Vision-Language-Action (VLA) models demonstrate strong semantic understanding yet exhibit systematic failures during deployment. The conditions under which these failures occur, and whether they can be corrected without retraining, remain poorly understood. In this paper, we take steps toward addressing this gap. We present CorrectVLA, a framework that translates task-level natural language corrections into additive action magnitude adjustments without modifying policy weights. A human provides a single task-level correction, applied uniformly across all rollouts without per-episode intervention. In simulation, CorrectVLA recovers execution misalignment failures across both in-distribution and OOD tasks. In real-robot experiments on a UFactory xArm7 under environment shift, CorrectVLA restores near-perfect success where the base policy almost entirely breaks down, generalizing across object locations and identities. Through a taxonomy of failure modes on LIBERO-90, we find that execution misalignment failures, where the policy reaches the correct target but miscalibrates action magnitudes, represent the correctable subset, while other failure modes where semantic comprehension itself breaks down are not amenable to this approach. The approach succeeds when policies possess strategic correctness and fails when fundamental comprehension is absent, establishing a practical operational boundary for inference-time correction.
Owen Kwon, Pablo Ortega-Kral, Arthur Bucker et al.· 0 citations
The key limitation of current state-of-the-art influence-based guardrails is that they do not reliably distinguish a legitimate, user-authorized action from a malicious, unauthorized action when both rely on external tool information. This ambiguity can cause benign actions to trigger unnecessary verification and intervention, reducing utility and adding latency. We expose this limitation through an authorization-equivalence audit of 96 conditions derived from 24 base cases. Within matched source comparisons, we hold authorization, the exact committed action, and its intended effect fixed, changing only whether a required value comes from the user or a legitimate tool result. Although the action remains unchanged, this harmless relocation shifts the causal signal toward the attack region in all 24 cases under both Llama and Gemma scorers. Matched unauthorized controls show that the signal remains attack-sensitive, yet the benign relocation produces a larger average score shift than the actual change in authorization. Architecture-level evaluation shows how this mismatch propagates through guardrail designs. With a semantic monitor, attack success is 0% and utility is 28%, compared with 16% and 60% without it. A shadow-based guardrail allows every tested harmless run, yet does not reject matched unauthorized actions more often overall: 57.5% of unauthorized runs pass automatically before reaching the later security check, compared with 29.2% of authorized runs. These results show that the studied causal signal reveals what shaped an action without reliably encoding whether the action was authorized, and that reference construction and routing are integral to the effective security decision.
Tanzim Ahad, Ismail Hossain, Md Jahangir Alam et al.· 0 citations
We present SynCrash, a multi-stage pipeline for zero-shot accident detection, spatial localization, and collision-type classification in fixed-view CCTV surveillance video. Our approach addresses the ACCIDENT at CVPR 2026 Challenge, which requires predicting when an accident occurs, where in the frame the impact happens, and what type of collision it is, all without access to labeled real-world training data. The pipeline operates in three decoupled stages: (1) Temporal localization via a VideoMAEv2-giant backbone fine-tuned on CARLA-based synthetic clips with metadata-aware embeddings and dense sliding-window inference; (2) Spatial localization using YOLO for object detection combined with a physics-informed hybrid heuristic that leverages bounding-box overlap and trajectory-based reasoning to predict the impact point; and (3) Collision-type classification using a lightweight rule-based strategy derived from the number and configuration of detected vehicles. The key insight is that temporal understanding benefits from supervised fine-tuning on synthetic data, whereas spatial understanding is better served by pretrained object detectors and physics priors that transfer naturally across domains.
Feed-forward 3D reconstruction models emit a per-pixel confidence that downstream systems read as a reliability signal. It is trained as a loss weight, not as an uncertainty magnitude, and whether it can be used as an error prediction has not been measured. We audit seven released backbones on thirteen datasets and score the confidence on four properties, how well it ranks error, whether its level is right on average, whether it holds across the confidence range, and whether its intervals cover the truth. The confidence ranks error well, but the predicted uncertainty is too low when it is read under conditions that are not exactly those of training. The median case is off by 2.4x across all seven models, and the error prediction is further off the more confident the model is. We show that this phenomenon can appear even though the loss's optimum is reached. A released model resumed under its own loss reaches that optimum on its training data within a few hundred updates and stays overconfident on unseen frames. A power law with two constants per backbone and dataset corrects the overall magnitude of the predicted uncertainty and leaves the ranking untouched. What no rescaling reaches is the scene, which we attribute to the model's missing knowledge of scale across predictions. Every correction we tried is close to right on average and still leaves two thirds of held-out scenes outside a five-point band, because what a scene is missing is a shape rather than a shift. We release the audit protocol, its results, and the fitted constants per model and dataset. Fitted with the target dataset held out, the constants bring the median case from 2.4x off to 1.35x, and a refit on a few labelled scenes of that dataset reaches 1.12x.
Nanxing Nick Deng, Qing Cheng, Niclas Zeller et al.· 0 citations
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Despite rapid advances in MIS, fair and reproducible comparisons of segmentation models remain challenging due to heterogeneous datasets, inconsistent evaluation protocols, and rapidly evolving architectures. In particular, comparisons often implicitly assume that model rankings are invariant to data partitioning, preprocessing, metric aggregation, uncertainty estimation, and computational constraints. The lack of extensible and unified evaluation frameworks further limits systematic investigation of new models, datasets, and training paradigms. We present MEDSEGBENCHMARKER (MSB), a configuration-driven framework for controlled benchmarking of 2D MIS. It integrates duplicate and near-duplicate image detection, group-aware data splitting, YAML study specifications, resumable training, hyperparameter optimization, cross-validation, and checkpoint-based evaluation. Rather than retaining only aggregate performance measures, MSB exports sample- and class-level pixel counts and predictions together with the evaluation context. These elementary artifacts enable post-hoc analyses without repeated inference. We demonstrate MSB in a case study involving three heterogeneous 2D datasets and multiple MIS and general-purpose vision models evaluated at 256- and 512-pixel input resolutions. Reaggregation of identical predictions changes the top-ranked architecture in three of six dataset-resolution settings, despite high rank correlations between aggregation strategies. Increasing input resolution produces model- and dataset-dependent performance gains and losses that must be considered alongside empirically measured inference complexity. These results show that seemingly minor choices in evaluation and experimental setup can affect benchmark conclusions. MSB, available at GitHub, provides a practical and extensible basis for making benchmark conditions and evaluation choices explicit and reproducible.
Vanessa Borst, Lukas Horn, Daniel Grillmeyer et al.· 0 citations
Repository exploration is a distinct and costly stage of coding-agent pipelines: before generating a patch, an agent must identify which repository files are likely to matter. We study whether this stage can be delegated to lower-cost models while retaining useful localization quality. Using our IssueLoc-Bench, we evaluate five explorer models under the same read-only interactive interface on 499 SWE-bench Verified-derived tasks and 500 tasks from 153 additional repositories. We measure early candidate discovery, top-three gold-file coverage, strict file-set recovery, agent time, and token usage, with paired instance-level uncertainty and repository-clustered sensitivity analysis. The highest-quality explorer leads across localization metrics, but substantially cheaper operating points emerge: depending on the model and evaluation arm, lower-cost explorers retain approximately 78-94% of the reference Hit@3 and 73-92% of its F1 while reducing mean agent time by 41-88% and token usage by 84-95%. The preferred operating point depends on how localization is consumed downstream: ranking and coverage metrics characterize recoverable candidate handoffs, whereas F1 and exact match characterize restrictive file gates. These results support treating repository exploration as an independently measurable and budgetable stage of modular coding agents, with explorer selection guided by the downstream handoff contract.
Retrieval-Augmented Generation (RAG) improves the factuality of large language models (LLMs), yet existing RAG systems often struggle with complex, multi-step reasoning that requires adaptive retrieval and continuous revision of intermediate contexts. Recent reinforcement learning (RL)-based agentic RAG methods partially alleviate this issue, but typically rely on coarse-grained action spaces and trajectory-level rewards, resulting in weak reward assignment and a bias toward short-horizon, stereotyped reasoning template. To address, we propose AgenticRag-R1, a RL framework that deeply integrates reasoning, retrieval, and memory via a memory stack and fine-grained action space, supported by hierarchical action-aware rewards and an information-aware trajectory rejection strategy to enable effective long-horizon learning. Experiments across a diverse set of multi-hop, open-domain, and agentic reasoning benchmarks, spanning multiple backbone model sizes, demonstrate that AgenticRag-R1 consistently outperforms strong baselines. Moreover, AgenticRag-R1 learns more robust, interpretable, and memory-aware reasoning behaviors, highlighting the effect of fine-grained action modeling and information-aware optimization for long-horizon reasoning. Our code is anonymous available at https://github.com/jiangxinke/Harness-RL/tree/AgenticRAG-R1-Whitebox.
Xinke Jiang, Yue Fang, Zhibang Yang et al.· 1 citation
Long-horizon story-driven video generation requires a production agent to coordinate narrative decomposition, state tracking, shot design, prompt construction, rendering, and revision across interdependent scenes. Existing adaptive video systems primarily refine requests or reusable skills, leaving recurring production failures disconnected from persistent, stage-targeted improvements across stories. We introduce CineForge, a self-evolving video-production agent framework that couples CineForge-Produce for video generation with CineForge-Evolve for cross-story policy evolution. CineForge-Produce organizes each source story into typed narrative, character, spatial, and cinematic states, uses them to coordinate asset and clip generation, and records the process as a canonical production trajectory. CineForge-Evolve applies Case-to-Pattern-to-Policy Evolution (CPPE) to review trajectory evidence, consolidate recurrent findings into bounded stage-local patches, and deploy validated updates through structural replay and confidence-controlled paired evaluation. To measure complete story realization, we introduce CineScope, which combines a 100-script CineScope-Data suite with a human-aligned, multiscale CineScope-Metric spanning causal state, directorial orchestration, pacing and resource allocation, and character arc. Across CineScope-Data and two public benchmarks, the evolved CineForge policy improves CineScope-Metric from 4.024 to 4.380, outperforms three long-video baselines with consistent gains under ScriptAgent, and reduces review LLM calls by 37.0% on new stories. These results establish production trajectories as actionable experience for video agents that improve cumulatively across long-form storytelling tasks.
Jun-Xiang Liu, Lin Wang, Haitian Shi et al.· 0 citations
Text-to-spatial audio generation, such as text-to-First-Order Ambisonics (FOA), provides a convenient way to create spatial audio for billion-dollar gaming and film industries. However, existing text-to-FOA methods are largely data-driven and may produce audio that violates acoustic relations between source direction and distance. They also separate descriptive and parametric control, forcing users to trade usability for precision. In this paper, we present PhysWave, a physics-guided latent diffusion model for controllable text-to-FOA generation. PhysWave unifies natural-language and trajectory control through a shared waypoint-caption representation, and augments diffusion training with two differentiable acoustic priors: spherical-harmonic direction consistency and inverse-square distance consistency. To support dynamic spatial generation, we further construct a 300K-clip FOA dataset with diverse sound categories and source trajectories. Extensive results show that the proposed priors help PhysWave generate spatially consistent FOA audio while maintaining competitive audio quality. Further analyses show that these physics priors improve spatial consistency during training and can also be used as inference-time guidance for training-free spatial refinement.
Lingfeng Yao, Chenpei Huang, Xingke Yang et al.· 0 citations
Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks without tracking task progress, so the agent cannot reliably decide whether to continue, retry, or terminate. External memory is a natural remedy, yet it can be harmful when attempted actions are treated as completed progress, turning local execution errors into persistent task-state errors. We propose Achievement-Grounded Memory (AGM), a lightweight closed-loop framework for frozen VLA policies that represents a task as a subgoal sequence with a progress pointer and advances this memory only after the current subgoal is verified by physical evidence. Proprioceptive interaction cues decide when to verify, while coherent point tracking and language-conditioned cross-view comparison, sourced from frozen foundation models through a single 2.43M-parameter verification head, decide what was achieved. AGM thereby converts open-loop execution into a closed loop of execution, verification, and progress, keeping the policy frozen without test-time large-model inference. On the RoboMME Counting benchmark, AGM reaches on PickXTimes and on BinFill, surpassing the strongest memory-augmented baseline by points on average, and the framework yields equally decisive gains on a physical robot. Reliable embodied memory thus depends more on disciplined state updates than on memory capacity.
Infectious disease transmission is shaped by patterns of human interaction, which adapt as epidemic conditions change. Capturing these context-dependent behaviors remains a fundamental challenge for epidemic models. Here, we recast this challenge by using large language models (LLMs) to represent adaptive human behavior within mechanistic epidemic models. We operationalize this idea through Generative Adaptive Behavioral Layer for Epidemics (GABLE), which adapts LLMs to infer behavioral responses to epidemic and policy conditions and translates them into age-structured contact matrices coupled to a mechanistic epidemic model. Applied to COVID-19 in France, GABLE reproduced responses in population mixing and age-specific contact structures that remained epidemiologically informative. In short-term forecasting, LLM-generated contact matrices outperformed mobility-driven matrices derived from real-world mobility data, with the largest gains at longer horizons. GABLE also extends beyond forecasting to prospective policy evaluation by projecting behavioral and epidemic responses to candidate interventions before implementation. When supplied with subsequently implemented policies, GABLE reproduced epidemic trajectories and generated distinct responses to alternative policy timing and composition. By leveraging LLMs as a flexible behavioral layer, GABLE provides a framework for coupling context-sensitive behavioral generation with epidemic dynamics.
Yicheng Mao, Haoyang Li, Rob Deardon et al.· 0 citations
Multi-agent systems in the real-world (e.g., drone swarms, autonomous cars, warehouse robots) must satisfy rich, temporal tasks while avoiding collisions. Signal Temporal Logic (STL) elegantly encodes such objectives, but current STL planning methods face critical limitations. State-of-the-art optimization-based approaches can handle arbitrary STL specifications but struggle with scalability, becoming computationally impractical as the number of agents grows. Learning-based methods efficiently handle a large number of agents with rapid planning times but fare poorly when deployment-time objectives differ from those used during training, and do not support planning tasks that require different specifications to be ascribed to different agents (i.e., heterogeneity) or team-level specifications requiring coordination of multiple agents. This fundamental trade-off between generalizability and scalability presents a challenge for realizing multi-agent STL planning algorithms in practice. To overcome this challenge, we introduce a new diffusion method for multi-agent planning with STL specifications. Using a differentiable approximation of STL, we integrate the STL gradient in the denoising process, making our approach generalizable to novel formulas whose predicates are placed anywhere within the goal region covered during training, while achieving the same scalability as existing learning-based methods. Our method supports heterogeneous specifications, and by using diffusion models, naturally enhances plan diversity, thereby significantly reducing safety-related violations (e.g., collisions) among agents. A detailed evaluation study justifies the utility of STL-guided diffusion-based multi-agent planners for constructing generalizable, scalable, and diverse plans. Videos and code are available at https://www.jeappen.com/diff-ma-stl/ and https://github.com/jeappen/diff-ma-stl .
Joe Eappen, Zikang Xiong, S. Iyengar et al.· IEEE Robotics and Automation...· 0 citations
