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arXiv AI Papers

AVALON: Zero-Shot Indoor Navigation with Human-Seeded Topological Memory

Indoor service robots often enter unmapped buildings whose layouts and task constraints are already familiar to users. We address this human-familiar, robot-unseen setting with AVALON, a topological navigation framework organized around human-seeded layered spatial memory, node-verified topological execution, and task-triggered, evidence-gated human--robot memory co-updating. The robot has no prior on-site traversal or site-specific training. Deployment requires only a floor plan, place clues, and an initial topology-odometry alignment. Visual depth point-goal navigation leverages verified node arrivals to perform translational re-anchoring, without requiring a robot-constructed global SLAM map. Human--robot memory co-updating fuses complementary sources of information. Human operators specify task constraints that are unobservable via vision and report offline environmental modifications, whereas the robot provides physical-state evidence through active in-situ validation. Task relevance governs whether human-reported environmental changes undergo robot validation during the active mission. Field-collected perceptual evidence gates memory updates, maintaining an explicit separation between human-specified permissions and robot-observed traversability. Our experiments on a Unitree Go2 show that AVALON with X-NavDP completes a 12.81 m Intersection-to-Dining mission in 46.4 s (5/5) with no mapping, 40.9% less robot time than DimOS-Go2 (78.5 s, 4/5), while policy-only X-NavDP times out in all of the 5 runs. These demonstrate the superiority of the proposed topological navigation framework.

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arXiv AI Papers

Transfer Learning in Bandits from Unknown Adaptive Policies: Problem-Dependent Lower and Upper Bounds

Transfer learning in stochastic multi-armed bandits is typically studied assuming that prior data forms a fixed offline dataset or is generated by a known source. In practice, historical observations come from a previous adaptive decision process whose policy is unknown. We study this setting for bounded rewards in [0,1]. Before the online game starts, the learner receives, for each arm k, N'_k observations drawn i.i.d.\ from an unknown distribution ν'_k, collected by an arbitrary and possibly data-dependent strategy, so the sample sizes N'_k may be random. Source and target means satisfy $|μ_k-μ'_k|

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arXiv AI Papers

Rethinking Classifier-Free Guidance for TI2I Flow Matching

We study Text-and-Image-to-Image (TI2I) flow matching methods for controllable image editing. In a broader generative modeling context, Classifier-Free Guidance (CFG) is established as a key component responsible for high quality outputs. However, we argue that its role in TI2I modeling is poorly understood. Specifically, we make the surprising observation that the CFG mechanism is implicitly harmful for editing in the noisy phase of flow modeling, hindering instruction following and controllability. We propose a simple correction in the early flow steps, enabling a richer alignment-preservation tradeoff at no extra cost. The effectiveness of our approach is demonstrated on both pixel-space and latent TI2I flows.

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arXiv AI Papers

When Is Muon Optimal? Radial Fragility and Minimax Geometry

Muon replaces a matrix gradient by an approximate polar factor and has shown strong empirical performance in neural-network training. The Isotropic Curvature Model (ICM) provides a curvature-based explanation for this update by asking when gradient orthogonalization minimizes a one-step local-loss surrogate. We investigate the stability of this explanation when the fixed input radius of the ICM is replaced by a general radial law. We introduce the Random-Radius Isotropic Curvature Model (RR-ICM) and the Polar-Factor Admissibility Set, which encodes exact scaled-polar optimality as a geometric condition on the positive polar factor of the gradient. We derive an exact characterization of this set for arbitrary radial laws and show that all nonscalar admissible responses arise from radial atoms aligned with curvature kinks. Consequently, every atomless radial law exhibits zero-capacity rigidity: exact scaled-polar optimality is possible only when the gradient is already a scaled column isometry. To connect the curvature-based framework with the established spectral geometry of Muon, we introduce the Minimax RR-ICM by replacing directional averaging with worst-case optimization over probability laws on the sphere. We prove that every nonzero global minimizer lies on the polar ray of the gradient, while its scale is determined by a one-dimensional convex problem. The corresponding admissibility geometry is a positive-semidefinite trace slab, in sharp contrast to the spherical-zonoid geometry of the RR-ICM. Together, these results expose the radial fragility of average-curvature explanations and provide a new minimax variational characterization of Muon's polar direction.

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arXiv AI Papers

Finite-Time Guarantees for Constrained Reinforcement Learning under Partial Observability

We study reinforcement learning in constrained partially observable Markov decision processes (CPOMDPs), where an agent maximizes reward subject to a cost constraint using only incomplete information about the underlying state. The lack of state observability may require optimal policies to depend on arbitrarily long observation-action histories, making planning and learning challenging. We leverage recent advances in finite-memory approximations of POMDPs and represent finite history windows as states of a constrained MDP. We then develop a primal--dual algorithm that provides the first non-asymptotic guarantees that jointly bound average reward suboptimality and constraint violation in the original CPOMDP. A key challenge is that this finite-window approximation affects both reward values and the set of feasible policies. Under a filter-stability assumption, we derive bounds relating optimality and feasibility in the finite-state model to those in the original CPOMDP, with approximation errors that decay geometrically with the window length. Experiments in partially observable gridworlds demonstrate the effectiveness of our approach.

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arXiv AI Papers

Reinforcement Learning-driven Diffusion Models: Language, Vision, and Beyond

Diffusion models (DMs) have steadily demonstrated outstanding performance in high-fidelity, controllable generation across diverse scenarios, following the "pretraining-finetuning" paradigm established in LLMs. Despite these advances, conventional DMs still face critical limitations in sophisticated reasoning, autonomous exploration of generation pathways, and adaptability to complex, human-aligned objectives. Inspired by RLHF's success in LLMs, RL has recently emerged as a pivotal post-training mechanism to iteratively refine DMs through reward-driven trajectory optimization. This paper presents the first comprehensive review of RL-driven DMs and an empirical analysis of how RL reshapes the diffusion process towards experience-centric, goal-directed generation. We propose a novel technical panorama elucidating RL's multifaceted roles in diffusion-based language, multimodal, robotic, and scientific models, with a granular focus on diffusion trajectory optimization and reward engineering. Through extensive experiments on multiple task-specific benchmarks, we systematically evaluate representative methods to intuitively highlight the advantages of different RL post-training strategies. Furthermore, we reveal and dissect three crucial bottlenecks that currently hinder the real-world deployment of RL-driven DMs: reward design fragility, exploration-exploitation trade-off in high-dimensional generation spaces, and training instability under sparse rewards. Based on these perspectives, we provide a principled roadmap for the integration of RL into DMs and outline promising future research directions for robust, interpretable RL-diffusion systems. We also construct a public repository to continuously track the latest developments in this rapidly evolving field: https://github.com/MAIR-Lab-HUST/Awesome-RL-for-Diffusion-Models.

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arXiv AI Papers

QREF: Improving DeepSearch Agents by Aligning Search with Reasoning via Query Refinement and Evidence Filtering

DeepSearch agents achieve strong performance on complex information-seeking tasks through iterative search and reasoning. However, they often issue intent-misaligned, under-constrained, or redundant search queries, resulting in poor evidence coverage and accumulating retrieval noise. To mitigate these limitations, we propose QREF, a plug-and-play Query Refiner and Evidence Filter. Specifically, the Query Refiner rewrites search queries according to the current reasoning intent while ensuring complementary coverage across each search batch. The Evidence Filter retains evidence relevant to both the current search batch and the reasoning objective, reducing distracting retrieval results. We initialize the Query Refiner with supervised fine-tuning and optimize it through reinforcement learning based on interactions with a real-world web search environment, reducing ineffective queries. Comprehensive experiments demonstrate that our approach improves the performance of DeepSearch agents across four challenging benchmarks, achieving average relative Pass@1 improvements of 33.55% on WebSailor and 11.04% on TongyiDeepResearch without modifying architectures or retraining their reasoning policies. Compared with the original DeepSearch backbone without QREF, the RL-trained refiner reduces the fraction of query batches that lack discriminative retrieval anchors by 95%. Compared with the SFT-trained refiner, it also lowers the filter-based ineffective query ratio.

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arXiv AI Papers

Decomposing Brain-LLM Alignment with Interpretable Semantic Representations

Large language models (LLMs) predict neural responses during naturalistic language comprehension, but the linguistic information underlying this brain alignment remains difficult to interpret. We use SCRIBE, an interpretable contextual semantic representation spanning 65 neurocognitively grounded semantic properties, as a lens for decomposing the brain alignment of one LLM, LLaMA2-7B. Using variance partitioning between LLaMA2-7B and SCRIBE on naturalistic fMRI data from seven participants listening to narrative stories (Moth Radio Hour), we separate brain-predictive variance shared between the two representations from variance unique to each. We find that shared variance is the dominant component across the whole brain and language-related regions, while both representations also retain significant unique contributions. We then examine whether the concreteness of individual semantic properties relates to shared and SCRIBE-unique brain-predictive variance. Concrete properties show greater shared variance with LLaMA2-7B than abstract properties across the whole brain and most examined regions, whereas abstract properties do not show greater SCRIBE-unique variance. Finally, property ablations reveal that semantic contributions extend across multiple dimensions, with cumulative effects on both shared and SCRIBE-unique variance. Together, these results show that, for LLaMA2-7B on this dataset, a substantial portion of brain-LLM alignment is associated with interpretable semantic information, while revealing complementary brain-predictive semantic information beyond the LLaMA2-7B representation.

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arXiv AI Papers

OPRD: On-Policy Reminder Distillation for Long-Horizon Coding Agents

Reliable repository-level coding requires agents not only to generate correct code but also to preserve constraints and respond to tool feedback across long interactions. However, our diagnostic analysis shows that agents often fail to act on relevant information already available in context, while final Pass/Fail outcomes provide only sparse process supervision. We introduce On-Policy Reminder Distillation (OPRD), which combines Multi-Scope Reminder supervision with outcome-based routing on reminder-free student rollouts. Successful rollouts provide autoregressive self-imitation targets, whereas failed rollouts receive Reminder-conditioned reverse-KL supervision from a teacher that re-evaluates the same student-generated prefixes. A Global Reminder converts final-test diagnostics into trajectory-level guidance, while Turn-local Reminders apply only to the next decision following the relevant environment observation. The teacher and student share a two-stage initialization from Coding SFT and Instruction-Following (IF) SFT. At inference, the student operates without Reminders. On SWE-bench Verified, SWE-bench Pro, and SWE-bench Multilingual, OPRD improves the benchmark-averaged task resolution rate by 11.3 points over the open-source Qwen3.5-4B base model. Under the same diagnostic protocol, it reduces the aggregate error-event count from 446 to 222, a 50.2% reduction.

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arXiv AI Papers

Hierarchical Residual Policy Learning for Real-World Mobile Manipulation with Sparse Human Guidance

Mobile Manipulation (MoMa) is a cornerstone of autonomous robotic systems, yet real-world fine-tuning remains a formidable challenge because of high-dimensional action spaces and intricate coupling between heterogeneous modules. In this paper, we propose HiRe-MoMa (Hierarchical Residual Mobile Manipulation), a systematic framework for stable and sample-efficient real-world fine-tuning of complex MoMa systems. At its core, HiRe-MoMa adopts a Hierarchical Residual Architecture that fine-tunes a frozen base policy. A Policy-Agnostic Residual learns additive corrections atop the base policy, while Hierarchical Decoupling splits the residual into mobile-base and manipulator-arm heads with unidirectional conditioning, mitigating gradient interference and aligning corrections with the platform's physical hierarchy. To improve sample efficiency in data-expensive real-world settings, we propose Expert-Guided Value Alignment, which leverages sparse human interventions with under 20% training coverage to reshape the critic's value landscape, effectively guiding autonomous exploration through expert priors. Extensive real-world experiments on the TIAGo++ platform demonstrate that HiRe-MoMa consistently enhances task performance with only around 30 minutes of online interaction, regardless of the base policy architecture. To our knowledge, this is among the first frameworks to enable efficient on-robot fine-tuning for mobile manipulation in the real world, providing a practical paradigm for deploying complex robotic systems in dynamic, human-centric environments. Further details can be found on our project website: https://hire-moma.github.io/

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arXiv AI Papers

Modeling and Understanding Neural Weights of Humanoid Policies with Diffusion

Recent advances in robot learning have driven rapid progress in humanoid control, enabling increasingly agile behaviors in the real world. However, humanoid control networks are typically obtained through conventional training procedures, while comparatively little attention has been given to directly modeling the distribution of their learned weights and generating functional networks in weight space. In this work, we investigate whether high-performing humanoid control networks can be generatively modeled directly through their weights. We adopt a latent diffusion framework that couples a linear autoencoder with a Diffusion Transformer. The autoencoder compresses actor network parameters into a compact latent space, and the Diffusion Transformer models the distribution of these latents. Trained on networks collected from reinforcement learning for the Unitree G1 robot, our approach generates deployable networks that perform various motions in the real world, including walking, dancing, and spin kick. Beyond generation, we further study the learned weight space to better understand the structure captured by these humanoid control networks. We identify a structural principle in the first-layer weights that consistently reflects the robot's kinematic prior. Notably, this kinematic prior emerges under both Reinforcement Learning (RL) and Imitation Learning (IL) training, suggesting that it is not specific to a particular optimization process but may instead reflect common knowledge associated with humanoid embodiment. Together, these results demonstrate the feasibility of generative modeling in humanoid network weight space, while providing initial insights into the information encoded by their learned weights. Additional results are available on our project website: https://humanoid-weight-diffusion.github.io/

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arXiv AI Papers

Co-Evolving Acting and Forecasting for Language Agents

Training language agents is bottlenecked by the high cost of long-horizon rollouts, yet standard agentic reinforcement learning (RL) learns only from a terminal scalar reward, leaving the supervision in intermediate steps largely unused. Prior work exploits this supervision through value targets that estimate per-step success probabilities or observation targets that fit environment response. Both are hard to construct well: (1) value targets come from the same single scalar signal for each step in the trajectory, and (2) observation targets, such as web pages and terminal logs, are long and noisy and reach only one step ahead. We propose , which adds a third kind of multi-step action targets. On successful on-policy trajectories, trains the policy backbone to generate the action sequences that follows each history. Each action is also supervised when forecast from the preceding histories, forming a temporal ensemble that the shared backbone absorbs during training, and this enables acting and forecasting to co-evolve. The policy still acts one step at a time at inference, with no overhead. Across five benchmarks (ALFWorld, ScienceWorld, WebShop, τ^2-bench, and AppWorld), (1) achieves stronger aggregate performance than GRPO and RL baselines with predictive auxiliary targets across simulated environments, while improving overall performance on both realistic applications; (2) delivers up to 1.9and 2.0higher sample efficiency than ECHO and GRPO, respectively, on ScienceWorld; and (3) achieves these gains with a single policy backbone, without additional models, separate pretraining, or inference overhead. The codebase is available at https://github.com/ulab-uiuc/CoPE.

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arXiv AI Papers

Player-1: Learning to Play from Synthetic Experience

Computer-use agents have demonstrated strong capabilities in interpreting screens and executing keyboard and mouse actions. However, games, with their visually rich worlds and diverse mechanics, remain challenging and offer a demanding next step toward general digital control. Current game-agent learning pipelines often rely on large-scale demonstrations with limited coverage of dynamic game states, while scalable environments for interactive training remain difficult to obtain. We introduce Player-1, a post-training framework for learning game control beyond demonstrations through synthetic experience. We extend the computer-use action space with relative pointer motion, sustained inputs, and composite actions. For supervised initialization, we fine-tune computer-use models on 6,044 curated gameplay trajectories that pair recorded actions with task instructions and visual reasoning. We construct Player-1-Gym, sixteen synthetic 2D and 3D environments designed around control demands shared across games. Programmatically verifiable rewards and randomized observations and control dynamics support multi-environment reinforcement learning with PPO. The resulting Player-1-9B and Player-1-35B-A3B improve MineDojo-300 success over their SFT policies by 27.8 and 17.7 percentage points, respectively. Player-1-9B reaches 38.33% success compared with 12.63% for the strongest evaluated baseline, with further gains over SFT on ViZDoom-10 and GameWorld. Further analyses show that broader synthetic environment coverage improves transfer, while the use of composite actions that combine multiple keyboard and mouse inputs increases during RL. We demonstrate that learning from synthetic experience substantially improves game control beyond supervised initialization, with gains that generalize beyond the RL training suite.

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arXiv AI Papers

One Task, Many Interfaces: Simple Cross-Interface Consistency Training Improves LLM Agent Robustness

Post-training binds the competence of an LLM agent to the interface it was trained on. Semantics-preserving perturbations of that interface, such as renaming an action or changing the notation, leave the underlying task unchanged yet make the agent worse at it. Scoring each sample independently means interface randomization only broadens this dependence from a single interface to the training interface distribution, so out-of-distribution perturbations still degrade the agent. We propose Cross-Interface Policy Regularization (CIPR), a self-supervised objective that replaces action names with uninformative identifiers and presents each training sample under two interfaces in which equivalent actions are identified by construction. CIPR penalizes the KL divergence between the action distributions induced under the two interfaces, so the policy behaves consistently across them. We evaluate CIPR in both supervised and reinforcement-learning post-training, where it improves robustness. On agentic function calling, held-out interface perturbations reduce the accuracy of a post-trained agent by nearly 25%, and CIPR recovers 10.5% while leaving accuracy on the unchanged interface intact.

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arXiv AI Papers

Recovering Reliable Supervision via Critique-Guided On-Policy Distillation

On-policy distillation (OPD) trains a student model on its own rollouts with token-level supervision from a teacher, assuming that the teacher can reach a correct answer from any prefix the student writes. We call this property the recoverability of the teacher and show it fails on incorrect rollouts: the teacher follows student errors, although it recognizes them. We propose CriticOPD, using error recognition to restore recoverability. The teacher critiques an incorrect rollout, allowing the student to rewrite its solution following the error. The resulting output, including the critique as privileged information, is scored by the teacher while the student uses the revision without the critique for training. On two Qwen3 students and six mathematical reasoning benchmarks, CriticOPD improves OPD, with the largest gains on competition problems.

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arXiv AI Papers

Manacá-1B-Instruct-2: Reproducible Safety Alignment for a Native Brazilian-Portuguese LLM. Negative DPO Results, a Controlled Composition Scan, and a Silent Failure Mode of the LLM Judge

Brazilian Portuguese remains underserved by open-source language models, and the few that are safety-aligned rarely document what did not work or validate comparisons with statistical significance. We present Manacá-1B-Instruct-2, the second-generation post-training alignment of Manacá-1B (1.72B parameters, trained from scratch for PT-BR), with an SFT corpus of 291,223 examples. We document three DPO attempts, all negative, including a case where the training reward margin reaches 1.0 while free generation does not change at all, and show that safety came from a dedicated safety-SFT (LLM-jp AnswerCarefully style), refined over three iterations until closing the safety-helpfulness frontier. A controlled scan of the fraction of general data in the safety-SFT mix (10% to 60%) reveals a non-monotonic over-refusal curve with a knee point at 40-50%. The final model is compared against four external PT-BR models on the same items, with Wilson confidence intervals and paired McNemar tests with Holm-Bonferroni correction: the lower bound of its safety interval (94.1%) lies above the upper bound of all four baselines. We also report a methodological finding for LLM-judge evaluation: on two of six safety items in MT-Bench-PT, the judge categorically refuses to assign a score regardless of the evaluated response, silently reducing the effective N of that category in every prior report of the project. We complement this with an n-gram decontamination check and a Chinchilla-anchored compute-budget table that attributes the gap in general capability to pre-training scale rather than alignment methodology. All code, raw data, logs, and scripts that produce every reported number are publicly released.

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arXiv AI Papers

PhySGA: A Physics-Space Grounded Agentic Framework for Generalizable and Interactive 3D Composition

3D object composition is pivotal to digital content creation and robot simulation, while also serving as a critical testbed for physical intelligence in foundation models. Previous methods either leverage large language models to directly predict object coordinates, or utilize generative diffusion priors to synthesize composite images for visual alignment, both of which rely on static priors in digital spaces. However, these methods consistently struggle with complex compositions such as precise hanging, gravity-driven settling and hidden containment, as these tasks require interactive construction processes involving global planning, fine-grained alignment, and physical simulation. To address these challenges, we propose PhySGA, a Physics-Space Grounded Agentic Framework for 3D composition via agent exploration and physical simulation, enabling the universal interactive assembly of rigid, articulated, and deformable objects. Directly applying vanilla LLMs or VLMs to this task proves insufficient, as current models inherently lack grounded physical understanding and interactive construction experience. To overcome this limitation, we design a collaborative feedforward-feedback architecture: an Assembly Agent focuses on geometric and kinematic reasoning for global step planning and coarse adjustment, while a Critic Agent reasons over contact dynamics for simulator state diagnosis and fine-grained closed-loop correction. Furthermore, Action Routers map semantic planning and analysis onto executable physical primitives within the simulator, while a task-specific Self-Evolving Skill Library distills historical trial-and-error feedback into reusable experiences, boosting success rates and minimizing exploration attempts. Extensive experiments within Isaac Sim demonstrate that PhySGA significantly surpasses existing methods in relation fidelity, physical plausibility, and visual quality.

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arXiv AI Papers

ActiveEvidence: Decision-Focused Evidence Graphs with Verifiable Acquisition Gaps

A multimodal agent must decide whether visual evidence is worth acquiring, which candidate or resolution to query, and when further interaction can no longer change its decision. We study this problem under a strict free-metadata/paid-observation boundary, stochastic vector costs, and a frozen execution trace, and treat it as decision-certifiable active evidence acquisition. A Counterfactual Evidence Interaction Graph (CEIG) represents unary evidence value, signed second-order interaction, and directed conditional harm while maintaining explicit score enclosures for unresolved interactions; a decision-weighted enclosure objective tightens the bounds that can change action identity. Gap-directed refinement evaluates only interactions that can displace the incumbent acquisition and stops once an ε-decision certificate shows that unresolved terms cannot change the selected action beyond a declared tolerance. The certificate is model-relative: it verifies policy-consistent optimality under the pinned learned score, and semantic quality is measured separately through post-freeze labels. Paired continuation rollouts learn the downstream value of paid previews, an online operational cost filter is separated from independent finite-policy-family trajectory certification, and an acquisition monitor with an independently implemented verifier binds every certificate to the frozen trace. On 640 cases split into 384/128/128 training, validation, and test cases, the controller reaches task score 0.842, grounding F1 0.816, evidence recall 0.873, 1.74 accepted calls, 286.5K visual tokens, and 742ms p95 latency. Dense replay of issued certificates shows 0.992 action agreement and a 0.988 certificate rate while evaluating 19.6 instead of 191.4 expensive interaction terms per decision.

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