Zero-shot coordination in embodied settings requires acting while the partner is intermittently out of view, leaving existing methods with ambiguous partner representations and uncertainty over hidden partner states. We propose Predicting Intention of Partner (PIP) to jointly address these challenges. PIP uses a Joint-view VAE to distill richer training-time evidence from the union of both agents' local observations into a partner representation available from local observations alone. Partner-state Belief networks further infer the partner's hidden location and behavioral tendencies from the ego agent's interaction history. We evaluate PIP in Burrito-PO, Overcooked-PO, and a Melting Pot substrate, together with a human evaluation in Burrito-PO. PIP attains the highest mean performance among the compared methods across all three benchmarks. Human evaluation and diagnostic analyses further support coordination with unseen partners and the contributions of both components under partner occlusion.
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Legal intelligence aims to support reliable decision-making across long-horizon legal processes involving evolving case states and multiple roles. However, real-world legal deployment exhibits substantial case heterogeneity in facts, evidence, and procedural contexts, exposing the limitations of static agent strategies. Moreover, legal reasoning is inherently interdependent across roles and procedural stages, making global reliability fundamentally different from isolated role competence. To address these challenges, we study training-free test-time agent adaptation, where agents continuously exploit deployment-time signals from preceding cases and ongoing interactions without updating model parameters. We propose , which introduces Test-Time Memory Evolution to retrieve reusable experience from previous cases, adapt it to the current factual and procedural context, and consolidate accumulated experience for subsequent decision-making. Further, Rubric-Aligned Collaboration verifies and revises role-specific actions according to behavioral and procedural requirements, enabling coordinated decision-making across roles and stages. Extensive experiments on J1-EVAL and LegalWorld across five backbone models demonstrate consistent improvements over representative reasoning and agent baselines with reasonable interaction and computational costs. Ablation and case studies further show that the two components provide complementary benefits in experience adaptation and cross-role coordination, improving the reliability and efficiency of long-horizon legal reasoning.
An unsettling Alexa Plus bug has seen some Amazon Echo smart home speakers reduced to saying - and sometimes singing - nothing but "lalala" on…
Concept drift threatens production machine learning, yet the empirical behavior of multivariate two-sample drift detectors at scale remains under-characterized. Existing benchmarks rarely address the hundreds of millions of rows and high-cardinality features typical of industrial-operational datasets. We evaluate five multi-column two-sample tests (marginal, projection-based, and kernel embedding methods) across three complementary environments: the Harvard Dataverse, a validated Failing Loudly reproduction (mean absolute error between 0.030 and 0.053), and a novel synthetic-injection benchmark on the 137.5-million-row Trendyol collection-ranking feature table. Testing four drift types across two severity-scope regimes, we demonstrate that distributed Maximum Mean Discrepancy with Random Fourier Features on Apache Spark scales robustly. Averaged over the four drift types in the strong regime and under a calibrated threshold, it achieves a Pearson correlation of r = 0.940 with expected drift magnitude, an 80.4% true positive rate, and a 3.2% false positive rate. Conversely, the per-dimension Kolmogorov-Smirnov test failed due to statistic saturation from ID-like columns under asymmetric sampling, establishing a critical constraint for large-scale sampling design. At weak configurations (realized-flip fractions of at most 0.57%), detectors struggled to reliably discriminate, highlighting the need for future intensity-grid power analyses to distinguish fundamental sensitivity bounds from scalable threshold shifts.
Achieving compositional concept generalization (CoCoGen), the ability to understand novel situations by recombining learned primitives, remains a fundamental challenge in artificial intelligence. Compositional semantic models such as Compositional Distributional Semantics (DisCoCat) offer solutions by generalising vectors to tensors, but suffer from scaling bottlenecks when learning the tensors. Mapping DisCoCat onto Variational Quantum Circuits (VQCs) resolves this limitation for text, yet the methodology has not been expanded to multimodal situations such as the ones involved in CoCoGen. This paper introduces Mu-DisCoCat: a multimodal variational quantum learning framework for DisCoCat that achieves CoCoGen. The framework first learns stable object representations from single-object image-text pairs, then fixes these and uses them to learn the relations between them in multi-object situations. In classical simulations, the model used Uhlmann state fidelity to compute the overlap between the multimodal circuit representations and achieved higher relational OOD accuracy than the evaluated CLIP baseline. Its deployment was evaluated using the destructive SWAP test across noisy quantum emulators, including a range of IBM fake backends, IQM FakeAphrodite, and the IBM Marrakesh quantum processor. Despite real-world device noise, the hardware-executed models maintained a strong positive correlation with simulated fidelities, reliably distinguishing unseen similar and dissimilar pairs. Our work establishes a framework for executing CoCoGen on VQCs, demonstrating a viable use case for near-term quantum hardware.
Cooperation with unfamiliar partners requires adapting to communication conventions that are not known in advance. We study this problem in a controlled Hanabi-derived environment with scripted hint generation, LLM-controlled receiving decisions, and frozen model weights. Across eight LLMs, linear probes recover intent conventions substantially more accurately than target conventions, yet receiving choices do not consistently agree with the sender's convention. We compare probe-predicted and ground-truth conventions presented either as general rules or as externally computed action recommendations. Rule statements yield modest and model-dependent changes in cooperation, whereas action translation produces larger gains on average. In a Qwen3-8B case study, matched-state statement reversals reveal much greater sensitivity to action recommendations than to rule statements. Activation transfers from oracle-action and non-oracle hint-restatement donors improve intent accuracy on both action classes, but the tested alternatives do not reliably reproduce these benefits. Together, these results distinguish convention decodability, sensitivity to convention information, and cooperative performance, and highlight limitations in turning available partner information into receiving decisions.
Product Identification has sprung up to become one of the most challenging problems in the automation of the retail industry. With the new industry 5.0 standards, automated inventory management, and catalog creation tasks are vitally important. Object identification models have emerged as a viable answer with their unprecedented identification and localization accuracy. However, the close-knit rack design of supermarkets generates the problem of angle variation in capturing images. The angle-variant densely packed images(a single image contains many objects) become overwhelming for these models alone. In this paper, we try to supplement object detection models with traditional Hough transform (HT) and homogeneous estimation concepts. We study the effect of rectified images using homography estimation and hough transform and their limitations on the problem of grocery identification. We make a case for creating a new dataset to test the effects of such rectification and produce analytical results on different scenarios of angle variation and object densities per image. Extensive experiments on different object detection models suggest that image rectification of angled images improves the detection accuracy of grocery products in images. The results also highlight the limitation of rectification on the angle of image capture and the object density of the image.
Full-duplex spoken dialogue models listen and speak at the same time, enabling voice agents to have natural, low-latency interactions that turn-based systems cannot offer. However, they are commonly evaluated against single-sided interlocutors: pre-recorded audio that cannot react, or an automated examiner that reacts in real time but only administers a fixed sequence of tests and is never graded. These single-sided frameworks evaluate only half of a two-body problem, where turn-taking, overlap, and interruption are joint products of two coupled speakers. We propose DyaFDB, a framework that evaluates full-duplex models in a dyadic setup: two models converse directly under assigned roles with cooperative or conflicting goals, and both sides are scored offline with an external judge. DyaFDB probes how the two models behave toward each other, such as how they take turns or carry an assigned role under different interests. We instantiate four tasks as 140 scenarios and record 7,560 conversations, covering six self- and cross-play pairings. Throughout the experiments, we observe that how a model behaves continually reshapes its partner. We thus demonstrate that each model must be both the examiner and examinee of the other, and no single fixed interlocutor can play both parts. We will release the scenarios, role prompts, and recording protocols between two full-duplex models, without any pre-recorded audio.
End-to-end planners based on waypoint regression achieve strong open-loop accuracy, but they primarily learn to mimic expert geometry and remain difficult to adapt to deployment-time safety constraints. We propose a query-based cost-learning framework that estimates bounded costs for dynamically reachable ego trajectory queries, rather than dense BEV cells or a small regressed trajectory set. Compact joint scene tokens capture coherent multimodal agent futures, while contingency-aware cost aggregation and cost-guided intra-cluster MPPI mixing convert the learned cost topology into feasible ego plans. On nuScenes, our method improves over prior cost-estimation planners such as ST-P3 and NMP, outperforms most regression baselines in collision rate, while remaining competitive in L2, and retaining an interpretable cost interface. On real-world driving logs, the proposed planner reduces collision rates compared with SparseDrive and Alpamayo without fine-tuning, while maintaining a diverse set of candidate trajectories.
Covariate-aware time-series foundation models (TSFMs) promise training-free what-if answers for instrumented plants: the change in output that a different future input would cause. We test this on forced engineering systems with exact counterfactuals, comparing Chronos-2, TimesFM-2.5 and TabPFN-TS with classical system identification fitted to the same context. Through their default covariate interfaces, TimesFM-2.5 and TabPFN-TS are memoryless: the predicted effect of an input change is a same-time function of that change (R^2 = 1.000 for TimesFM-2.5). Chronos-2 identifies dynamics in context but attenuates them. Its predicted effect is 0.33-0.80 of the true effect, its recovered impulse response has the wrong shape, and its error on a one-degree-of-freedom oscillator levels off at 0.57 with 8192 context samples, where ARX fitted to 256 samples reaches 0.02. Context dither at inference lowers the what-if error on all six synthetic classes without training. A 26-minute fine-tune on synthetic forced systems restores the response magnitude (sensitivity 0.83-0.96) and outperforms structure-agnostic identification on Wiener-Hammerstein and a held-out friction class. A specialised in-context identifier trained on the same data comes close, so the forced-system data carry most of the gain. On three of four measured plants classical identification remains clearly better, and the fine-tuned model loses part of its univariate forecasting skill. Paired counterfactual inputs, together with shuffled future inputs on measured records, test two properties: whether the covariate interface can represent dynamics and whether the pretraining prior covers the plant's time scale. Only the counterfactual pairs expose the attenuation.
Path-following control strategies typically follow the bi-objective optimization dilemma: minimizing deviations from a reference path while maintaining smooth speed profiles. The latter objective is especially relevant for Electric Vehicles (EVs), since their limited driving range can be extended by recovering energy through regenerative braking, a feature that has not yet been sufficiently studied in the literature. In this work, we perform a comparative analysis of four controllers under one common Frenet frame-based kinematic vehicle model, utilizing a validated energy model (VT-CPEM) with explicit regenerative braking. Herein, we implement the following controllers: Nonlinear Model Predictive Control (NMPC), Proximal Policy Optimization (PPO), gain-scheduled Ackermann state-feedback baseline (PID-SF), and a Stanley geometric baseline. To satisfy real-time requirements, we implement the NMPC using JIT-compiled CasADi. Moreover, we train the PPO using traditional straight and S-curve tracks, after which we successfully transfer the unmodified policy to unseen tracks, including: an ISO 3888-1 lane-change, a chicane, randomly-generated parameterized-splines, and a 3^graded road. In addition, the policy transfers to a dynamic single-track vehicle model with linear tires, zero-shot with an acceptable initial performance, which was optimized after brief fine-tuning. Thereby, we demonstrate that our PPO is readily transferable to more comprehensive vehicle models. We conclude with a performance analysis of developed controllers and discuss ideas for future work.
Diffusion language models (dLLMs) have emerged as a promising alternative to autoregressive (AR) language models, offering flexible token-update orders and parallel decoding. Recent dLLMs are often initialized from pretrained AR models before diffusion conversion in order to inherit their learned representations. After the conversion, however, they typically ignore the extensive post-training ecosystem of their AR ancestors. In this work, we show that these existing AR post-training weight updates can instead be effectively recycled to enhance diffusion models. Despite the changes by AR-to-diffusion conversion, directly adding an AR post-training weight update to a diffusion base model remains effective, bringing its performance close to that achieved by direct diffusion post-training. Notably, AR and diffusion post-training updates are nearly orthogonal in weight space, yet induce substantially more aligned representation changes in the diffusion model. Their distinct updates are also complementary: composing their weights can retain gains from both regimes and further improve the post-trained diffusion model. Based on these findings, we propose A2D, a simple training-free framework for enhancing diffusion models with existing AR post-training resources. A2D can transfer capabilities from AR post-trained models to diffusion base models, and further improve already post-trained diffusion models by composing AR and diffusion post-training updates. Across various dLLMs, including Dream, DreamReasoner, DiffuCoder, Dream-Coder, Nemotron-Labs-Diffusion, and DiffusionGemma, A2D reliably improves instruction following, mathematical reasoning, and coding with both supervised fine-tuning and reinforcement learning updates, without additional training, or inference-time computation.
Attacker ASV systems for voice anonymization have been studied primarily in English, leaving their behavior in multilingual settings largely unexplored. Conventional ASV has shown that both acoustic and contextual information are important for multilingual speaker verification. Inspired by this, we investigate whether the same holds for attacker ASV on anonymized speech. We evaluate both acoustic- and content-oriented attackers on multilingual anonymized speech and construct a multilingual voice-converted dataset to improve cross-lingual generalization. Our results show that attacker effectiveness depends on the linguistic utility of the anonymized speech. Overall, acoustic-oriented attackers achieve better performance. However, when linguistic information is well preserved, the performance gap between content- and acoustic-oriented attackers narrows compared with conditions involving stronger speech distortion. The multilingual voice-converted dataset further improves performance and partially reduces the cross-lingual gap. These findings highlight the need for more comprehensive attacker modeling and evaluation protocols that consider both privacy and utility, rather than relying on a attacker strategy{Full code and pretrained models and MultiVC Dataset link are available at: https://github.com/monkeyDarefeen/DAST
Multimodal large language models (MLLMs) advance rapidly, while conventional benchmark development lags behind, delaying investigation of newly observed capability gaps. Such investigation requires an expressive task format and an on-demand construction process: information-rich charts make chart question answering (Chart QA) suitable for probing coupled perception and reasoning. Automated Chart QA construction is intended to shorten the benchmark-development cycle by turning identified gaps into targeted samples on demand. Current methods, however, commonly separate target guidance from scratch generation: target-guided systems often require prepared data, charts, or templates, while scratch-generation systems primarily ensure artifact validity, without explicitly controlling whether newly synthesized requirements and content remain aligned with an externally specified diagnostic target. We introduce ChartBmkAgent, which turns an identified capability gap into targeted diagnostic evidence by constructing complete Chart QA samples from sparse error-taxonomy specifications. Throughout construction, a central harness governs specialized agents, requires stage-specific evidence of alignment with the original error category, and records the basis for each acceptance decision. On 300 taxonomy-wide samples, MLLM accuracies ranged from 32.7% to 84.3% with distinct category profiles, showing that generated samples reveal capability differences. Across three source-model comparisons, targeted follow-ups scored 50.0% versus 82.2% on matched controls (p=8.9610^{-6}); all six cross-model comparisons had the same direction, demonstrating targeted validation and diagnostic-data generation. Multiple evaluator models assessed whether each sample tested its specified error category; 86.4% met this criterion, providing empirical evidence of target preservation.
Conversational MLLM agents are increasingly expected to assist in professional workflows, from AI research and engineering design to product management and business operations. Yet this capability remains underexplored: existing benchmarks largely focus on informal, everyday interactions and personal-life scenarios featuring photographic natural images, isolated static artifacts, and recall-oriented questions. In contrast, professional scenarios often involve structured, information-heavy artifacts that undergo frequent revisions and authority updates, and compositional queries requiring reconciliation of many artifact versions while tracking state precisely. To address these challenges, we introduce DSV-Mem, a benchmark for evaluating Dense Stateful Visual Memory. DSV-Mem comprises expert-reviewed scenarios and 1,000 questions across five user-oriented categories (Current State, Past State, Derived State, Change History, and Conflict/Refusal). A Hartley-inspired criterion favors questions with broader visual-evidence inspection demands. We also introduce a generation harness that produces evaluation suites by decoupling state-transition synthesis from conversation filling. Evaluation over 27 configurations spanning frontier and open-weight models and memory management methods reveals that the strongest baseline scores below 45% on DSV-Mem. Analysis surfaces findings: 1) multimodality and information density both contribute to difficulty, but state evolution, particularly the number of governing updates, is the dominant tested factor. Raw conversation/haystack length, OCR, and arithmetic are not the primary bottlenecks; 2) models often fail to verify user premises against prior state updates before answering; 3) increased reasoning effort and memory management methods yield limited gains, whereas state-aware designs prove more effective. The benchmark and code will be publicly released.
Shared memory coordinates agents' actions, but correct records do not establish that those actions satisfy task requirements. Memory governance and failure diagnosis regulate or inspect recorded information; they do not by themselves establish whether it is sufficient to judge task duties. We define execution consistency through duties governing state use, information handoffs, and final-state agreement, with explicit evidence conditions for judging fulfillment. Our core claim is that identical retained records can correspond to compliant and violating executions under the same task rule. Controlled removal of evidence such as receipt, action dependence, or response validity leaves 82.4% of opposite-label pairs indistinguishable; restoration separates 97.9% of the merged pairs. Natural-log annotations identify the defined violations in actual executions. However, existing logs do not always explicitly represent the execution relationships needed for these judgments. To assess the definition's practical value, we use CAVERT, a framework for consistency diagnosis and recovery, to extract supported relationships from logs and apply these criteria. It consistently outperforms contract-prompted LLM and rule-based baselines in diagnosis across all 12 benchmark-executor settings. Under the same gate and executor limits, it also outperforms rule-guided recovery in all four evaluated environments. These findings identify execution evidence that agent-memory and execution interfaces should preserve for reliable judgment.
AI agents increasingly rely on modular third-party "skills" that are dynamically selected by skill routers to execute complex tasks. While recent studies highlight the threat of prompt injections embedded in these skills, existing evaluations often assume settings where the malicious skill is already selected for execution. We show that this assumption can substantially overestimate attack success. In realistic multi-skill environments, injected skills must first compete for retrieval, reducing the effective attack success rate (ASR) of existing injections by 87-97%. To address this limitation, we introduce CORSA (Cluster Optimization for Router-Aware Skill Attacks), a router-aware attack that optimizes skill injections for both retrieval and execution across clusters of related tasks. We evaluate skill injection attacks under router-managed multi-skill settings by extending the benchmark introduced by SkillRouter with eight malicious payload categories. CORSA uses successive optimization stages to first improve retrieval and then optimize end-to-end attack success, while we evaluate user utility and injection naturalism separately. Our experiments show that CORSA substantially improves both retrieval and end-to-end attack success over existing skill injections while preserving user utility, and that the resulting attacks transfer across different router architectures and LLM backbones.
Mathematical problem solving often requires deterministic computational steps that agents delegate to tools and implicitly trust. Yet tools can fail silently, returning plausible but incorrect results. How well can agents detect and correct corrupted tool call outputs? We study this through a controlled corruption framework where a hidden interceptor replaces tool call results with plausible incorrect information on targeted problems. We evaluate agents across 31 problems under four verification designs including no verification (baseline), mandatory same-context reflection, optional fresh-context verification, and optional structural verification. Without verification, corruption causes dramatic accuracy loss, from 100% down to 72.4%. Mandatory reflection fully recovers this performance to 100%. Optional verification improves accuracy only when models actively invoke it. Our results show that checking frequency is strongly associated with robustness differences, while unequal invocation prevents a controlled comparison of verifier quality. A supporting recovery experiment shows that full problem restart succeeds in 100% of cases after explicit detection. These findings demonstrate that verifier availability and verification policy are separate components of mathematical-agent reliability. Mandatory policies enforce verification while optional policies depend on the model's own choice to invoke it.
