Release v5.21.0 New Model additions MiniCPM-OCR MiniCPM-OCR is a document-understanding model from OpenBMB's MiniCPM-V family. It keeps the MiniCPM-V 4.6 architecture, which pairs a SigLIP vision encoder and a window-attention merger with a Qwen3.5 language model. It is specialized for reading text-dense images such as scanned pages, screenshots, receipts and tables. Links: [Documentation](https://huggingface.co/docs/transformers/main/en/model_doc/minicpm_ocr) | [Paper](https://huggingface.co/papers/2509.18154) Feat test (49920) by @guarin…
While language models have become dramatically more capable, retrieval still largely relies on lexical matching or similarity in fixed embedding spaces. This creates a capability asymmetry: what the retriever fails to find, even the strongest generator cannot recover. We propose DecisionRAG, which brings the capabilities of pretrained language models to retrieval using decision models that jointly evaluate candidate branches in a single forward pass, without generating any tokens, and show that judging candidates in a shared context makes their relevance estimates comparable. Like a person browsing a library, DecisionRAG navigates the corpus's inherent structure from broad topics down to individual passages, deciding at each level which branches are worth exploring. Without task-specific training or a first-stage retriever, DecisionRAG outperforms dense retrieval with an 8B reranker by 13.8 R@1 points on MultiDoc2Dial and 17.4 Hit@1 points on Natural Questions. Across four benchmarks, including a corpus of 2.68 million Wikipedia paragraphs, retrieval takes just 0.7-1.8 seconds per query.
As autonomous research systems become more capable, benchmarks must both evaluate their performance and support meaningful research progress. We introduce Auto-Research Arena, a multi-target benchmark for evaluating autonomous research systems and discovering ideas in language modeling. Arena supports diverse research objectives within a shared experimental environment by separating admissibility from improvement: model quality and resource constraints determine whether a result qualifies, while the selected target measures progress among admissible results. We instantiate Arena in language model pretraining with nine targets spanning model, data, training, and inference efficiency, and evaluate seven research harnesses using two foundation models. Arena clearly differentiates existing harnesses across research objectives, with several sophisticated methods outperformed by our simple sequential search baseline, indicating substantial headroom in current auto-research systems. Beyond evaluation, Arena reveals a substantially broader frontier of model and system ideas aligned with active research directions. Reusing these discoveries in a new quality-driven search yields lower training loss under matched data and FLOPs and lower held-out BPB at the same model size. Together, Arena provides a common framework for benchmarking autonomous research and expanding its scope in language modeling. The code is available at https://github.com/Auto-Research-Arena/auto-research-arena
Evolution strategies (ES) update a model by sampling a population of perturbed copies, scoring each one, and moving in the reward-weighted direction of the perturbations. This update is usually presented as an estimate of a smoothed gradient. We present a geometrical interpretation of this update instead. Treat each perturbed model as a particle and its reward as the particle's mass. Before scoring, every particle has the same mass and the population balances at its centroid. Once rewards are assigned, it balances at its reward-weighted center of mass instead. We show that the mean-subtracted ES update is exactly this displacement, scaled by a scalar factor that depends on the mean reward, for any finite population. The physical reading needs nonnegative rewards, which can always be arranged by adding a constant to every reward without changing the update. In the limit of a large population or under antithetic sampling, the centroid sits on the model itself, so ES has an even simpler geometric interpretation: from its current location, the model moves towards the reward-weighted center of mass of its own population. The same picture explains what subtracting the mean reward does: it changes the point from which the displacement is measured, from the model to the sampled centroid. Our contribution is an intuitive, geometric way to visualize an ES update, exact for any finite population.
Many everyday tasks require controlling contact force as well as motion. On a humanoid, this force must often be coordinated across both hands and the whole body, and cannot be specified by kinematic trajectories alone. Therefore, we present FLORE, a framework for learning force-reactive humanoid loco-manipulation. We collect robot-free demonstrations using two force-sensing UMI-style handheld grippers for hand motion and contact wrenches, and wearable trackers for body motion. A force-reactive diffusion policy takes vision, proprioception, and measured wrenches as input, then predicts actions and per-hand force commands. A hybrid compliance whole-body controller with force tracking executes these commands while maintaining balance: an integral of the force error measured by real force/torque (F/T) sensors lets each hand track force accurately along the commanded direction and remain compliant along the others. In simulation, the controller tracks per-hand force commands of varied magnitude and direction, with little loss in whole-body motion accuracy. Across three contact-rich tasks on the robot, the force-reactive policy succeeds in 80% of rollouts, compared with 26.7% for a position-only policy trained on the same demonstrations and executed by the same controller. For more details, please visit our website: https://louis-leee.github.io/FLoRe/.
Learning algorithms are usually analyzed under the assumption that informative gradients are continuously available. But this is not always true---learning signals in biological neural networks, for example, may be sparse, local, and only intermittently available at any given synapse. In this work, we show that if gradient information is noisy and only intermittently available, learning may be unstable. In particular, even if average learning dynamics converge to the correct optimum, variance in learning may be asymptotically infinite. We explore this point in a number of analytically tractable settings, including single-layer and multi-layer linear networks, and derive explicit conditions under which learning is stable. These conditions complement, but are conceptually distinct from, existing conditions related to the stability of stochastic gradient descent. Our work demonstrates that unbiased credit assignment is not enough for reliable learning; sufficiently frequent and informative feedback is also required, which yields an additional constraint on models of biologically plausible learning.
Fleet-wide computer vision needs a model per camera, not one model for the whole fleet. This post presents a working Amazon SageMaker SDK v3 reference architecture that trains, quality-gates, compiles per-camera models with SageMaker Neo, and versions thousands of them, with an AWS Step Functions layer pacing fleet-scale retraining within account quotas.
Large language models (LLMs) show promise in specialty medicine, yet existing evaluations largely focus on isolated clinical encounters rather than tracking how clinical responsibilities evolve across a longitudinal care pathway. Here we introduce NPC-RubricBench, a phase-aware benchmark for evaluating multistage clinical reasoning across the cancer care continuum, using nasopharyngeal carcinoma as a defined disease context. Curated from longitudinal records of 405 patients across two cancer centers, the benchmark comprises 941 patient-phase units across six sequential care phases and 17,688 patient-specific atomic criteria spanning five evaluation dimensions, with each assessment strictly restricted to decision-time clinical evidence. Evaluating 30 general-purpose and medical LLMs revealed that strong diagnostic performance does not carry over to downstream care. We evaluated 30 general-purpose and medical LLMs, showing that high diagnostic performance did not translate into improved downstream care. Instead, the dominant failure modes reversed across phases. Explicit decision errors dominated anatomical staging at 48.2%, whereas decision omissions dominated initial work-up and post-treatment follow-up at 33.4% and 30.4%, respectively. In the evaluated model set, medically adapted models showed higher omission rates than general-purpose models. Moreover, varying query granularity exposes a critical specification trade-off: broad open-ended requests degrade Decision Quality across all 30 models, while more detailed, checklist-like prompts raise Decision Quality but reduce Evidence Faithfulness and Safety Adherence. Furthermore, NPC-RubricBench demonstrates that static diagnostic benchmarks are insufficient to ensure consistent clinical reliability over time, highlighting the importance of phase-adaptive safeguards in multistage medical AI.
Expanding multilingual ASR systems to new languages is challenging when adaptation must preserve previously supported languages without replaying source-language training data. We study this problem in connector-based Speech LLMs, where a trainable connector maps speech representations into a frozen large language model. We evaluate target-update construction and merging strategies for adapting the connector while preserving source-language performance. In single-target expansion, target-only fine-tuning and standard TIES merging learn new languages but cause severe source-language forgetting, while SSU-Wanda+TIES gives the best source-preserving trade-off. In multi-target expansion, update merging provides stable source retention, whereas recursive expansion can improve target adaptation under favorable orders but is highly order-sensitive. These results show that multilingual ASR expansion requires balancing target acquisition, source retention, and interactions among target-language updates.
As foundation models evolve from information generation to digital work execution, agents are increasingly capable of completing complex tasks across tools, applications, and workflows. However, existing research lacks a unified perspective on how agents reliably accomplish delegated work. To address this gap, we present a work-centric, system-level perspective that views work agents as systems combining foundation models and runtime harnesses to execute tasks in stateful workspaces and deliver verifiable outcomes. We introduce two complementary dimensions, work persistence and work openness, to characterize working conditions, and classify digital work into five forms according to task scope and organization. Building on this framework, we identify five core capability families required for reliable work execution and examine approaches to model optimization, harness optimization, and their joint optimization. We further analyze existing evaluation methods and metrics from the perspective of work outcomes. Finally, we discuss future research directions, including sustained work delegation, adaptation to open environments, and the interaction between work execution and capability improvement. This paper provides a unified framework for understanding, optimizing, and evaluating work agents, supporting the development of systems capable of delivering reliable, verifiable, and practically valuable work outcomes.
Human oversight is a pillar of AI safety. It is often exercised by a human in the loop (HITL) who approves critical actions taken by an AI agent. AI agents' increasing ability to bypass guardrails, though, raises the question of how to enforce HITL robustly. We introduce the concept of inalienable human-in-the-loop (I-HITL). An I-HITL protocol ensures that an agent can initiate an action only with explicit human approval, even when the human interacts with a system (e.g., a local agentic harness) compromised by the agent. A strong I-HITL protocol additionally ensures such approval even when an adversarial human attempts to delegate approvals to an agent. To motivate I-HITL, we report on experiments with a popular agentic wallet platform in which raising an agent's spending cap requires HITL approval via emailed one-time passcodes (OTPs). Given access to the user's email and a task blocked by the cap, we find that ten different frontier models will often autonomously raise the cap, harvesting OTPs to bypass a HITL guardrail and surfacing other vulnerabilities. We formally define I-HITL using the concept of communication topologies and prove necessary and sufficient conditions for its realization. We show that an I-HITL protocol requires a trusted entity - a trusted computing device (or equivalent) - and characterize which such devices can and cannot realize an I-HITL protocol. We present a prototype I-HITL system called Countersign that can plug into and strengthen existing HITL systems using off-the-shelf consumer mobile devices.
In federated learning (FL), secure aggregation enables a server to compute the sum of local model updates of N clients, without revealing any information on the individual model updates to the server, beyond their sum. Different clients may be subject to heterogeneous bandwidth constraints, and consequently may choose different numbers of quantization levels to represent the information they send. Most secure aggregation works require the clients to project the values of their update parameters to a common finite group (or field), which does not directly accommodate heterogeneous precision constraints on their transmitted masked updates. Existing approaches of secure aggregation with heterogeneous quantization levels reveal partial aggregates of model-updates, and can reveal segments of individual model updates, under certain dropout and client-server collusion patterns. To prevent this privacy breach, we propose an information-theoretic secure aggregation scheme that tolerates client drop-outs, and up to T semi-honest clients that collude with each other and with the server, under heterogeneous quantization at clients. Our protocol utilizes the (T+1, N) threshold black-box secret sharing construction, where secret shares of the client updates, despite belonging to distinct algebraic groups owing to different quantization, are generated from identical linear integer systems.
Frontier multimodal large language models (MLLMs) can control robots without robot-specific training, but how their capabilities compare and interact with post-trained vision-language-action (VLA) and world action model (WAM) policies across manipulation demands remains to be thoroughly evaluated. In this report, we evaluate GPT-6-Astra on EBench as the core of an agent that controls a robot through an agent harness under the same visual and proprioceptive observation protocol as post-trained policies. We study two agent configurations: direct control, in which the agent generates waypoint commands directly, and harness with policy, in which it can also invoke a post-trained VLA or WAM policy for action execution. Under direct control, the agent achieves competitive overall performance relative to post-trained policies. It leads on short-horizon tasks and exhibits the least performance variation across generalization dimensions, whereas it underperforms post-trained policies on long-horizon tasks, tabletop manipulation, and high-precision contact-rich tasks. In the harness with policy, invoking a post-trained VLA or WAM combines the complementary strengths of both components, raising overall task success to the level of the strongest compared post-trained policies while substantially reducing token cost. However, performance remains below the per-task upper bound of the standalone components due to suboptimal policy invocation, fixed-instruction execution without subgoals, and grasp disruption when the agent resumes control. Overall, our study characterizes the capability boundary of a frontier MLLM agent and suggests directions for improving future agent harness design. Project page: https://internrobotics.github.io/EBench-Astra-Tech-Report/
