Search research

Vision-Language Navigation (VLN) in unseen indoor environments is useful in real-world robotics, where an agent must follow natural-language instructions, locate objects, and answer spatial questions without a pre-built map or fixed object vocabulary. Multimodal vision-language models (VLMs) provide strong open-vocabulary grounding and zero-shot reasoning, but struggle to emit reliable metric quantities such as range, bearing, and comparative spatial relations directly from images. Existing approaches address this by folding geometry into hand-engineered pipelines or asking models to output waypoints, requiring changes to the control stack for different robots, tasks, or vocabularies. We introduce AnchorVLN, an open-vocabulary VLN system built on a simple rule: the VLM proposes semantics; geometry decides metrics. It is realised as EMBODIED-NAV-MCP, a Model Context Protocol (MCP) server driven by a VLM agent through a compact set of callable tools. Since no tool accepts distance in metres or bearing in radians, the schema enforces the semantic-geometry boundary without modifying the downstream autonomy stack. We benchmark both tasks of the CMU Vision-Language Navigation Challenge 2026: 30 instruction-following questions over 15 scenes and a frozen 45-question object-reference set. The full system achieves 64.4 percent on instruction following, dropping by 13.3 percentage points without controller modeling (t = 2.77). On object reference, geometric anchoring clears the challenge overlap threshold on 10 of 45 questions, versus 0 of 45 for direct coordinate estimation, reducing median center error from 3.37 m to 2.48 m.

Process twins provide real-time representations of entire production processes. By capturing how process steps interact, rather than monitoring a single machine in isolation as an asset-based digital twin does, they have the potential to drive efficiency gains across the whole process. However, developing a process twin is costly. It requires accurately modelling the entire production process: its process steps, the equipment and product-specific settings each step uses, and its process variations. The resulting model must then be bound to live operational data. We present FacProcessTwin, a system that leverages a large language model (LLM) to reduce this development time, building a process twin from a plant's process documentation and natural-language input from an operator. FacProcessTwin generates this complete process model and then automatically binds its process steps to live operational data. The generated model and its data bindings are rendered as an interactive process diagram through which manufacturing personnel can monitor and correct the system's autonomous decisions, such as resolving uncertainty at safety-critical binding steps. We evaluate FacProcessTwin through a real-world case study of an Australian food manufacturer, covering 16 production process flows that span chilled, frozen, and aseptic shelf-stable product categories and include process variations within the same product. The results show that FacProcessTwin generates these process models accurately (a mean F1 of 95.2% against ground truth) and builds each twin in roughly a sixth of the manual time. Its human-in-the-loop governance then keeps the safety-critical bindings correct: at ambiguous tags where a single-pass baseline silently mis-binds 75.0% of the time, FacProcessTwin defers to the operator and mis-binds none.

Large language models (LLMs) are increasingly evaluated in multilingual settings, yet their inference behavior in low-resource African languages remains underexplored especially under pure prompting without fine-tuning. We present a systematic study of prompting strategies for Natural Language Inference (NLI) in Swahili, Yoruba, and Hausa using the AfriXNLI benchmark. We evaluate five prompting strategies Baseline (zero-shot), Script-Aware, Language Specific, Contrastive, and Native-Label Self-Translation (NL-STP) across two mid-sized open weight models (Llama3.2-3B and Gemma3-4B). To isolate the effect of prompt design, the effect of few-shot examples and Chain-of-Thought reasoning is eliminated in our study. We find a significant difference in performance of class wise across strategies with highly neutral class collapse and high prediction skew in some configurations. Contrastive prompting proves to be the most reliable and steadily improving strategy over language and model and has better balance of class behavior and balance of overall accuracy gains. Notably, well-constructed prompts are sufficient to beat more powerful baselines that are provided with few-shot prompts and Chain-of-Thought prompts. We have found that prompt formulation is essential to multilingual NLI with low-resource languages and that language aware decision structuring can be used to meaningfully enhance robustness in resource challenged settings.

Language-guided segmentation transcends the scope limitations of traditional semantic segmentation, enabling models to segment arbitrary target regions based on natural language instructions. Existing approaches typically adopt a two-stage framework: employing Multimodal Large Language Models (MLLMs) to interpret instructions and generate visual prompts, followed by foundational segmentation models (e.g., SAM) to produce masks. However, due to the limited spatial grounding capabilities of off-the-shelf MLLMs, these methods often rely on extensive training on large-scale datasets to achieve satisfactory accuracy. While recent advances have introduced reasoning mechanisms to improve performance, they predominantly operate within the textual domain, performing chain-of-thought reasoning solely based on abstract text representations without direct visual feedback. In this paper, we propose Seg-Agent, a completely training-free framework that pioneers Explicit Multimodal Chain-of-Reasoning. Unlike prior text-only reasoning, our approach constructs an interactive visual reasoning loop comprising three stages: generation, selection, and refinement. Specifically, we leverage Set-of-Mark (SoM) visual prompting to render candidate regions directly onto the image, allowing the MLLM to ``see'' and iteratively reason about spatial relationships in the visual domain rather than just the textual one. This explicit multimodal interaction enables Seg-Agent to achieve performance comparable to state-of-the-art training-based methods without any parameter updates. Furthermore, to comprehensively evaluate generalization across diverse scenarios, we introduce Various-LangSeg, a novel benchmark covering explicit semantic, generic object, and reasoning-guided segmentation tasks. Extensive experiments demonstrate the effectiveness and robustness of our method.

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with long-horizon tasks due to compounding errors. Prior methods decompose tasks into subtasks of fixed granularity, which cannot adapt to the varying complexity of execution states, limiting their robustness in long-horizon tasks. To overcome this, we introduce Anticipation Model, which adaptively and recursively generates future subgoals. This model continuously adapts as the task unfolds, adjusting future subgoals in response to evolving dynamics, facilitating more reliable planning paths. Building on this concept, we propose Anticipation-VLA, a hierarchical VLA model that leverages the anticipation model to generate actionable subgoals that guide VLA policy execution. We implement Anticipation-VLA with finetuning a Unified Multimodal Model (UMM) for high-level subgoal generation and a goal-conditioned VLA policy for low-level action execution. Experiments in both simulated and real-world robotic tasks demonstrate the effectiveness of Anticipation-VLA, highlighting the importance of adaptive and recursive subgoal generation for robust policy execution.

Watermarking has emerged as a promising technique for tracing the authorship of content generated by large language models (LLMs). Among existing approaches, the KGW scheme is particularly attractive due to its versatility, efficiency, and effectiveness in natural language generation. However, KGW's effectiveness degrades significantly under low-entropy settings such as code generation and mathematical reasoning. A crucial step in the KGW method is random vocabulary partitioning, which enables adjustments to token selection based on specific preferences. Our study revealed that the next-token probability distribution plays an critical role in determining how much, or even whether, we can modify token selection and, consequently, the effectiveness of watermarking. We refer to this characteristic, associated with the probability distribution of each token prediction, as \emph{watermark strength.} In cases of random vocabulary partitioning, the lower bound of watermark strength is dictated by the next-token probability distribution. However, we found that, by redesigning the vocabulary partitioning algorithm, we can potentially raise this lower bound. In this paper, we propose SSG (\textbf{S}ort-then-\textbf{S}plit by \textbf{G}roups), a method that partitions the vocabulary into two logit-balanced subsets. This design lifts the lower bound of watermark strength for each token prediction, thereby improving watermark detectability. Experiments on code generation and mathematical reasoning datasets demonstrate the effectiveness of SSG.

Recent work has demonstrated the potential of large language models (LLMs) for program optimization, a key challenge in programming languages. We propose a blackbox adaptation method called Retrieval Augmented Search (RAS) that performs beam search over candidate optimizations; at each step, it retrieves in-context examples from a given training dataset of slow-fast program pairs to guide the LLM. Critically, we find that performing contextual retrieval based on an LLM-generated natural language description significantly outperforms retrieval based on the source code. We also propose AEGIS, a method for improving interpretability by decomposing training examples into ''atomic edits'' that are significantly more incremental in nature. We show that RAS performs up to 2.06$\times$ better than prior state-of-the-art blackbox adaptation strategies on optimizing C++ programs, and that AEGIS performs up to 1.37$\times$ better while making significantly smaller edits. We also show that using RAS improves the mean runtime percentile of Python programs by 10.27 compared to baselines.

Language-model agents often reach a working solution and then fail to consistently deliver it. We study runtime policies: targeted natural-language instructions and action denials applied by the agent harness at states that preceded observed failures, without changing model weights or the user prompt. With this, keeping capability constant, we observe a meaningful unlock in delivered reliability. Across the complete 87-task Terminal-Bench 2.1 suite, with two attempts per task, policies increase repeated success (pass^2) in all three GPT-5.6 tiers: 50.6% to 54.0% for Luna, 55.2% to 60.9% for Terra, and 64.4% to 73.6% for Sol. Sol's best-of-two success changes by 1.2 points while repeated success rises by 9.2, showing that policies chiefly convert reachable solutions into dependable delivery. We further cover 14 tasks under Terra's frozen portfolio. Policy-guided Terra reaches 71.4%, compared with 64.3% for unassisted Sol, at about half the cost, demonstrating how engineering around models could unlock dependability for a use case. To isolate the mechanism we run a randomized five-arm experiment: real policies reach 61% on eligible tasks, versus 39% without a policy, 36% with a timing-matched sham, and 39 to 43% with generic verification or reconsideration. The intended corrective behavior appears in 22 of 24 coded policy attempts, against at most 14 in any other arm. Runtime policies are therefore a practical reliability layer: they make capabilities an agent already possesses substantially more repeatable.

As model-generated content is increasingly consumed by other model instances in automated workflows, a practically important question arises: can a model embed a signal in natural language that an independent instance of the same model can detect, relying only on shared pre-training and task instructions, without any shared memory or coordination-specific training? We introduce For Your Eyes Only, a cooperative signalling game designed to evaluate this directly. A Sender produces free-form descriptions for two words, one of which is a hidden target; an isolated Receiver must identify it. We evaluate seven contemporary models from four architectural families on 300 word pairs from established psycholinguistic corpora, using the Double-Pass Success Rate to control for output biases. We find that most models struggle to maintain coordination once they are required to avoid detectable signals, while one frontier model retains near-perfect performance even after such filtering. We further show that models can direct this capability toward deliberate misdirection, and that coordination is consistently weaker across architectures than within them.

Large Language Models (LLMs) are increasingly used as high-level planners in embodied multi-robot systems, enabling robots to interpret natural language instructions and coordinate executable actions. Yet, this growing reliance on LLM planners also raises security concerns. Prior work has focused mainly on individual robots, while communication risks in multi-robot collaboration remain insufficiently understood. Existing multi-robot studies are further limited to preliminary analysis under the Decentralized Multi-agent System (DMAS) architecture, so it remains unclear whether these risks persist across other common communication architectures and how attacker access settings shape their propagation. To fill this gap, we formulate two communication attacks corresponding to distinct attacker access settings: the External Entry Point Attack and the Privileged In-System Attack. We evaluate both attacks across DMAS, HMAS-1, and HMAS-2 using three LLMs and five embodied multi-robot tasks. Results show that unsafe information can turn into unsafe actions across all three architectures: DMAS reaches a 96.7% entry endorsement rate and a 100% post endorsement activation rate, HMAS-1 reaches a 97.8% unsafe action success rate, and HMAS-2 triggers 88.3% of task defined unsafe action slots. To mitigate risks from trusted information flow, we introduce the Claim Provenance and Verification (CPV) Gate, which verifies communicated claims before downstream reuse and reduces the violation rate from 70.0% to 36.6%.

Interactive traffic simulation is a vital world model for autonomous driving. A central challenge in long-horizon simulation is modeling sustained multi-agent interactions, which is further exacerbated by dynamic token cardinality as agents continuously enter and exit the scene. In this work, we propose that the solution lies in the synergy between the architectural inductive biases and statistical priors of large-scale sequence models, e.g., Large Language Models (LLMs). Our probing experiments reveal that the transferability of attention mechanisms and the distributional consistency between motion tokens and natural language enable small-scale, heavily frozen LLMs to rapidly adapt to traffic modeling. Building on this insight, we introduce RosettaSim, a unified framework that projects scene topology, agent states, and spawning intents into a structured autoregressive stream with variable length, achieving both strong short-term accuracy and stable long-horizon simulation fidelity. Furthermore, evaluating extended rollouts presents yet another hurdle, as one-to-one agent correspondence inevitably fades over time. To address this, we introduce Retrieval-based Traffic Evaluation (RTE), which retrieves semantically similar real-world scenarios as context-aware reference anchors. Experiments on the Waymo Open Sim Agent Challenge (WOSAC) demonstrate that RosettaSim achieves state-of-the-art performance in both short- and long-term simulation. Furthermore, RTE exhibits a stronger correlation with standard metrics ($r=0.83$) than existing approaches ($r=0.74$), indicating improved alignment with long-horizon simulation fidelity.

Motion-language agents must possess the bidirectional capability to both understand human movement (motion-to-text, M2T) and generate it from natural language (text-to-motion, T2M). While foundational models have achieved strong performance in static settings, autonomous agents operating in dynamic environments must continuously incorporate new motion concepts -- such as novel athletic styles or specialized gestures -- without catastrophic forgetting of previously acquired skills. We investigate the stability-plasticity trade-off in bidirectional motion-language learning under sequential task exposure. Building on a frozen large language model backbone, we introduce low-rank adaptation (LoRA) variants designed to mitigate inter-task interference. We specifically propose mixture-of-experts architectures that utilize an autoencoder-based router to select task-specific experts at inference time, so that no task-label is needed. To evaluate these methods, we establish a reproducible five-task benchmark derived from HumanML3D through semantic clustering of motion descriptions. Our experimental results demonstrate near-zero forgetting across both M2T and T2M directions while maintaining high generation and captioning quality. Furthermore, we show that hard expert selection via routing significantly outperforms soft expert blending in quality metrics, indicating that preserving expert isolation is critical for maintaining performance in our continual learning setting. Finally, we observe that a divergence between token-level accuracy and downstream generation quality may occur, highlighting the need for more comprehensive evaluation protocols in future research on lifelong motion-language agents.

Recent advances in large language models (LLMs) have given rise to time-series question answering (TSQA), which formulates time-series analysis as natural-language question answering. However, directly feeding raw numerical series into LLMs suffers from a tokenization bottleneck: Byte Pair Encoding fragments continuous values into unstable tokens whose embeddings lack meaningful metric structure, resulting in the loss of magnitude, scale, and trend information. Prior methods use patch-based encoders that split the series into fixed windows, locking in one granularity that breaks patterns and hides exact timesteps, through a separate module that rarely transfers across datasets with different lengths or sampling rates. To address this challenge, we propose CADE (Contrastive Alignment with Direct Embedding), a novel framework for TSQA built upon two key components: direct timestep embedding and semantic alignment. The proposed framework maps each timestep directly into the LLM embedding space through a point-wise linear encoder and MLP projector, preserving exact index-level access while eliminating the need for patching and padding. To further bridge the semantic gap between time-series and language representations, we introduce a novel one-directional supervised contrastive loss that aligns time-series embeddings with frozen class-name text anchors. Experimental results on the public Time-MQA benchmark demonstrate that our framework consistently improves performance across six TSQA tasks, outperforming both open-source and proprietary LLM baselines.

Attention Deficit Hyperactivity Disorder (ADHD) is one of the most common neurodevelopmental disorders in childhood, and its diagnosis relies on assessments combining clinician judgment with standardized rating scales and reports from parents and teachers. While structured instruments such as the Conners' Teacher Rating Scale-Revised Short Form (CTRS-R:S) quantify ADHD-related behaviors, teachers also provide open-ended narratives that may contain complementary signals not captured by structured assessments. However, it remains unclear to what extent teacher narratives encode signals overlooked by rating scales. In this study, we analyze de-identified Turkish teacher evaluation forms collected during clinical ADHD assessments, including both CTRS-R:S scores and open-ended teacher narratives. We compare predictive signals from structured scores and narrative text and identify cases where structured assessments fail to clearly distinguish ADHD from non-ADHD students while narrative-based models capture distinct behavioral patterns. Notably, these cases show minimal overlap with those missed by the narrative model, suggesting that structured and narrative information encode complementary signals. To interpret these differences, we apply a large language model (LLM)-assisted theme discovery pipeline that reveals distinct attention, behavioral, and family-related patterns, highlighting the potential of natural language processing (NLP) to uncover clinically relevant signals from teacher narratives and to complement traditional ADHD screening tools.

Large language models (LLMs) perform strongly on general-purpose code generation, yet their applicability to enterprise domain-specific languages (DSLs) remains underexplored, especially for repository-scale change generation spanning multiple files and folder structures from a single natural-language (NL) instruction. We report an industrial case study at BMW that adapts code-oriented LLMs to generate and modify project-root DSL artifacts for an Xtext-based DSL that drives downstream Java/TypeScript code generation. We develop an end-to-end pipeline for dataset construction, multi-file task representation, model adaptation, and evaluation. We encode DSL folder hierarchies as structured, path-preserving JSON, allowing single-response generation at repository scale and learning cross-file dependencies. We evaluate two instruction-tuned code LLMs (Qwen2.5-Coder and DeepSeek-Coder, 7B) under three configurations: baseline prompting, one-shot in-context learning, and parameter-efficient fine-tuning (QLoRA). Beyond standard similarity metrics, we introduce task-specific measures that assess edit correctness and repository structural fidelity. Fine-tuning yields the most significant gains across models and metrics, achieving high exact-match accuracy, substantial edit similarity, and structural fidelity of 1.00 on our held-out set for multi-file outputs. At the same time, one-shot in-context learning provides smaller but consistent improvements over baseline prompting. We further validate practical utility via an expert developer survey and an execution-based check using the existing code generator.

Recent work provides overwhelming evidence that LLMs, even those trained to scale their reasoning trace, quickly deteriorate at planning as problems become more complex. LLM-as-Formalizers aim to address this by employing LLMs as a bridge to translate natural language descriptions into structured planning representations such as PDDL, which are then fed to a programmatic solver. We observe that its success may be overstated because planning problem descriptions in standard benchmarks often have a one-to-one mapping to PDDL, which departs from real use cases. To address this, we introduce the notion of unraveling problems where a natural yet succinct description translates into a very large PDDL representation. Using unraveling variants of four standard planning domains, we demonstrate that LLM Formalizers also do not always scale. We tackle this challenge by introducing a new paradigm, LLM-as-Higher-Order-Formalizer, where the LLM generates a high-level program that captures the recurrent logic within the description and in turn generates the larger PDDL representation. This decouples token output from the combinatorial explosion of the underlying formalization and search space, leading to improved performance for complex problems.

Despite the growing use of LLM-powered agents to solve multi-step tasks in complex environments, existing benchmarks rarely test state preservation, performance across languages, and application to realistic, grounded scenarios. To address these concerns, we present WorldBench: a comprehensive, multilingual benchmark of genuine, persona-grounded everyday workflows, where agents can act in a sandbox via structured actions. WorldBench comprises 1,600 tasks across seven languages and eight cultures, filtered and refined through feedback from human annotators with language- and culture-specific expertise. For evaluation, we extend metrics from previous works and introduce Constrained Task Success (CTS), which combines natural language instructions and testbeds to score task completion, minimal modification, and other complementary metrics through deterministic and LLM-as-a-Judge evaluations. Our experiments show that frontier models reach only 49.2% CTS, with all models demonstrating large gaps between correctness and environment preservation. We thereby show that current agents remain brittle in multilingual, agentic scenarios, especially for long-horizon tasks and under state-preservation constraints

Open-vocabulary 3D maps let robots answer language queries about what and where, but they assume a static world and cannot answer queries about how scene elements behave. We introduce Vision-Language-Motion Maps (VLMM), an open-vocabulary, language-queryable 3D map - queried through a rule-based intent router over open-vocabulary object nouns, not a general natural-language interface - in which each element carries a fused motion attribute: a VLM/LLM semantic movability prior combined with geometrically observed cross-frame motion, together with a per-element uncertainty. Queries reduce to attribute filters that distinguish what has been seen to move, what could move but has not, and what stays still. On a controlled simulator benchmark with exact ground truth (AI2-THOR, three scene types) we show through ablation that the schema fields are non-substitutable: a semantic-only baseline fails motion queries even with strong features, and neither motion field substitutes for the other (the prior cannot answer "what is moving," observed motion cannot answer "what could move"). On real dynamic RGB-D (TUM and Bonn, six sequences) we show the uncertainty channel - our key difference from prior fused-motion work - consistently improves moving-vs-static average precision and reduces false motion flags, and that it is robust to estimated (noisy) poses. The raw confidence is not calibrated, but post-hoc isotonic calibration reaches an expected calibration error of 0.10. VLMM is a representation contribution: the closest prior maps each lack at least one of the four properties - open-vocabulary, language-queryable, fused prior-and-observed motion, and per-element uncertainty - that our combination provides.

Recent advances in Vision-Language Models (VLMs) have achieved impressive performance across many tasks, yet prior studies report unsatisfactory performance when applying large language or multimodal models to finding abnormal patterns in sequential data. Public anomaly detection benchmarks typically provide interval annotations but not natural-language rationales, making it difficult to fine-tune VLMs to produce grounded, interpretable decisions. To address this gap, we construct VisAnomBench, a curated benchmark built from public time-series datasets and augmented with high-quality anomaly explanations selected from multiple large VLMs using fine-grained, task-specific rewards. Through fine-tuning on this benchmark, we develop VisAnomReasoner, a parameter-efficient VLM for time-series anomaly detection. Experimental results on VisAnomBench show that VisAnomReasoner achieves more accurate anomaly localization and consistently outperforms all baselines, with improvements of at least 21.23 and 23.87 percentage points in precision and F1, respectively. Additional experiments on the TSB-AD-U benchmark demonstrate strong cross-benchmark generalization, with VisAnomReasoner improving precision and F1 by 9.57 and 13.39 percentage points, respectively.

Autonomous Vehicles (AVs) must make reliable decisions in dense urban environments where pedestrian behavior is variable, sometimes abnormal, and often unseen during training. Reinforcement learning (RL)-based AV control systems perform well in structured traffic but struggle to generalize to unpredictable pedestrian interactions and out-of-distribution scenarios. Their reliance on handcrafted rewards and opaque decisions further limits their suitability for safety-critical, pedestrian-rich environments. To address these limitations, we introduce a Large Language Model (LLM)-based decision-making framework for pedestrian-aware behavioral planning. The system converts structured scene observations into natural-language reasoning prompts, enabling the LLM to infer pedestrian intent, anticipate risk, and generate cautious tactical driving decisions. These decisions are executed by a motion planner that ensures smooth, kinematically feasible control. We evaluate the framework in SUMO across multiple pedestrian-interaction scenarios, including unexpected jaywalking, turn-back crossing, hesitation, and bidirectional crossing. In zero-shot evaluation, the LLM-based agent achieves a 68% collision-free success rate, substantially outperforming deep RL baselines (17.7%). With few-shot episodic memory in a single-pedestrian scenario, performance increases to 96.0%, exceeding a custom DQN controller (82.0%). Cross-behavior evaluation further shows that memory derived from turn-back interactions transfers to unseen hesitation and bidirectional crossing scenarios, achieving 82.0% and 90.0% success, respectively. The system consistently initiates earlier responses, maintains wider safety buffers, and produces interpretable, human-aligned decisions.

Multimodal video summarization requires visual features that align semantically with language generation. Traditional approaches rely on CNN features trained for object classification, which represent visual concepts as discrete categories not aligned with natural language. We propose ClipSum, a framework that leverages frozen CLIP vision-language features with explicit temporal modeling and dimension-adaptive fusion for instructional video summarization. CLIP's contrastive pre-training on 400M image-text pairs yields visual features semantically aligned with the linguistic concepts that text decoders generate, bridging the vision-language gap at the representation level. On YouCook2, ClipSum achieves 33.0% ROUGE-1 versus 30.5% for ResNet-152 with 4x lower dimensionality (512 vs. 2048), demonstrating that semantic alignment matters more than feature capacity. Frozen CLIP (33.0%) surpasses fine-tuned CLIP (32.3%), showing that preserving pre-trained alignment is more valuable than task-specific adaptation. https://github.com/aqeeelmirza/clipsum

Autonomous vehicles (AVs) require extensive testing in simulation, but test case generation for driving scenarios is laborious. The desired scenarios are often out-of-distribution and have precise requirements on interactions with the AV policy under test. Manually programming scenarios allows for precise controllability but is difficult to scale. On the other hand, statistical models can leverage compute and data, but struggle with precise controllability when out-of-distribution. We cast scenario orchestration as a constraint-solving problem and present a language-in, simulation-out scenario orchestrator for closed-loop testing AVs. Our approach leverages foundation model reasoning to translate general, natural language descriptions into a set of constraints as a scenario representation. This then allows us to leverage off the shelf solvers to solve for actor behaviors which meet precise testing intentions in closed-loop. Under a benchmark of carefully crafted and diverse scenario descriptions, our approach greatly outperforms our baselines in orchestration success rate. We further show that our closed-loop approach is especially important for scenarios which require ego-reactive specifications.

Faithfully modeling human behavior in dynamic environments is a foundational challenge for embodied intelligence. While conditional motion synthesis has achieved significant advances, egocentric motion generation remains largely underexplored due to the inherent complexity of first-person perception. In this work, we investigate Egocentric Vision-Language (Ego-VL) motion generation. This task requires synthesizing 3D human motion conditioned jointly on first-person visual observations and natural language instructions. We identify a critical \textit{reasoning-generation entanglement} challenge: the simultaneous optimization of semantic reasoning and kinematic modeling introduces gradient conflicts. These conflicts systematically degrade the fidelity of multimodal grounding and motion quality. To address this challenge, we propose a hierarchical generative framework \textbf{EgoMotion}. Inspired by the biological decoupling of cognitive reasoning and motor control, EgoMotion operates in two stages. In the Cognitive Reasoning stage, A vision-language model (VLM) projects multimodal inputs into a structured space of discrete motion primitives. This forces the VLM to acquire goal-consistent representations, effectively bridging the semantic gap between high-level perceptual understanding and low-level action execution. In the Motion Generation stage, these learned representations serve as expressive conditioning signals for a diffusion-based motion generator. By performing iterative denoising within a continuous latent space, the generator synthesizes physically plausible and temporally coherent trajectories. Extensive evaluations demonstrate that EgoMotion achieves state-of-the-art performance, and produces motion sequences that are both semantically grounded and kinematically superior to existing approaches.

Frontier model developers aim to train models continually to possess emergent, diverse capabilities. To extend capabilities, the current pre-training and post-training paradigm requires manually starting training runs with static datasets or reward functions every time. Addressing this limitation, our work pursues the insight that open-endedness (via the coevolution of models and tasks) can discover models with increasingly novel skills in a single run. We introduce a new model development framework that extends coevolution to large language model (LLM) discovery, open-ended \textit{Assessment Coevolving with Diverse Capabilities} (AC/DC). AC/DC evolves both LLMs via model merging and natural language tasks via synthetic data generation. AC/DC discovers growing archives of LLMs that surpass the capabilities of larger LLMs while taking up less GPU memory. In particular, our LLM populations achieve a broader Coverage of expertise than other curated models or baselines on downstream benchmarks, without \textit{any} explicit benchmark optimization. Furthermore, AC/DC improves Coverage over time, continually innovates on tasks and models, and improves performance in multi-agent best-of-N selection. Our findings highlight the potential of coevolution as a means of discovering broader sets of capabilities from base LLMs. Overall, AC/DC brings us one step closer to a profoundly new paradigm of LLM development, where continual improvements to the diversity of model capabilities can be accelerated by leveraging existing models as stepping stones to increasingly powerful models.

Extracting clinically relevant information from unstructured medical narratives such as admission notes, discharge summaries, and emergency case histories remains a challenge in clinical natural language processing (NLP). Medical Entity Recognition (MER) identifies meaningful concepts embedded in these records. Recent advancements in large language models (LLMs) have shown competitive MER performance; however, evaluations often focus on general entity types, offering limited utility for real-world clinical needs requiring finer-grained extraction. To address this gap, we rigorously evaluated the open-source LLaMA3 model for fine-grained medical entity recognition across 18 clinically detailed categories. To optimize performance, we employed three learning paradigms: zero-shot, few-shot, and fine-tuning with Low-Rank Adaptation (LoRA). To further enhance few-shot learning, we introduced two example selection methods based on token- and sentence-level embedding similarity, utilizing a pre-trained BioBERT model. Unlike prior work assessing zero-shot and few-shot performance on proprietary models (e.g., GPT-4) or fine-tuning different architectures, we ensured methodological consistency by applying all strategies to a unified LLaMA3 backbone, enabling fair comparison across learning settings. Our results showed that fine-tuned LLaMA3 surpasses zero-shot and few-shot approaches by 63.11% and 35.63%, respectivel respectively, achieving an F1 score of 81.24% in granular medical entity extraction.

Multi-agent systems built on large language models (LLMs) are increasingly deployed in high-stakes settings such as finance, healthcare, and software engineering, where agents coordinate through natural-language messages. The same channels, however, let colluding agents exfiltrate confidential information or coordinate unauthorized actions, and steganography can hide such communication inside outputs that look ordinary to an auditor reading the transcript. Existing provably undetectable LLM steganography protocols are not suited to realistic deployments. High-capacity schemes assume a symmetric setting where the receiver can reproduce the sender's output distribution, the state-of-the-art protocol for asymmetric agents has very low capacity, and most approaches rely on a pre-shared secret key. We make the threat of undetectable agent collusion concrete with Codetta, a high-capacity steganographic protocol for independently deployed agents in realistic asymmetric settings. Codetta combines a shared public model that estimates the communication channel, a sampling mechanism that preserves the sender's output distribution, and an adaptive error-correcting code. It further removes the pre-shared key through a steganographic key exchange that lets independently deployed agents establish a shared key while keeping the transcript computationally indistinguishable from ordinary model outputs. Across three agent workloads and three sender models, Codetta achieves up to $94\times$ the capacity of the state-of-the-art asymmetric protocol, and its key exchange establishes a shared key with about 80k visible tokens at an empirically certified failure probability of at most $4.1\times 10^{-3}$. These results show that effectively undetectable collusion is becoming feasible between independently deployed agents, so auditing must go beyond inspecting communication transcripts.

Vision-language-action models (VLA) promise human-steerable autonomous driving, but their training is bottlenecked by the scarcity of frames paired with natural-language instructions: while camera streams and expert trajectories are logged at scale, language annotations (e.g., turn left at the intersection) remain scarce and expensive to acquire. To address this challenge, we introduce Latent Action Driving Annotations (LADA), a three-stage pipeline that transforms abundant unlabelled observation-trajectory pairs into a substrate for language-conditioned control. First, we train a latent action model with a vector-quantised bottleneck, producing a compact codebook of high-level vehicle intents. Second, a small language-annotated subset is used to train a vision-language translator to map observations and language instructions into this codebook. Third, we train a driving VLA on observation-latent-action pairs over the full unlabelled corpus. Using fewer than 5% of language annotations and without leveraging any auxiliary chain-of-thought reasoning or visual question answering streams, LADA achieves a Driving Score of 87.98 and a Success Rate of 70.46% on the closed-loop Bench2Drive benchmark, matching or surpassing fully supervised baselines.

Rising societal and lifestyle complexity has been linked to a growing prevalence of mental distress worldwide. Educational institutions, workplaces, clinics, etc. collect large volumes of mental health survey data to understand and reduce this burden. Collaborative analysis of such data could yield effective generalizable predictive models. Privacy constraints and varied survey designs (i.e., different questions, scales, and formats) hinder direct integration. We propose a schema-aware split learning (SL) framework that preserves privacy, using a large language model (LLM) as a shared semantic encoder to harmonize heterogeneous survey schemas across institutions. We serialize each survey record into a natural-language description, unifying disparate survey schemas into a common format. The LLM is fine-tuned for mental distress assessment via Low-Rank Adaptation (LoRA) and partitioned across client and server. Clients retain the raw survey responses locally and run only a lightweight front-end, so original records never leave the institution that collected them. The resource-intensive backbone runs on the server, minimizing client-side computation. Using LLaMA-3.2-3B-Instruct, the framework attains an average ANLS of 0.708 with only 2,000 training samples, surpasses federated learning (FL) in eight of nine settings, and cuts per-client computation by three orders of magnitude, while generalizing to unseen datasets. Overall, it enables accurate, privacy-preserving, and resource-efficient collaborative learning from heterogeneous mental health survey data.

Large language models (LLMs) are rapidly emerging as a new paradigm for modeling social networks by representing users and their relationships and interactions through natural language. Unlike classical network models or deep learning approaches, LLMs can simulate context-aware social behavior and language-driven interactions, enabling more realistic modeling of network formation and dynamic social processes. However, existing studies are scattered across different research communities and lack a unified perspective. This survey presents the first comprehensive review of LLMs for social network modeling by organizing the literature into two broad categories: network generative models and dynamic process models. Network generative models are further classified into selection-based and interaction-based approaches, while dynamic process models are categorized into opinion dynamics, information diffusion, and rumor propagation, each with their underlying modeling mechanisms. LLMs enable rich textual social interactions and decision-making, but they also exhibit many limitations, including inherent social biases and prompt sensitivity. We outline these open research challenges and discuss future directions in LLM-based social network modeling.

Reinforcement learning from human feedback (RLHF) has become the dominant paradigm for aligning large language models (LLMs) with human preferences. However, traditional RLHF relies on scalar reward signals that lack interpretability and fail to capture the multifaceted nature of response quality. Rubric-guided reinforcement learning addresses these limitations by introducing structured, interpretable evaluation criteria, or rubrics, as the backbone of reward design, feedback generation, and policy optimization. In this survey, we introduce a Bayesian framework that defines constitutions as prior distributions $P(R)$ over evaluation criteria and rubrics as conditional instantiations $R_x \sim P(R|x)$. Under this unified view, we present a taxonomy of rubric-guided RL along the prior-posterior axis, covering constitutional AI, instance-specific rubrics, process-level supervision, self-evolving rubrics, and their agentic and multimodal extensions. Furthermore, as rubrics are natural-language artifacts, we present a linguistic analysis of how granularity trade-offs, semantic drift, and linguistic reward hacking impact alignment reliability, identifying key open problems for future research.