Agent Loop

Momentum

13 papers in the last four weeks, up 63% on the four weeks before. 0.1% of all new papers.

Jul 13Week of Sep 28

Latest papers 83

May 14, 2026cs.AI

Good to Go: The LOOP Skill Engine That Hits 99% Success and Slashes Token Usage by 99% via One-Shot Recording and Deterministic Replay

Deploying AI agents for repetitive periodic tasks exposes a critical tension: Large Language Models (LLMs) offer unmatched flexibility in tool orchestration, yet their inherent stochasticity causes unpredictable failures, and repeated invocations incur prohibitive token costs. We present the LOOP SKILL ENGINE, a system that achieves a combined 99% success rate and 99% token reduction for periodic agent tasks through a one-shot recording, deterministic replay paradigm. On its first run, the agent executes the task with full LLM reasoning while the system transparently intercepts and records the complete tool-call trajectory. A greedy length-descending template extraction algorithm then converts this recording into a parameterized, branch-free Loop Skill -- a deterministic execution plan that captures the task's functional intent while parameterizing time-dependent and result-dependent variables. All subsequent executions bypass the LLM entirely: the engine resolves template variables against real-time values and replays the tool sequence deterministically. We prove two theorems: (1) Replay Determinism -- the step sequence of a validated Loop Skill is invariant across all future executions; (2) Write Safety -- concurrent access to persistent configuration is serialized through reentrant locks and atomic file replacement. Across a benchmark of periodic agent tasks spanning intervals from 5 minutes to 24 hours, the Loop Skill Engine reduces monthly token consumption by 93.3%--99.98% and cuts execution latency by 8.7x while eliminating output non-determinism. A multi-layer degradation strategy guarantees that tasks never stall. We release the engine as part of the buddyMe open-source agent framework.
May 11, 2026cs.CR

Engineering Robustness into Personal Agents with the AI Workflow Store

The dominant paradigm for AI agents is an "on-the-fly" loop in which agents synthesize plans and execute actions within seconds or minutes in response to user prompts. We argue that this paradigm short-circuits disciplined software engineering (SE) processes -- iterative design, rigorous testing, adversarial evaluation, staged deployment, and more -- that have delivered the (relatively) reliable and secure systems we use today. By focusing on rapid, real-time synthesis, are AI agents effectively delivering users improvised prototypes rather than systems fit for high-stakes scenarios in which users may unwittingly apply them? This paper argues for the need to integrate rigorous SE processes into the agentic loop to produce production-grade, hardened, and deterministically-constrained agent workflows that substantially outperform the potentially brittle and vulnerable results of on-the-fly synthesis. Doing so may require extra compute and time, and if so, we must amortize the cost of rigor through reuse across a broad user community. We envision an AI Workflow Store that consists of hardened and reusable workflows that agents can invoke with far greater reliability and security than improvised tool chains. We outline the research challenges of this vision, which stem from a broader flexibility-robustness tension that we argue requires moving beyond the ``on-the-fly'' paradigm to navigate effectively.
May 8, 2026cs.LG

FlashEvolve: Accelerating Agent Self-Evolution with Asynchronous Stage Orchestration

LLM-based evolution has emerged as a promising way to improve agents by refining non-parametric artifacts, but its wall-clock cost remains a major bottleneck. We identify that this cost comes from synchronized stage execution and imbalance inside each LLM-heavy stage. We present FlashEvolve, an efficient framework that replaces synchronized execution with asynchronous workers and queues, allowing different stages and steps to overlap. To handle data staleness introduced by asynchrony, FlashEvolve tracks artifact versions and applies different policies to update, discard, or patch stale artifacts. Unlike weight-space staleness in asynchronous RL, language-space staleness is inspectable and repairable: a stale artifact is not just delayed work, but readable evidence that the LLM can reflect on, revise, and turn into useful evolution signal. FlashEvolve further improves throughput and token efficiency with speculative stage completion and adaptive workflow control. On GEPA workloads, FlashEvolve improves proposal throughput by 3.5×3.5\times on local vLLM and 4.9×4.9\times on API serving over synchronous GEPA. The same design also applies to ACE and Meta-Harness.
May 8, 2026cs.CV

Bridging Modalities, Spanning Time: Structured Memory for Ultra-Long Agentic Video Reasoning

Understanding ultra-long videos such as egocentric recordings, live streams, or surveillance footage spanning days to weeks, remains a challenge. For current multimodal LLMs: even with million-token context windows, frame budgets cover only tens of minutes of densely sampled video, and most evidence is discarded before inference begins. Memory-augmented and agentic approaches help with scale, but their retrieval remains fragmented across modalities and lacks long-range narrative summaries that span days or weeks. We propose \textbf{MAGIC-Video}, a training-free framework built around a multimodal memory graph with interleaved narrative chain: the graph unifies episodic, semantic, and visual content through six typed edges and supports cross-modal retrieval, while the chain distils long-horizon entity biographies and recurring activity events. At inference time, an agentic loop interleaves graph retrieval with narrative fact injection, covering both the modality and time dimensions of ultra-long video in a single retrieval pipeline. On EgoLifeQA, Ego-R1 and MM-Lifelong, MAGIC-Video consistently outperforms strong general-purpose, long-video, and agentic baselines, with gains of 10.1, 7.4, and 5.9 points over the prior best agentic system on each benchmark. Code is available at https://github.com/lijiazheng0917/MAGIC-video.
May 7, 2026cs.AI

From Agent Loops to Deterministic Graphs: Execution Lineage for Reproducible AI-Native Work

Large language model systems are increasingly deployed as agentic workflows that interleave reasoning, tool use, memory, and iterative refinement. These systems are effective at producing answers, but they often rely on implicit conversational state, making it difficult to preserve stable work products, isolate irrelevant updates, or propagate changes through intermediate artifacts. We introduce execution lineage: an execution model in which AI-native work is represented as a directed acyclic graph (DAG) of artifact-producing computations with explicit dependencies, stable intermediate boundaries, and identity-based replay. The goal is not to make the model a better one-shot writer, but to make evolving AI-generated work maintainable under change. We compare execution-lineage replay against loop-centric update baselines on two controlled policy-memo update tasks. In an unrelated-branch update, DAG replay preserved the final memo exactly in all runs, with zero churn and zero unrelated-branch contamination, while loop baselines regenerated the memo and frequently imported unrelated context. In an intermediate-artifact edit, all systems reflected the new constraint in the final memo, but only DAG replay achieved perfect upstream preservation, downstream propagation, unaffected-artifact preservation, and cross-artifact consistency. These results show that final answer quality and maintained-state quality are distinct. Strong loop baselines can remain competitive at producing polished final outputs when the task is a bounded synthesis/update problem and all current sources fit in context, but immediate task success can mask partial state inconsistency that may compound over future revisions. Execution lineage provides stronger guarantees about what should change, what should remain stable, and how work evolves across revisions.
May 7, 2026cs.AI

VibeServe: Can AI Agents Build Bespoke LLM Serving Systems?

For years, we have built LLM serving systems like any other critical infrastructure: a single general-purpose stack, hand-tuned over many engineer-years, meant to support every model and workload. In this paper, we take the opposite bet: a multi-agent loop that automatically synthesizes bespoke serving systems for different usage scenarios. We propose VibeServe, the first agentic loop that generates entire LLM serving stacks end-to-end. VibeServe uses an outer loop to plan and track the search over system designs, and an inner loop to implement candidates, check correctness, and measure performance on the target benchmark. In the standard deployment setting, where existing stacks are highly optimized, VibeServe remains competitive with vLLM, showing that generation-time specialization need not come at the cost of performance. More interestingly, in non-standard scenarios, VibeServe outperforms existing systems by exploiting opportunities that generic systems miss in six scenarios involving non-standard model architectures, workload knowledge, and hardware-specific optimizations. Together, these results suggest a different point in the design space for infrastructure software: generation-time specialization rather than runtime generality. Code is available at https://github.com/uw-syfi/vibe-serve.
May 6, 2026cs.AI

BALAR : A Bayesian Agentic Loop for Active Reasoning

Large language models increasingly operate in interactive settings where solving a task requires multiple rounds of information exchange with a user. However, most current systems treat dialogue reactively and lack a principled mechanism to reason about what information is missing. We propose BALAR (Bayesian Agentic Loop for Active Reasoning), a task-agnostic outer-loop algorithm that requires no fine-tuning and enables multi-turn interaction between an LLM agent and a user. BALAR maintains a structured belief over latent states, selects clarifying questions by maximizing expected mutual information, and dynamically expands its state representation when the current one proves insufficient. We evaluate BALAR on three diverse benchmarks: AR-Bench-DC (detective cases), AR-Bench-SP (thinking puzzles), and iCraft-MD (clinical diagnosis). BALAR outperforms all baselines across the three benchmarks, with 14.6% higher accuracy on AR-Bench-DC, 38.5% on AR-Bench-SP, and 30.5% on iCraft-MD. We further study whether BALAR can serve as a teacher for a questioning policy through supervised fine-tuning (SFT), direct preference optimization (DPO), and dense-reward reinforcement learning (RL). Across 18 iCraft-MD replications, distilling BALAR into a Llama-8B yields relative gains in frozen-Qwen final-answer accuracy of 8.1% with SFT, 10.9% with DPO, and 12.1% with RL over the untuned policy.
May 5, 2026cs.CV

Hierarchical Visual Agent: Managing Contexts in Joint Image-Text Space for Advanced Chart Reasoning

Advanced chart question answering requires both precise perception of small visual elements and multi-step reasoning across several subplots. While existing MLLMs are strong at understanding single plots, they often struggle with multi-step reasoning across multiple subplots. We propose HierVA, a hierarchical visual agent framework for chart reasoning that iteratively constructs and updates a working context in a joint image--text space. A high-level manager generates plans and maintains a compact context containing only key information, while specialized workers perform reasoning, gather evidence, and return results. In particular, the agent maintains separate visual and textual contexts, using a zoom-in tool to restrict the visual context. Experiments on the CharXiv reasoning subset demonstrate consistent improvements over strong multimodal baselines, and ablation studies verify that hierarchical architecture, scoped visual context, and distilled context contribute complementary gains.
May 3, 2026cs.AI

DataEvolver: Let Your Data Build and Improve Itself via Goal-Driven Loop Agents

Constructing controllable visual data is a major bottleneck for image editing and multimodal understanding. Useful supervision is rarely produced by a single rendering pass; instead it emerges through iterative generation, inspection, correction, filtering, and export. We present DataEvolver, a closed-loop visual data engine that organizes this process around explicit goals, persistent artifacts, bounded corrective actions, and acceptance decisions. DataEvolver supports multiple artifact types, including RGB images, masks, depth maps, normal maps, meshes, poses, trajectories, and review traces. In the current release, the system operates through two coupled loops: generation-time self-correction within each sample and validation-time self-expansion across dataset rounds. We validate the framework on an image-level object-rotation setting. With a fixed Qwen-Edit LoRA probe, our final Ours+DualGate model outperforms both the unadapted base model and a public multi-angle LoRA on SpatialEdit and a held-out evaluation set. Ablations show a consistent improvement path from scene-aware generation to feedback-driven correction and dual-gated validation. Beyond the released rotation data, our main contribution is a reusable framework for building visual datasets through explicit goal tracking, review, correction, and acceptance loops.
May 2, 2026cs.CL

Automated Interpretability and Feature Discovery in Language Models with Agents

We introduce an autonomous multiagent framework for mechanistic interpretability that automates both explaining and finding internal features in large language models. The system runs two coupled loops: (1) explanation refinement, where an agent proposes competing hypotheses and iteratively tests them with targeted prompt controls and a multi-metric evaluation; and (2) feature discovery, where an agent generates prompt sets, constructs a k-nearest-neighbor graph in activation space, and retrieves candidate features using statistical separability and semantic coherence criteria. On Gemma-2 family models and MLP neurons in weight-sparse transformers, our agent improves over one-shot auto-interpretations, discovers language-specific and safety-relevant features, and produces auditable explanation traces, showing that agent-driven empirical loops yield sharper and more falsifiable explanations than one-shot labels.
Apr 28, 2026cs.AI

ADEMA: A Knowledge-State Orchestration Architecture for Long-Horizon Knowledge Synthesis with LLMAgents

Long-horizon LLM tasks often fail not because a single answer is unattainable, but because knowledge states drift across rounds, intermediate commitments remain implicit, and interruption fractures the evolving evidence chain. This paper presents ADEMA as a knowledge-state orchestration architecture for long-horizon knowledge synthesis rather than as a generic multi-agent runtime. The architecture combines explicit epistemic bookkeeping, heterogeneous dual-evaluator governance, adaptive task-mode switching, reputation-shaped resource allocation, checkpoint-resumable persistence, segment-level memory condensation, artifact-first assembly, and final-validity checking with safe fallback. Evidence is drawn entirely from existing materials: a four-scenario showcase package, a fixed 60-run mechanism matrix, targeted micro-ablation and artifact-chain supplements, and a repaired protocol-level benchmark in which code-oriented evaluation is the clearest quality-sensitive mechanism block. Across the fixed matrix, removing checkpoint/resume produced the only invalid run, and it did so in the interruption-sensitive resume condition. By contrast, dual evaluation, segment synthesis, and dynamic governance are best interpreted as supporting control mechanisms that shape trajectory discipline, explicit artifact progression, and cost-quality behavior rather than as universal binary prerequisites for completion. The contribution is therefore a knowledge-state orchestration architecture in which explicit epistemic state transition, evidence-bearing artifact progression, and recoverable continuity are the primary design commitments.
Apr 27, 2026cs.SE

FGDM: Reasoning Aware Multi-Agentic Framework for Software Bug Detection using Chain of Thought and Tree of Thought Prompting

Deep Learning methods are becoming prominent in automated software bug detection; however, they lack the global understanding of the given code. Consequently, their performance tends to degrade, especially when they are applied to large interconnected code bases or complex modular programs. Recently, Large Language Models (LLMs) have proven to be effective at capturing dependencies among multiple interconnected modules in the codebase. This motivated us to propose the Flow-Graph-Driven Multi-Agent Framework (FGDM), which is composed of four agents that operate in a sequential manner. The framework converts the received code to a flow graph, identifies the erroneous segments, and further generates the repaired code. All the employed agents utilize Chain-of-Thought (COT) and Tree-of-Thoughts (TOT) prompts. Additionally, we also integrated with the FAISS vector database to retrieve similar previous bugs and their repairs. We demonstrated the efficacy of the proposed framework over 100 programs from several projects, including Ansible, Black, FastAPI, Keras, Luigi, Matplotlib, Pandas, Scrapy, SpaCy, and Tornado in both C and Python programs. Our experiments demonstrate that the FGDM outperforms the extant approaches and yielded reductions with a mean of 24.33 and 8.37 in Levenshtein distance and similarities of 0.951 and 0.974 in cosine similarity for Python and C, respectively.
Apr 25, 2026cs.LG

Revisable by Design: A Theory of Streaming LLM Agent Execution

Current LLM agents operate under an implicit but universal assumption: execution is a transaction -- the user submits a request, the agent works in isolation, and only upon completion does the dialogue resume. This forces users into a binary choice: wait for a potentially incorrect output, or interrupt and lose all progress. We reject this assumption and propose the stream paradigm, in which agent execution and user intervention are concurrent, interleaved processes sharing a bidirectional channel. We formalize this paradigm through a reversibility taxonomy that classifies every agent action as Idempotent, Reversible, Compensable, or Irreversible, and arrive at a core conclusion: an agent's flexibility is bounded by its reversibility. We prove that conflicting compensable actions impose unavoidable adaptation costs and that conflicting irreversible actions make full specification satisfaction impossible -- these costs are properties of the action space, not of the algorithm. Guided by this insight, we present the Revision Absorber, a reactive algorithm based on the Earliest-Conflict Rollback rule that is structurally optimal under mild assumptions. Experiments on StreamBench with real LLM agents validate all predictions: the Absorber matches the quality of a brute-force full-restart baseline while wasting an order of magnitude fewer steps of already-completed work, turning mid-execution revisions from a dead-end into a first-class interaction.
Apr 24, 2026cs.CR

Sovereign Agentic Loops: Decoupling AI Reasoning from Execution in Real-World Systems

Large language model (LLM) agents increasingly issue API calls that mutate real systems, yet many current architectures pass stochastic model outputs directly to execution layers. We argue that this coupling creates a safety risk because model correctness, context awareness, and alignment cannot be assumed at execution time. We introduce Sovereign Agentic Loops (SAL), a control-plane architecture in which models emit structured intents with justifications, and the control plane validates those intents against true system state and policy before execution. SAL combines an obfuscation membrane, which limits model access to identity-sensitive state, with a cryptographically linked Evidence Chain for auditability and replay. We formalize SAL and show that, under the stated assumptions, it provides policy-bounded execution, identity isolation, and deterministic replay. In an OpenKedge prototype for cloud infrastructure, SAL blocks 93% of unsafe intents at the policy layer, rejects the remaining 7% via consistency checks, prevents unsafe executions in our benchmark, and adds 12.4 ms median latency.
Apr 23, 2026cs.CL

VLAA-GUI: Knowing When to Stop, Recover, and Search, A Modular Framework for GUI Automation

Autonomous GUI agents face two fundamental challenges: early stopping, where agents prematurely declare success without verifiable evidence, and repetitive loops, where agents cycle through the same failing actions without recovery. We present VLAA-GUI, a modular GUI agentic framework built around three integrated components that guide the system on when to Stop, Recover, and Search. First, a mandatory Completeness Verifier enforces UI-observable success criteria and verification at every finish step -- with an agent-level verifier that cross-examines completion claims with decision rules, rejecting those lacking direct visual evidence. Second, a mandatory Loop Breaker provides multi-tier filtering: switching interaction mode after repeated failures, forcing strategy changes after persistent screen-state recurrence, and binding reflection signals to strategy shifts. Third, an on-demand Search Agent searches online for unfamiliar workflows by directly querying a capable LLM with search ability, returning results as plain text. We additionally integrate a Coding Agent for code-intensive actions and a Grounding Agent for precise action grounding, both invoked on demand when required. We evaluate VLAA-GUI across five top-tier backbones, including Opus 4.5, 4.6 and Gemini 3.1 Pro, on two benchmarks with Linux and Windows tasks, achieving top performance on both (77.5% on OSWorld and 61.0% on WindowsAgentArena). Notably, three of the five backbones surpass human performance (72.4%) on OSWorld in a single pass. Ablation studies show that all three proposed components consistently improve a strong backbone, while a weaker backbone benefits more from these tools when the step budget is sufficient. Further analysis also shows that the Loop Breaker nearly halves wasted steps for loop-prone models.
Apr 19, 2026cs.CL

A Multi-Agent Approach for Claim Verification from Tabular Data Documents

We present a novel approach for claim verification from tabular data documents. Recent LLM-based approaches either employ complex pretraining/fine-tuning or decompose verification into subtasks, often lacking comprehensive explanations and generalizability. To address these limitations, we propose a Multi-Agentic framework for Claim verification (MACE) consisting of three specialized agents: Planner, Executor, and Verifier. Instead of elaborate finetuning, each agent employs a zero-shot Chain-of-Thought setup to perform its tasks. MACE produces interpretable verification traces, with the Planner generating explicit reasoning strategies, the Executor providing detailed computation steps, and the Verifier validating the logic. Experiments demonstrate that MACE achieves state-of-the-art (SOTA) performance on two datasets and performs on par with the best models on two others, while achieving 80--100% of best performance with substantially smaller models: 27--92B parameters versus 235B. This combination of competitive performance, memory efficiency, and transparent reasoning highlights our framework's effectiveness.
Apr 17, 2026cs.MA

Complete Cyclic Subtask Graphs for Tool-Using LLM Agents: Flexibility, Cost, and Bottlenecks in Multi-Agent Workflows

Long-horizon tool-using tasks sometimes benefit from revisiting earlier subtasks for recovery and exploration, but added multi-agent workflow flexibility can also introduce coordination overhead and substantial inference cost. We study complete cyclic subtask graphs, a deliberately maximally flexible multi-agent architecture in which executable subtask nodes are fully connected and a unified state-analysis-and-routing agent selects transitions using natural-language criteria. This makes unrestricted revisitation explicit and directly analyzable at the subtask level. We evaluate task-specific (Spec-Cyc) and benchmark-generic (Gen-Cyc) graphs on TextCraft, ALFWorld, and Finance-Agent, with ablations over planner/executor/router strength, tool exposure (generalist vs specialized), nn-shot successful trajectory summaries, and fault-injected random subtask perturbations. The benchmarks expose three distinct regimes. ALFWorld highlights a setting where explicit revisitation supports recovery and exploration; TextCraft, a largely prerequisite-chain domain, often favors the efficiency of simpler forward execution; and Finance-Agent remains bottlenecked by retrieval, grounding, and evidence synthesis more than by workflow flexibility alone. Shared-win token comparisons further show that the added flexibility can be substantially more expensive than a single ReAct agent. Overall, we use complete cyclic subtask graphs as a maximally flexible experimental lens for measuring when multi-agent revisitation helps, when it mainly adds coordination cost, and when external task bottlenecks dominate.
Apr 16, 2026cs.CV

MM-WebAgent: A Hierarchical Multimodal Web Agent for Webpage Generation

The rapid progress of Artificial Intelligence Generated Content (AIGC) tools enables images, videos, and visualizations to be created on demand for webpage design, offering a flexible and increasingly adopted paradigm for modern UI/UX. However, directly integrating such tools into automated webpage generation often leads to style inconsistency and poor global coherence, as elements are generated in isolation. We propose MM-WebAgent, a hierarchical agentic framework for multimodal webpage generation that coordinates AIGC-based element generation through hierarchical planning and iterative self-reflection. MM-WebAgent jointly optimizes global layout, local multimodal content, and their integration, producing coherent and visually consistent webpages. We further introduce a benchmark for multimodal webpage generation and a multi-level evaluation protocol for systematic assessment. Experiments demonstrate that MM-WebAgent outperforms code-generation and agent-based baselines, especially on multimodal element generation and integration. Code & Data: https://aka.ms/mm-webagent.
Mar 24, 2026cs.CV

AgentFoX: LLM Agent-Guided Fusion with eXplainability for AI-Generated Image Detection

The realism of AI-generated images (AIGI) poses increasing challenges for reliable forensic detection, where heterogeneous expert detectors may produce conflicting predictions across diverse generative sources and post-processing conditions. Existing multi-expert fusion methods rely on fixed rules or learned fusion strategies, offering limited ability to assess sample-specific reliability, execute rigorous adjudication of conflicts, and provide evidence-grounded explanations. We propose AgentFoX, an LLM-driven agentic multi-expert framework for AIGI detection that employs a command-and-reasoning core to perform evidence fusion. Following predefined guidelines, the core coordinates designated subtasks to collect semantic and signal-level evidence, reason over structured contexts to determine authenticity, and generate an auditable report for explainability. During this process, Expert Profiles are constructed for model-centric reliability assessment, while Clustering Profiles are built for data-centric contextual analysis, jointly establishing evidence contexts for conflict resolution. Extensive evaluations across diverse benchmarks demonstrate the robustness and generalizability of AgentFoX under complex conditions.
Jan 17, 2026cs.AI

Replayable Financial Agents: A Determinism-Faithfulness Assurance Harness for Tool-Using LLM Agents

Tool-using agents can repeat a final decision while changing their recorded execution. We introduce the Determinism-Faithfulness Assurance Harness (DFAH), a framework that distinguishes decision repeatability, trajectory agreement, and evidence-conditioned faithfulness. Task correctness requires separately qualified labels and evaluation; evidence-conditioned faithfulness was not evaluated in the historical v2 agentic experiments. The original v2 study reported 4,705 agentic runs in three synthetic financial tasks and a decision-determinism/task-label-match correlation of r = -0.11 across 21 model-benchmark configuration summaries. This statistic is reproducible from the historical configuration table, but includes a subsequently excluded portfolio fixture. It is retained as a historical description, not evidence of statistical independence, predictive uselessness, or an architectural determinism-accuracy tradeoff. Recorded decision concentration and tool-path variation do not identify hidden model strategy. This correction qualifies the historical evidence and removes the deployment recommendations derived from those unsupported interpretations. A separate corrected study, DFAH-Bench (arXiv:2607.20491), provides qualified evidence of decision/path disagreement. The contribution retained here is a measurement framework: repeatability, observable execution, evidence alignment, and correctness require distinct evidence, with explicit capture and study boundaries.
Aug 10, 2025cs.AI

EndoCogniAgent: Closed-Loop Agentic Reasoning with Self-Consistency Validation for Endoscopic Diagnosis

Endoscopic diagnosis is an iterative process in which clinicians acquire, compare, and verify local visual evidence before reaching a conclusion. Current AI systems do not adequately support this process because fine-grained evidence acquisition and multi-step reasoning remain weakly coupled, complicating reconciliation of image-derived findings with their textual interpretations. This gives rise to two failure modes, hallucinated evidence and uncorrected error accumulation, that undermine diagnostic reliability. We propose EndoCogniAgent, a closed-loop agentic framework that formulates endoscopic diagnosis as a controlled state update process for integrating complementary visual and textual evidence. At each reasoning round, a central planner selects an evidence acquisition action, specialized expert tools extract spatial and semantic observations as structured textual evidence, and a self-consistency validation mechanism examines this evidence along two dimensions, knowledge consistency against the input image and temporal consistency with prior validated findings, before updating the diagnostic state. Validated observations are admitted into the evolving state to condition subsequent planning, while insufficiently supported or conflicting findings are retained with corrective feedback that redirects the planner toward additional verification. We further introduce EndoAgentBench, a workflow-oriented benchmark comprising 6,132 question-answer pairs from 11 endoscopic datasets, to evaluate diagnostic agents across a comprehensive diagnostic chain, from fine-grained visual perception to high-level diagnostic reasoning. EndoCogniAgent achieves 85.23% overall accuracy on perception tasks and 71.13% clinical acceptance rate on reasoning tasks. Blinded clinician evaluation further shows consistent improvements in diagnostic response quality over the evaluated baselines.
Date pendingcs.RO

Retriever: Composing the Perception-Reasoning-Action Loop for Long-Horizon Manipulation

Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planning, and control -- whose components run at different clocks and with variable latency. Today, these systems are often assembled with ad-hoc concurrency and pub/sub conventions that make timing and input-consumption semantics implicit, yielding schedule-dependent behavior that is hard to reproduce, debug, and reuse. Current solutions typically solve parts of this problem at either the algorithmic or the systems layer, but not both. In this work, we propose Retriever, which spans the entire stack: an asynchronous decision model, a programming model, a runtime, and an example closed-loop agent pipeline. Retriever represents an agent as a graph of stateful causal stream functions executed on explicit run clocks. We formalize this view via an asynchronous environment-agent loop over continuous-time streams and show that finite-memory causal policies can be represented by compositions of these operators. Retriever compiles these graphs into a runtime that supports multiple backends, enabling systematic debugging across running environments and deterministic replay from logged asynchronous data. We evaluate Retriever through a real-robot case study together with controlled studies of runtime overhead and deterministic replay behavior.
Date pendingcs.CV

Hi-FLoop: Hierarchical State-Feedback Loops for Multi-Timescale World Modeling

Multi-agent traffic simulation seeks diverse, coordinated, and physically realistic futures from maps and observed history. Long-horizon closed-loop generation must reconcile multiple decision time scales while its context evolves with generated states. Existing methods often unfold long futures from an initial scene and resolve intent, interaction, and motion monolithically, weakening cross-scale consistency and adaptation. Multimodal rollout poses a further consistency problem: independently reselecting modes across agents or commits can stitch together incompatible futures instead of preserving a coherent joint branch. We present Hi-FLoop, a branch-consistent multi-timescale state-feedback framework. Eight scene-level Worlds represent joint hypotheses; all agents share one selected World identity throughout all 16 commits of an 8-second rollout, while Goal, Preview, and Control states adapt within that branch. An 8-second Goal anchors intent, a 2-second Preview coordinates interactions, and 1-second Control produces physical motion. Every 0.5-second commit feeds back only its executed prefix as new facts, while unexecuted hypotheses never enter factual memory. Joint Preview Interaction induces a sparse directed future graph and uses conflict probabilities and signed arrival-time differences to refine interaction-aware motion. For generated-state recovery, a prefix-frozen A-to-B cascade transfers typed physical state and the branch index--but no latent state--from a frozen prefix model to an independently parameterized recovery model. On the full H-D public-validation split of 955 scenarios, the S2.1 cascade obtains an 8-second scene-joint ADE-at-joint-minFDE@8/joint-minFDE@8 of 2.048/6.384 m when one World must explain all evaluated agents. Agent-centric oracle-minADE@8 is 0.526 m at 6 seconds and 0.875 m at 8 seconds.