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arXiv AI Papers

One Policy for 100 Household Tasks: Our Solution for the 2026 BEHAVIOR Challenge

We describe our solution for the 2026 BEHAVIOR Challenge: 100 long-horizon household tasks in the OmniGibson simulator. We placed 9th on the final leaderboard, the only independent team in the top 10. The core of the solution is a single vision-language-action (VLA) model, one checkpoint for all 100 tasks, built on our 1st-place 2025 solution, which is based on π_{0.5}. On the 50 tasks shared with 2025, its Q rises from 0.260 to 0.371; across all 100 tasks it scores 0.392. Our main conclusion from 2025 was that the model was undertrained, so most of the 2026 work went into training the model for longer, optimizing some training parameters, making each training step slightly faster and reducing the gradient noise: a migration from 50 to 100 tasks (semantic stages built from the demonstrations' skill annotations, task and stage embeddings of new tasks warm-started from similar old ones, and a 21-dimensional action space matching the teleoperation controls); variance-reduced multi-sample flow matching with a simple noise-vs-compute model that picks the number of action-expert samples per observation without ablations; and a 200k-step training run, about one pass over the 211M frames of the demonstrations. A cloud evaluation infrastructure keeps a shared record with provenance, episode diagnostics and restorable simulator states, and runs six simulators on one GPU together faster than real time. On top of the learned policy, 14 tasks are routed to a GPT-6 Astra coding agent that controls the robot through observation and motion tools, starting every episode from a frozen copy of its own practice session on training instances. Across these 14 tasks, Astra's mean Q is 0.639, against 0.108 for the learned policy. The public submission included only part of the Astra results and scored 0.446 Q with 27.3% full-task success.

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arXiv AI Papers

Earlybird: Predictive Streaming Speech Recognition in 29M Parameters

Streaming speech recognizers output a word only after the speaker has finished it, typically 90-400 ms later. For a voice agent every millisecond counts: the sooner the words are outputted, the sooner the agent can start a search or plan its reply. We present Earlybird, a 29M-parameter streaming recognizer (16.8 MB at 4 bits). Earlybird learns from audio cut off at random points, including partway through a word, and is asked to predict every word that is due by then in full, plus a guess of the next two words. Its raw token probabilities give a confidence for every word including the one still being spoken. On clean audiobook speech (LibriSpeech test-clean), the median word is predicted correctly 90 ms before the speaker finishes it, while released streaming models get it 90 to 400 ms after it ends. Earlybird is the earliest on all six test sets we time, covering audiobooks, TED talks, public speech, earnings calls, and synthetic speech. On the same audiobooks, 69% of words are predicted correctly before they end, against 3-25% for the other models. For words still being spoken, confidence is calibrated, with an expected calibration error (ECE) of 3.7 to 5.5. On the eight English Open ASR Leaderboard sets, it is more accurate than Moonshine Tiny on every set and roughly ties Whistle, a model of the same size.

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arXiv AI Papers

Evaluating LLM-Generated World Models for Neuro-Symbolic Reasoning

Formal world models can support planning, verification, and safety reasoning, but constructing them from open-ended natural-language situations is difficult, particularly in multi-agent settings where several formalizations may be plausible. We study whether five LLMs can generate such world models as partially observable stochastic games and whether mechanical validity is sufficient to establish that the resulting model faithfully represents the intended decision problem. We introduce a benchmark of 44 scenarios spanning game, situational, and cultural settings and evaluate generated world models along three dimensions: mechanical validity, reference-relative structural agreement, and semantic criteria. Across three empirical tracks, we analyze 410 first-pass generations. In the reference-backed game track, 134/135 generated world models pass a strict mechanical audit, yet mean permutation-invariant structural F1 is only 0.366, with just 28/134 mechanically valid models exactly matching the authored reference. In the cultural track, explicitly naming the country changes the generated structural representation for most LLMs while producing only small changes in automated semantic scores. These results show that executability is a necessary but insufficient criterion for LLM-generated world models: models that are mechanically valid can still differ substantially in the structure used by downstream neuro-symbolic reasoning and planning.

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arXiv AI Papers

ARE-bench: Benchmarking Agents' Research Ability in Real-World Researcher Sessions and Workspaces

Research agents achieve increasingly strong benchmark scores, yet these scores do not necessarily translate into reliable delivery in ongoing research projects. Many research-agent benchmarks emphasize standalone tasks and relatively self-contained workflows in clean or curated workspaces. However, researchers ask agents to complete one step within an ongoing project, where requests depend on earlier session decisions and workspaces contain unfinished files, outdated versions, and failed attempts. We introduce ARE-bench to evaluate whether research agents advance ongoing projects while respecting prior decisions and existing workspace state, grounded in real session context and in-progress workspaces. ARE-bench includes 75 tasks built on agent sessions and full workspaces from recruited researchers' own projects, spanning seven research stages, 33 requirements, and 150 sub-requirements, with 1,173 binary checklist items in total. Each task is anchored at a real user request, preserves its requirements, and summarizes the earlier requests still in effect as background. The complete workspace is replayed to that boundary without cleanup, preserving artifacts from earlier turns. Each checklist is compiled from an intent-aligned rubric and credits any valid solution. Across seven frontier models, the strongest passes every checklist item on only 66.2% of tasks, and Design and Execution rank among the hardest stages for every model. Three models pass about 69% of tasks when only delivery contracts and general norms are checked, but just 28.4% to 40.0% once historical and material or workspace requirements are also checked. Evaluating delivery without these contextual requirements can therefore overestimate research agents and mask differences between them.

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arXiv AI Papers

EngineAgent: Agentizing On-Device LLM Inference Engines with Inference Stack Hierarchy Awareness and Hardware Abilities

Rapidly evolving LLM architectures and heterogeneous mobile hardware make supporting new models in on-device inference engines a recurring and costly system challenge. Each model may require coordinated changes across conversion, graph construction, operators, and hardware backends. Existing coding agents often miss these cross-layer dependencies and struggle to diagnose failures across host--device execution paths. We present EngineAgent, an agentic system for automating on-device LLM model enablement. Its key insight is to separate reusable engine and hardware knowledge from model-specific implementation. Before enablement, EngineAgent constructs a hierarchy-aware engine index that captures engine abstraction layers and cross-layer dependencies, and pre-validates backend-specific build, execution, and debugging workflows using already supported models. For each new model, a builder uses this knowledge to coordinate cross-layer changes, while an auditor checks implementation completeness and drives iterative debugging through device-side validation. Across 12 tasks spanning three mobile LLMs and four engine--backend pairs on CPUs, GPUs, and NPUs, EngineAgent achieves 75% end-to-end success with either of two underlying LLMs, versus 33.3% for the strongest coding-agent baseline. Success requires compilation, on-device execution, and output-logit agreement with reference implementations. EngineAgent also reduces average per-task time and model-API cost relative to baselines using the same underlying LLMs.

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arXiv AI Papers

When Should Agents Remember? Falsification-Gated Self-Evolution for LLM Agents

LLM agents increasingly operate in long-horizon, verifier-rich environments, but current self-improvement mechanisms often write episode-derived lessons directly into memory, making local success an unreliable signal for reusable and safe knowledge. This paper addresses the core question of when an experience-derived behavioral update should be admitted into persistent agent state. We propose Falsification-Gated Self-Evolution (FGSE), a verifier-grounded framework that represents each candidate lesson as a structured hypothesis with an explicit precondition, behavior change, expected effect, and verifier. FGSE applies the hypothesis only in a temporary state, tests it on target-transfer, falsification, and archived-regression probes, and then commits, refines, or rejects it according to measured gain and risk. Across web, app, tool-use, and long-term memory benchmarks, FGSE achieves strong task performance, including 39.8 WebArena success rate, 78.8 AppWorld average completion, and 0.724/0.487 Pass^1 on τ-Retail/τ-Airline, while reducing falsification failures to 5.0%, regression damage to 1.3%, and harmful committed updates to 3.6%. These results suggest that testing memory updates as hypotheses supports more reliable long-term adaptation.

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arXiv AI Papers

Don't Just Trust Your Memory: Evidence-Linked Memory Reduces Memory-Induced Degradation in LLM Agents

External memory enables LLM agents to improve from experience by distilling trajectories of past tasks into concise lessons for new tasks. However, memory can also lead to memory-induced degradation, where an agent fails on tasks it would solve without memory, often because it follows a lesson that is incorrect, or misapplies or misreads a valid one. This is because lessons are inferred from trajectories labeled only with task success or failure, yet are typically provided without the trajectories they came from, leaving the agent no way to check them. To address this, we introduce WikiTrace, an evidence-linked memory system designed to let agents check each lesson against its original trajectory. Specifically, motivated by the finding that a trajectory often still holds the evidence needed to catch an erroneous lesson, WikiTrace stores each lesson as a concise insight linked to a summary of why its trajectory succeeded or failed and to the raw trajectory itself. Then, on a new task, the agent starts from all insights and, whenever one lacks details needed to act, conflicts with another, or comes from a failed task, descends through its links with terminal tools to fill in missing details or correct the insight before acting. We validate WikiTrace on five agentic benchmarks, showing that it consistently outperforms existing memory approaches and a baseline given the same insights alone, while also reducing memory-induced degradation. Our code is available at https://github.com/yukyeongleee/wikitrace

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arXiv AI Papers

Program-Aided Patchable Skill Evolution

Agent skills have emerged as an effective means of enabling LLM agents to solve complex, interactive tasks by encoding reusable knowledge without modifying model parameters. Recent approaches further improve skill adaptation by distilling reusable experience from agent execution trajectories and evolving skills based on downstream task feedback. However, existing methods primarily represent skills as natural language documents, intertwining procedural logic with descriptive knowledge and making skills difficult to maintain and evolve. To address this limitation, we propose PASE (Program-Aided Patchable Skill Evolution), a program-aided framework that iteratively evolves skills by associating them with executable programs. Unlike prior approaches that encode trajectory-derived experience primarily in natural language, PASE separates reusable procedural logic into editable programs, enabling targeted updates to executable components while reducing the need to repeatedly revise natural language skills. Extensive experiments across diverse models and benchmarks demonstrate that PASE consistently outperforms all baselines, by achieving over 2.8% improvements. Further analyses show that PASE exhibits greater evolutionary stability and generalisation capability, highlighting the critical role of programmatic knowledge in skill evolution. We will release all data and code via GitHub.

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arXiv AI Papers

Personalized Memory Rubrics: Learning What to Remember per User via Rubric-Guided Credit Assignment

Long-horizon personalized agents maintain an evolving memory by continuously deciding what to add, modify, or discard. However, learning an optimal update policy remains challenging. Conventional training relies solely on terminal question-answering accuracy, yielding a coarse feedback signal that treats all intermediate updates identically. Furthermore, update utility is inherently user-specific, as identical memory actions may yield opposite effects across different user personas. Existing methods fail to address this heterogeneity, relying on globally shared evaluation standards with at most a single scalar intermediate reward. To address these challenges, we propose Personalized Memory Rubrics (PMR), a framework that translates terminal feedback into fine-grained, per-step, and per-user credit assignment. PMR decomposes evaluation into a universal layer capturing cross-persona failure patterns and a per-user adaptive layer modeling individual traits as a specialized delta over the universal baseline. Through Rubric-Guided Credit Assignment, PMR redistributes credit at the token level, selectively amplifying validated decisions on successful trajectories while falling back to standard policy optimization on failed ones to avoid unreliable attribution. The rubric and memory policy co-evolve in a closed loop with anti-circularity guarantees. Crucially, PMR incurs zero inference overhead, operating without any rubric or external judge during deployment. Extensive experiments across four benchmarks demonstrate consistent gains over strong memory-augmented baselines.

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