AM-Bench: Understanding Agents under Task Underspecification across Models and Harnesses
Organizations: Tongji University · The Chinese University of Hong Kong, Shenzhen
Abstract
Ambiguous or incomplete task specifications complicate both execution and clarification for language-model agents. Yet agents' responses to these information gaps remain poorly characterized across models and execution harnesses. We present AM-Bench, a benchmark built from 48 tasks adapted from Terminal-Bench 2.0 and Harness-Bench. Each task includes a fully specified reference and six variants spanning ambiguous or missing goals, context, and constraints. We evaluate every pairing of five models and four harnesses over 20,160 runs. Our results reveal distinct execution deficits: goal gaps hinder completion, context gaps increase token use, and constraint gaps weaken compliance without necessarily preventing completion. Missingness lowers success more than ambiguity in all three domains. These effects also reshape system comparisons: advantages under complete information need not persist, and rankings depend on model harness pairings and the evaluation criterion -- completion, success, or repeat consistency. Estimates based on observed clarification requests and matched fully specified runs further suggest that clarification could recover unfinished work while leaving most constraint violations unresolved. Together, these findings motivate joint model-harness evaluation across information conditions and targeted clarification of unresolved requirements before dependent actions. To support future research on agents under task underspecification, we provide the AM-Bench project repository at https://github.com/s4-lab-cuhksz/AM-Bench.git.
Figures & tables
| Domain | Full specification | Ambiguous (A) | Missing (M) |
|---|---|---|---|
| Goal (G) | Intended final state, deliverables, and completion requirements. | GA: A broad goal or candidate outcomes allow multiple reasonable interpretations of the final result. | GM: The final goal, deliverable, or completion requirement is unspecified. |
| Context (C) | Entities, inputs, environment, and operational information for producing or submitting the required result. | CA: Entity, source, or execution cues leave the relevant scope or context open to multiple interpretations. | CM: A broad goal remains, but key entity, source, or operational information is absent. |
| Constraint (K) | Permitted actions, access and approval rules, and preservation requirements. | KA: Restrictions or conditional permissions leave their scope, applicability, or access boundary open to interpretation. | KM: Relevant restrictions or authorization requirements are unstated. |
| Cond. | Observed execution | Clarification opportunities | ||||||
|---|---|---|---|---|---|---|---|---|
| Completion | Compliance | Success | Tok. (k) | Completion | Compliance | Success | Tok. (k) | |
| Full | 77.0 | 98.7 | 76.5 | 106.9 | — | — | — | — |
| GA | 25.9 | 94.3 | 25.0 | 126.7 | 32.5 (+6.6) | 95.0 (+0.7) | 31.6 (+6.6) | +1.6 |
| GM | 13.8 | 92.5 | 12.5 | 119.5 | 38.0 (+24.2) | 92.7 (+0.3) | 36.6 (+24.1) | +17.8 |
| CA | 30.4 | 91.7 | 27.8 | 181.1 | 36.8 (+6.4) | 92.2 (+0.5) | 34.4 (+6.6) | -7.7 |
| CM | 21.0 | 91.9 | 19.4 | 166.0 | 30.6 (+9.6) | 92.6 (+0.7) | 29.1 (+9.6) | -0.6 |
| Success | Models | Harnesses | |||||||
|---|---|---|---|---|---|---|---|---|---|
| DS-Flash | DS-Pro | GPT-Luna | GPT-Sol | GLM-5.3 | Codex | NanoBot | NullClaw | OpenClaw | |
| Mean | 24.8 | 19.5 | 13.6 | 17.0 | 23.7 | 22.2 | 16.2 | 19.9 | 20.7 |
| 39.9 | 32.4 | 21.0 | 23.9 | 36.1 | 36.1 | 26.0 | 28.1 | 32.4 | |
| 11.0 | 8.5 | 7.1 | 10.3 | 12.3 | 9.7 | 7.6 | 12.1 | 10.0 | |
Appendix figures & tables26 assets
Supplementary material from the paper’s appendix.
Appendix
| Work | Cond. Grouping | Target | Completion | Efficiency | Risk | Clarification |
| Agent execution performance | ||||||
| Terminal-Bench 2.0 | – | Part. M H | – | – | ||
| Harness-Bench | – | Full M H | – | |||
| Agent execution risks | ||||||
| ToolEmu | Ungrouped | M | – | Rubric | ||
| UnderSpecBench | Grouped | Part. M H | – | Requests | ||
| Code | Workflow | Assignment rule | |
|---|---|---|---|
| DP | Data processing & reports | Aggregate, reconcile, or structure records and tabular data. | 8 |
| DM | Documents & media | Synthesize, review, map, or transform documents and media. | 7 |
| CP | Communication & planning | Schedule, coordinate, communicate, or produce an ordered work plan. | 8 |
| FR | Files & repositories | Extract, transform, retrieve, or check files; produce shell artifacts or repository changes. | 8 |
| SD | Service setup & deployment | Initialize or configure permissions, cloud resources, deployments, or services. | 4 |
| SR | Software & environment repair | Repair code, dependencies, networking, or processing pipelines. | 7 |
| Task identifier | Src. | Class | Upstream identifier |
|---|---|---|---|
| analyze_access_logs | TB | DP | analyze-access-logs |
| bank_trans_filter | TB | DP | bank-trans-filter |
| financial_document_processor | TB | DP | financial-document-processor |
| jsonl_aggregator | TB | DP | jsonl-aggregator |
| log_summary_date_ranges | TB | DP | log-summary-date-ranges |
| multi_source_data_merger | TB | DP | multi-source-data-merger |
| Harness | Version | Settings |
|---|---|---|
| Codex | 0.144.4 | Non-interactive execution; approvals and sandbox bypassed; writable workspace; task MCP server registered by URL. |
| NanoBot | 0.2.2 | Host networking; writable workspace; MCP over streamable HTTP with a configured URL allowlist. |
| NullClaw | 2026.5.29 | Memory disabled; workspace-only autonomy; allowed Python commands; host networking; MCP over HTTP with a 300-second timeout. |
| OpenClaw | 2026.7.1 | Prior configuration, authentication profiles, and sessions cleared before initialization; writable workspace; MCP tool allowlist applied when supplied. |
| Run | Excerpt and interpretation | |
|---|---|---|
| GLM-5.3 Codex; access logs, GM, run 1 | 1 | “No concrete goal… Please specify…” Requests the missing objective. |
| GPT-Sol Codex; bank filtering, CM, run 1 | 1 | “Which company should I identify transactions for, and where should I write the sorted JSON output? Please also provide the desired JSON schema or sort key if predefined.” Requests the target, destination, and output format. |
| GPT-Sol Codex; bank filtering, Full, run 1 | 0 | “Completed successfully…” Reports completion without requesting information. |
| GLM-5.3 NanoBot; bank filtering, GM, run 3 | 1 | “To proceed, please provide the three missing pieces…” The complete final message requests the goal, deliverable, and final action after reporting an initial inspection. |
| Condition | Completed | Not completed | Success change (pp) | ||
|---|---|---|---|---|---|
| Compliant | Noncompliant | Compliant | Noncompliant | ||
| Full | 76.5 | 0.5 | 22.2 | 0.8 | — |
| Goal–Ambiguous | 25.0 | 0.9 | 69.4 | 4.7 | |
| Goal–Missing | 12.5 | 1.3 | 80.0 | 6.3 | |
| Context–Ambiguous | 27.8 | 2.6 | 63.8 | 5.8 | |
| Context–Missing | 19.4 | 1.6 | 72.5 | 6.5 | |
| Condition | Token use (k) | Mean turns | Timeout rate | ||
|---|---|---|---|---|---|
| Mean | Median | 90th percentile | |||
| Full | 106.9 | 74.3 | 195.2 | 7.22 | 3.9% |
| Goal–Ambiguous | 126.7 | 91.1 | 257.3 | 7.81 | 4.5% |
| Goal–Missing | 119.5 | 58.4 | 288.9 | 7.03 | 6.2% |
| Context–Ambiguous | 181.1 | 109.8 | 400.9 | 10.00 | 9.5% |
| Context–Missing | 166.0 | 102.6 | 374.4 | 9.28 | 7.1% |
| Condition | Alternative goal calls | Context distractor calls | Restricted tool calls | Sensitive data exposure | Missing final action | Failed output checks |
|---|---|---|---|---|---|---|
| Full | 4.9 | 1.2 | 0.7 | 0.7 | 3.6 | 3.8 |
| Goal–Ambiguous | 72.8 | 12.3 | 5.2 | 5.0 | 26.1 | 22.0 |
| Goal–Missing | 27.2 | 11.1 | 6.7 | 6.4 | 71.7 | 68.2 |
| Context–Ambiguous | 64.2 | 75.3 | 8.1 | 7.8 | 23.9 | 25.0 |
| Context–Missing | 67.9 | 54.3 | 11.9 | 11.3 | 37.7 | 25.0 |
| Constraint–Ambiguous | 51.9 | 29.6 | 57.0 | 54.6 | 5.1 | 5.3 |
| Information domain | Completion change (pp) | Compliance change (pp) | Success change (pp) | Mean token change (k) |
|---|---|---|---|---|
| Goal | ||||
| Context | ||||
| Constraint |
| Condition | Completion | Compliance | Success | |||
|---|---|---|---|---|---|---|
| At least once | All three | At least once | All three | At least once | All three | |
| Full | 85.2 | 68.0 | 99.6 | 97.2 | 85.0 | 67.0 |
| Goal–Ambiguous | 41.1 | 11.3 | 98.4 | 89.1 | 39.7 | 10.8 |
| Goal–Missing | 25.8 | 3.6 | 96.8 | 86.5 | 23.8 | 3.4 |
| Context–Ambiguous | 45.9 | 15.9 | 97.5 | 84.7 | 42.9 | 14.2 |
| Context–Missing | 36.1 | 8.3 | 98.6 | 82.9 | 34.3 | 7.2 |
| Condition | Tasks with lower Success (out of 48) | Median change (pp) | 25th–75th percentiles of change (pp) |
|---|---|---|---|
| Goal–Ambiguous | 48 | [-58.8, -41.7] | |
| Goal–Missing | 47 | [-75.8, -54.6] | |
| Context–Ambiguous | 47 | [-65.4, -29.6] | |
| Context–Missing | 48 | [-70.0, -44.6] | |
| Constraint–Ambiguous | 45 | [-71.7, -21.7] | |
| Constraint–Missing | 48 | [-91.7, -68.3] |
| Condition | Timeout count | Success excluding timeouts (%) |
|---|---|---|
| Full | 113 | 79.2% |
| Goal–Ambiguous | 131 | 26.1% |
| Goal–Missing | 178 | 13.2% |
| Context–Ambiguous | 273 | 30.8% |
| Context–Missing | 204 | 20.9% |
| Constraint–Ambiguous | 122 | 35.1% |
| Component | Success | Not completed | Noncompliant completion | |
| Timeout | Other | |||
| Models | ||||
| DS-Flash | 24.8 | 0.3 | 50.7 | 24.2 |
| DS-Pro | 19.5 | 17.5 | 47.1 | 15.9 |
| GPT-Luna | 13.6 | 0.1 | 64.1 | 22.1 |
| GPT-Sol | 17.0 | 1.2 | 59.6 | 22.2 |
| Condition | DS-Flash | DS-Pro | GPT-Luna | GPT-Sol | GLM-5.3 | |||||
|---|---|---|---|---|---|---|---|---|---|---|
| Full | 92.2 | 69.3 | 78.6 | 52.1 | 87.5 | 76.0 | 86.5 | 81.8 | 80.2 | 55.7 |
| Goal–Ambiguous | 51.6 | 15.1 | 39.6 | 13.0 | 24.0 | 2.1 | 30.7 | 12.5 | 52.6 | 11.5 |
| Goal–Missing | 27.6 | 1.0 | 37.5 | 6.8 | 13.0 | 1.0 | 18.8 | 6.8 | 21.9 | 1.6 |
| Context–Ambiguous | 63.5 | 20.8 | 42.2 | 3.6 | 27.6 | 13.0 | 30.2 | 15.6 | 51.0 | 17.7 |
| Context–Missing | 58.3 | 13.5 | 36.5 | 7.3 | 19.8 | 1.6 | 14.6 | 1.6 | 42.2 | 12.0 |
| Condition | Codex | NanoBot | NullClaw | OpenClaw | ||||
|---|---|---|---|---|---|---|---|---|
| Full | 86.7 | 75.4 | 90.0 | 68.3 | 84.2 | 65.0 | 79.2 | 59.2 |
| Goal–Ambiguous | 42.9 | 8.3 | 34.2 | 7.5 | 39.2 | 15.4 | 42.5 | 12.1 |
| Goal–Missing | 27.9 | 0.8 | 15.4 | 1.7 | 21.3 | 5.4 | 30.4 | 5.8 |
| Context–Ambiguous | 61.3 | 17.9 | 35.8 | 10.8 | 25.8 | 7.5 | 48.8 | 20.4 |
| Context–Missing | 40.0 | 5.4 | 28.3 | 6.3 | 33.3 | 12.1 | 35.4 | 5.0 |
| Model | Harness | Full Success | Underspecified Success | Current residual | Residual change from Full |
|---|---|---|---|---|---|
| DS-Flash | Codex | 83.3 | 26.0 | ||
| NanoBot | 81.3 | 23.5 | |||
| NullClaw | 74.3 | 24.9 | |||
| OpenClaw | 88.9 | 24.9 | |||
| DS-Pro | Codex | 68.8 | 19.1 | ||
| NanoBot | 81.3 | 15.2 |
| Model | Harness | Full Success | Constraint–Ambiguous | ||
|---|---|---|---|---|---|
| Completion | Compliance | Success | |||
| DS-Pro | Codex | 2/3 | 3/3 | 0/3 | 0/3 |
| DS-Pro | NanoBot | 3/3 | 3/3 | 2/3 | 2/3 |
| GPT-Sol | Codex | 3/3 | 3/3 | 3/3 | 3/3 |
| GPT-Sol | NanoBot | 3/3 | 2/3 | 3/3 | 2/3 |
| Condition | Harness comparison | Success difference (pp) | Models with higher Success | Tasks higher | Tasks tied | Tasks lower |
|---|---|---|---|---|---|---|
| Context–Ambiguous | Codex vs. OpenClaw | 4 | 23 | 13 | 12 | |
| Context–Ambiguous | Codex vs. NanoBot | 4 | 32 | 8 | 8 | |
| Context–Ambiguous | Codex vs. NullClaw | 5 | 35 | 6 | 7 | |
| Goal–Ambiguous | OpenClaw vs. Codex | 2 | 23 | 16 | 9 | |
| Goal–Missing | OpenClaw vs. Codex | 3 | 22 | 17 | 9 | |
| Goal–Missing | OpenClaw vs. NanoBot | 4 | 27 | 19 | 2 |
| Condition | Model SD | Harness SD | Mean absolute residual | Residual RMS( ) |
|---|---|---|---|---|
| Full | 7.73 | 4.62 | 7.9 | 9.43 |
| Goal–Ambiguous | 8.23 | 3.01 | 5.1 | 7.11 |
| Goal–Missing | 4.87 | 3.41 | 3.4 | 4.63 |
| Context–Ambiguous | 9.17 | 9.23 | 7.6 | 9.33 |
| Context–Missing | 9.52 | 2.56 | 4.7 | 6.03 |
| Constraint–Ambiguous | 4.69 | 5.22 | 4.5 | 5.19 |
| Condition | Tokens (k) | Noncompliant completion (pp) | ||
|---|---|---|---|---|
| Observed | Estimated | |||
| GA | 126.7 | 128.3 | ||
| GM | 119.0 | 136.7 | ||
| CA | 181.1 | 173.5 | ||
| CM | 165.6 | 165.0 | ||
| KA | 125.9 | 122.6 | ||
| Condition | Compliant non-completion | Sensitive-data exposure | ||
|---|---|---|---|---|
| With request | Without request | Completed | Not completed | |
| Full | 0.7 | 12.8 | 0.0 | 0.7 |
| GA | 6.4 | 57.4 | 0.7 | 4.3 |
| GM | 39.0 | 40.4 | 0.7 | 5.7 |
| CA | 3.5 | 43.3 | 3.5 | 4.3 |
| CM | 9.2 | 60.3 | 4.3 | 7.1 |
| Condition | Recovery | Coverage | ||||
|---|---|---|---|---|---|---|
| GA | 13.2% | 87.9% | 59.8% | 52.5% | 2.2% | 12.7% |
| GM | 31.8% | 95.2% | 80.3% | 76.4% | 0.9% | 37.0% |
| CA | 11.7% | 83.6% | 69.8% | 58.3% | 2.1% | 13.2% |
| CM | 15.6% | 89.8% | 70.1% | 63.0% | 1.1% | 16.5% |
| KA | 5.8% | 89.8% | 61.7% | 55.4% | 1.8% | 7.0% |
| KM | 4.9% | 100.0% | 64.8% | 64.8% | 0.0% | 4.2% |
| Cond. | M | H | M | H | M | H |
| All four harnesses: SDs of observed rates, gains, and changes from Full | ||||||
| Full | 1.57 | 2.99 | — | — | — | — |
| GA | 4.64 | 7.10 | 2.94 | 2.98 | 3.64 | 4.70 |
| GM | 7.98 | 11.98 | 6.32 | 8.55 | 6.56 | 9.81 |
| CA | 5.88 | 10.24 | 3.93 | 7.39 | 4.64 | 7.51 |
| CM | 4.46 | 7.42 | 3.10 | 3.89 | 4.77 | 5.77 |
| Component | Recovery | Coverage | |||
|---|---|---|---|---|---|
| Models | |||||
| DS-Flash | 24.8 | 35.5 | 15.9 | 68.8 | 18.4 |
| DS-Pro | 19.5 | 30.1 | 18.2 | 59.9 | 21.9 |
| GPT-Luna | 13.6 | 18.4 | 6.8 | 70.3 | 6.9 |
| GPT-Sol | 17.0 | 26.5 | 13.2 | 72.5 | 14.1 |
| GLM-5.3 | 23.7 | 32.4 | 15.0 | 60.1 | 18.5 |
| Model | Codex | NanoBot | NullClaw | OpenClaw |
|---|---|---|---|---|
| DS-Flash | 12.6/ / | 9.5/ / | 33.0/ / | 8.7/ / |
| DS-Pro | 8.9/ / | 13.4/ / | 47.3/ / | 3.0/ / |
| GPT-Luna | 7.2/ / | 4.6/ / | 10.0/ / | 5.6/ / |
| GPT-Sol | 13.1/ / | 9.6/ / | 10.5/ / | 19.4/ / |
| GLM-5.3 | 11.7/ / | 10.4/ / | 32.1/ / | 5.9/ / |
| Configuration | Goal | Context | Constraint | |||
|---|---|---|---|---|---|---|
| GA | GM | CA | CM | KA | KM | |
| DS-Flash Codex | 12.5/ | 24.3/ | 7.6/ | 13.9/ | 8.3/ | 9.0/ |
| DS-Flash NanoBot | 8.3/ | 30.6/ | 2.8/ | 9.0/ | 4.9/ | 1.4/ |
| DS-Flash NullClaw | 31.9/ | 61.8/ | 36.1/ | 27.8/ | 18.8/ | 21.5/ |
| DS-Flash OpenClaw | 6.9/ | 21.5/ | 9.7/ | 4.2/ | 6.3/ | 3.5/ |
| DS-Pro Codex | 12.5/ | 20.8/ | 7.6/ | 7.6/ | 1.4/ | 3.5/ |