, Siyi Lin, Sizhe Chen, Songyang Chen, Songyang Zhou, Tao Ni, Tao Yun, Tian Jin, Tian Pei, Tian Ye, Tianle Lin, Tianran Ji, Tianyi Cui, Tianyuan Yue, Tingting Yu, Tongrui Xiong, Wangding Zeng, Wei Liu, Wei Zhang, Weibin Xu, Weihao Zeng, Weilin Zhao, Wen Liu, Wenfeng Liang, Wenjie Pang, Wenjing Luo, Wenjing Yao, Wenjun Gao, Wenkai Shao, Wenkai Yang, Wenli Zhang, Wenlu Wang, Wenlve Huang, Wenqian Yan, Wentao Zhang, Xi Gao, Xiang He, Xiang Li, Xiangli Li, Xiangwen Wang, Xiangying Zhang, Xiankui Wei, Xiao Bi, Xiaodong Liu, Xiaohan Wang, Xiaojian Qu, Xiaokang Chen, Xiaokang Zhang, Xiaotao Nie, Xiaoyao Zou, Xiaoyuan Li, Xicheng Guo, Xieting Chu, Xin Cheng, Xin Liu, Xin Xie, Xinbo Xu, Xingchao Liu, Xingchen Liu, Xingkai Yu, Xingyou Li, Xintong Yao, Xinyang Chen, Xinyong Jiang, Xinyu Yang, Xinyu Yang, Xu Chen, Xuanyu Wang, Xubei Zhong, Xuecheng Su, Xuejie Liu, Xuheng Lin, Xujie Fan, Xuncheng Zhao, Xuwei Fu, Y.C. Yan, Y.H. Jiang, Y.T. Wu, Y.W. M., Y.Z. Wang, Yafei Gao, Yang Yang, Yang Zhang, Yanru Ma, Yanwen Huang, Yao Li, Yao Li, Yao Meng, Yao Zhao, Yaofeng Sun, Yaohui Wang, Yaoyang Ye, Yehang Yin, Yexinrui Wu, Yi Qian, Yi Tao, Yi Yu, Yichao Zhang, Yichen Jiang, Yicheng Wang, Yifan Ding, Yifan Shi, Yifeng Peng, Yifeng Zhai, Yijia Wu, Yiliang Xiong, Yilun Wang, Ying He, Ying Zhou, Yingjia Luo, Yinmin Zhong, Yiping Wang, Yisong Wang, Yixiang Zhang, Yixiao Chen, Yixuan Tan, Yixuan Wei, Yiyang Ma, Yiyao Yang, Yiyuan Liu, Yizai Cai, Yizhen Wei, Yizhi Wang, Yonglun Yang, Yongqi Zhuo, Yongqiang Guo, Yongtong Wu, Yu Wu, Yu Zhang, Yuan Bian, Yuan Cheng, Yuan Ou, Yuan Sun, Yuanfan Xu, Yuanhang Sun, Yuanhao Li, Yuchen Liu, Yuchen Yao, Yudong Han, Yuduan Wang, Yuhan Wu, Yuhao Meng, Yuheng Zou, YuKun Li, Yunchuan Wang, Yunfan Xiao, Yunfan Xiong, Yupeng Chen, Yuqian Cao, Yuqian Wang, Yuqing Chen, Yushun Zhang, Yutong Lin, Yuwei Xiao, Yuxian Gu, Yuxiang Chen, Yuxiang Huang, Yuxiang Luo, Yuxiang You, Yuxin Chen, Yuxin Xiang, Yuxuan Liu, Yuxuan Zhou, Yuyang Zhou, Yuzhe Guo, Yuzhen Huang, Yuzhuo Bai, Z.Y. Z., Zanlin Ni, Zehao Wang, Zehua Zhao, Zehui Ren, Zejun Zhao, Zhangli Sha, Zhanying Wang, Zhaochen Zhang, Zhaoshuai Du, Zhe Fu, Zhean Xu, Zhenda Xie, Zheng Liu, Zhengyan Zhang, Zhenhua Dong, Zhewen Hao, Zhibang Wang, Zhibin Gou, Zhicheng Ma, Zhihao Li, Zhihong Shao, Zhihuan Huang, Zhijie Li, Zhirui Lu, Zhixian Huang, Zhixuan Chen, Zhixuan Chen, Zhixuan Pan, Zhiyu Wu, Zhizhou Ren, Zhu He, Zhuoshu Li, Zhuping Zhang, Zian Xu, Zihao Wang, Zihui Gu, Zijia Zhu, Zili Zhang, Zilin Li, Zilong Hou, Zilong Lyu, Ziqiao Wang, Ziwei Xie, Ziya Zhang, Ziyi Gao, Zizheng Pan, Zonglin Li, Zongqing Yao, Zui Chen, Zuofan Wu, Chenchen Ling, Chengyu Hou, Chong Chen, D. Li, Di Qi, Dongjie Ji, Fang Wei, Fanyi Xia, Fei Xie, Feiyi Tan, Hailong Guo, Haiyan Zhai, Hui Zhou, Huihui Tan, Huijie Li, Jia Luo, Jia Song, Jialu Cai, Jian Liang, Jiangting Zhou, Jiaqi Gao, Jiayi Shao, Jie Chen, Jieyu Yang, Jin Chen, Jingde Zhang, Jingzi Zhou, Jinqian Wang, Jinyang Liu, JinZhao Sun, Junhua Ling, Junmin Zheng, Kaicheng Yang, Ke Xu, Le Su, Leyi Xia, Liangfeng Ding, Lin Zhuo, Linwang Ma, Linyan Zhu, Liyu Cai, Luqi Yao, M.K. Zhang, Meng Li, Miao Lin, Miaojun Wang, Min Zhang, Mingming Li, Mingming Wang, Mingze Yin, Minmin Han, Nan Cao, Ning Wang, Ningxin Ma, Panpan Wang, Peihan Lin, Peng Sun, Peng Zhang, Qian Ying, Qiang Xiang, Qiao Wang, Qingmiao Mao, Qiwei Jiang, Rongli Jin, Ruyi Chen, Sha Tao, Shangmian Sun, Shaoqing Wu, Shichao Zou, Si Lei, Tianyang Zhang, Tianyu Sun, Tingting Yin, W.L. Xiao, Wei An, Wei Li, Wei Wang, Weiwei Lin, Wenqing Hou, X. Lin, Xiangfei Meng, Xianzhu Huang, Xiao Peng, Xiaoqian Li, Xiaoting Zhang, Xiaowen Sun, Xiaoxiang Wang, Xiaoyu Ye, Xinrou Zhang, Xinyu Zhang, Xue Cao, Xueyin Chen, Yanan Zhou, Yanhong Xu, Yao Xia, Yao Xu, Yi Shao, Yihong Zhang, Yiling Ma, Ying Tang, Yining Lou, Yiru Chen, Yishi Piao, Yixuan Chen, Yong Xiong, Yuchen Xuan, Yuehan Yang, Yuer Xu, Yukun Zha, Yunxian Ma, Yuping Lin, Yuting Yan, Yutong Xie, Yuwen Sheng, Yuxuan Zhu, Zekai Zhang, Zhe Ju, Zhenzhen Lin, Zheren Gao, Zheyang Sun, Zhigang Yan, Zhongyu Wu, Zi Wang, Zihua Qu, Ziling Yan, Ziyi Wan, et al. (492 additional authors not shown)

标题:

DeepSeek-V4.1-Flash: Pushing the Limits of KV Cache Compression

Arxiv:

http://arxiv.org/abs/2609.19969v1

摘要:

The widespread adoption of long-horizon agents has made model workloads increasingly input-heavy. Although prior work has substantially reduced the cost of long-context computation, prefill remains computationally expensive, and large KV caches continue to strain HBM and SSD capacity and data-transfer bandwidth. Together, these compute, storage, and bandwidth demands constitute...

作者:

Taoyong Cui, Zhongyao Wang, Xinyue Xu, Weiyang Liu, Zhaochen Yu, Yuying Zhang, Qiang Gao, Mengyue Yang, Wanli Ouyang, Pheng Ann Heng, Yingcheng Wu, Zhenfei Yin, Ling Yang

标题:

JEPA-Anything: Learning Predictive Models across Different Worlds

Arxiv:

http://arxiv.org/abs/2609.20800v1

摘要:

World modeling enables intelligence to anticipate consequences, guide interventions, and learn from interaction. Yet predictive models remain domain-specific: can a common learning principle support world modeling across radically different systems? We introduce JEPA-Anything, a domain-agnostic framework based on orthogonal predictive factorization (OPF). Extending joint-embedding predictive architectures, OPF decomposes latent targets into complementary factors, learns them through dedicated pathways, and recombines them within a shared predictive design. We evaluate JEPA-Anything across seven domains: vision, biology, clinical trajectories, control, molecular dynamics, physical fields, and weather. Experiments span representation learning, intervention prediction, out-of-distribution generalization, and long-horizon dynamics, including 10 matched dynamics tasks, forecasting of over 1,000 clinical events, and 100-step molecular rollouts across four systems. Against matched JEPA baselines, JEPA-Anything improves reported metrics on all 10 dynamics tasks and reduces single-intervention prediction error on Interventional Pong by 34.8%. It achieves the lowest one-step and 100-step molecular errors among compared methods in all four systems. Beyond prediction, a factor-nominated biological intervention receives experimental support in cell co-cultures, patient-derived organoids, tumor fragments, and mice; latent orbital modes recover the Keplerian scaling exponent with a fitted slope of -1.4991. These results support a common factorized predictive principle across heterogeneous worlds, connecting world modeling with intervention and experimentally grounded scientific discovery. Code: https://github.com/Gen-Verse/JEPA-Anything

作者:

Hejia Geng, Zesen Huang, Haoyang Li, Wenbin Li, Koutian Wu, Zihan Zhou, Yuanbo Pang, Weihao Liu, Zigong Xu, Zhiping Li, Zongzheng Zhang, Chuanfei Dong, Jiankai Sun, Tianzhe Zheng, Fengyu Xie, Yue Ma, Yueheng Shi, Tong Xie, Zonglin Di, Xianrong Liu, Qucheng Gao, Yimin Liu, Jiaming Pan, Sheng Huang, Xiao-Han Ma, Lanqing Yuan, Zhenlin Zhu, Ziang Liu, Ziyang Xu, Junkai Wang, Kangkai Liang, Jiayi Xian, Zehong Zhao, Liuwei Xu, Jingxu Xie, Peijin Zhang, Qiang Gao, Chengyi Xing, Zhe Zhao, Xi Wang, Yaopeng Xing, Xing Meng, Zhenfei Yin, Yingcheng Wu, Ling Yang

标题:

ScienceIDE: Turning World's Scientific Codebase into Agent Learnable Environments

Arxiv:

http://arxiv.org/abs/2609.19134v1

摘要:

Scientific code repositories encode decades of human knowledge in executable models, methods, and tools. Yet fragmented toolchains, implicit domain conventions, and specialized correctness criteria make this knowledge difficult to convert into reliable learning experience-a challenge we call the scientific experience bottleneck. We introduce ScienceIDE, infrastructure for turning the world's scientific code into programmable environments for scientific agents. Guided by expert-defined scientific cases and acceptance criteria, agents transform repositories into executable environments that support task generation, execution, and scientific verification. These environments provide a shared foundation for supervised fine-tuning, reinforcement learning, and evaluation. Using verified interaction trajectories, we train PhAI-IDE-72B, PhAI-IDE-9B, and PhAI-IDE-4B. The model family shows gains in held-out scientific-code repair and across selected general-purpose benchmarks in code, reasoning, and knowledge, providing evidence of positive transfer from scientific experience to broader capabilities. ScienceIDE lays the foundation for an integrated workspace for agent learning and scientific practice, making humanity's scientific software a shared substrate for developing scientific intelligence. Code: https://github.com/aitofound/ScienceIDE

作者:

Jeonghye Kim, Minseon Kim, Young Jin Kim, Matheus Pereira, Marc-Alexandre Côté, Alessandro Sordoni, Xingdi Yuan, Zhengyan Shi

标题:

ProgramDistill: From Interactive Web Apps to Verifiable Reference-Guided SWE Tasks

Arxiv:

http://arxiv.org/abs/2609.18805v1

摘要:

Coding agents are typically evaluated with desired behavior specified through issues or instructions. In practical web development, however, agents may need to infer behavior from working software and implement it in an incomplete application. We introduce ProgramDistill, a benchmark evaluating coding agents on features discovered through interaction with fully functional reference applications. We build ProgramDistill by factorizing applications into features of different granularities, each associated with replayable behaviors executable via its gold patch. Our pipeline, mine-craft-patch, discovers 1,975 replay-verified behaviors across 26 applications and constructs 4,063 tasks without human intervention. Across nine frontier coding agents, GPT-6 Astra and Claude Opus 5 achieve 49.2% and 28.8% success on cumulative workflows in full-application reconstruction. In partial-application reconstruction, success falls from 100% to 64.0% and from 96% to 32% as restoration depth increases from 1 to 8. ProgramDistill thus provides a scalable benchmark with controlled difficulty for evaluating and diagnosing coding agents, and a natural basis for future curriculum-based training.

作者:

Caiqi Zhang, Xiaochen Zhu, Chengzu Li, Yulong Chen, Dharshan Kumaran, Nigel Collier

标题:

Confidence Comes from Experience: Experiential Confidence Estimation from Reasoning to Agents

Arxiv:

http://arxiv.org/abs/2609.17708v1

摘要:

Reliable confidence estimation is increasingly central to the trustworthy deployment of language models: a calibrated estimate of the probability that an output is correct decides what to ship, what to escalate, and what to retry. Existing confidence estimators, however, share one design premise: they only read the current inference process, either by introspecting on it, scoring its token probabilities, or resampling it. We argue that the current inference is not a sufficient basis for confidence. We propose XConf (eXperiential Confidence): estimating confidence together with the model's accumulated experience. The experience is stored as a record of the model's own graded past episodes, each holding the task, the model's reflection, its stated confidence, the outcome, and a lesson written once the grade arrived. Given a new task, XConf's Recall stage retrieves past episodes on similar tasks met with a similar stated confidence, and reads off their historical success rate; its Reflect stage shows the model this record, has it name its recurring failure mode, and restate a confidence now informed by its own track records. Our estimator is format-general, requiring no logit access or weight updates, and costs only one answer generation. Across nine benchmarks spanning reasoning, coding, multimodal QA, and interactive agents, and four models from three families, XConf beats or matches ten-sample self-consistency in discrimination (AUROC) on 23 of 24 comparisons, with much lower calibration error (ECE), at a tenth of the generation cost. Used for selective prediction, abstaining on the 10% least-confident episodes raises the delivered success rate by up to 8.7 points on agent tasks. We therefore see experiential confidence estimation as a new paradigm for future general-purpose confidence estimation.

作者:

Shijie Lian, Bin Yu, Zhaolong Shen, Xiaopeng Lin, Yichao Du, Zhirui Zhang, Laurence T. Yang, Kai Chen

标题:

ActionPiece: Rethinking Action Tokenization for Autoregressive Vision-Language-Action Models

Arxiv:

http://arxiv.org/abs/2609.18487v1

摘要:

Action tokenizers play a central role in autoregressive vision-language-action (VLA) models, determining both the targets for policy training and the executable commands recovered from predicted tokens. Their fidelity is commonly evaluated using pointwise reconstruction metrics such as mean squared error (MSE), yet small individual errors do not fully characterize how faithfully action adjustments across demonstrations are preserved. After compression, similar actions may still cluster around a representative motion, while the adjustments needed for different contexts are diminished, distorted, or even reversed. We introduce physical rank consistency (PRC) to measure how well tokenization preserves local physical distance rankings after reconstruction. Evaluating decoded actions provides a common reference across token vocabularies and decoder architectures, complementing pointwise accuracy with a measure of relational fidelity. We further present ActionPiece, which preserves physical action relationships through joint supervision of representation learning and quantization. Physical rank preservation supervises near-far ordering in encoder and quantized feature distances, while quantization regularization applies the same ordering to codeword assignment distributions. Both objectives augment reconstruction, producing discrete action tokens for standard autoregressive policy learning and execution through a frozen decoder. Under the same Qwen3-VL-4B policy training setup, ActionPiece achieves 94.8% on LIBERO and 68.8% on unseen LIBERO-Plus, with additional evaluations reaching 71.9% on SimplerEnv and 51.5% across VLA-Arena L0-L2. Component ablations show that the two objectives jointly improve PRC and policy success, demonstrating the value of physical relationship supervision for action tokenization.