Daily Papers

The evolution of Large Language Model (LLM) agents for software engineering (SWE) is constrained by the scarcity of verifiable datasets, a bottleneck stemming from the complexity of constructing executable environments across diverse languages. To address this, we introduce MEnvAgent, a Multi-language framework for automated Environment construction that facilitates scalable generation of verifiable task instances. MEnvAgent employs a multi-agent Planning-Execution-Verification architecture to autonomously resolve construction failures and integrates a novel Environment Reuse Mechanism that reduces computational overhead by incrementally patching historical environments. Evaluations on MEnvBench, a new benchmark comprising 1,000 tasks across 10 languages, demonstrate that MEnvAgent outperforms baselines, improving Fail-to-Pass (F2P) rates by 8.6% while reducing time costs by 43%. Additionally, we demonstrate the utility of MEnvAgent by constructing MEnvData-SWE, the largest open-source polyglot dataset of realistic verifiable Docker environments to date, alongside solution trajectories that enable consistent performance gains on SWE tasks across a wide range of models. Our code, benchmark, and dataset are available at https://github.com/ernie-research/MEnvAgent.

We present RepoST, a scalable method to construct environments that provide execution feedback for repository-level code generation for both training and evaluation. Unlike existing works that aim to build entire repositories for execution, which is challenging for both human and LLMs, we provide execution feedback with sandbox testing, which isolates a given target function and its dependencies to a separate script for testing. Sandbox testing reduces the complexity of external dependencies and enables constructing environments at a large scale. We use our method to construct RepoST-Train, a large-scale train set with 7,415 functions from 832 repositories. Training with the execution feedback provided by RepoST-Train leads to a performance gain of 5.5% Pass@1 on HumanEval and 3.5% Pass@1 on RepoEval. We also build an evaluation dataset, RepoST-Eval, and benchmark 12 code generation models.

The evolution of Large Language Models (LLMs) from passive responders to autonomous agents necessitates a fundamental shift in learning paradigms -- from static imitation to incentive-driven decision making. However, this transition is significantly impeded by the lack of scalable infrastructure capable of constructing high-quality interaction signals for effective policy learning. To address this, we introduce a comprehensive method designed to systematically scale the diversity and complexity of interactive environments. Our method realizes this scaling by addressing three orthogonal dimensions: (1) Complexity: NexAU, a flexible agent framework that supports building complex agent hierarchies via simple configurations; (2) Diversity: NexA4A automatically generates diverse agent hierarchies from natural language to cover infinite domains; and (3) Fidelity: NexGAP bridges the simulation-reality gap by integrating dynamic real-world environment for grounded trajectories synthesis. We train Nex-N1 upon the diverse and complex interactive environments established by our infrastructure. Empirical results on benchmarks such as SWE-bench and tau2 demonstrate that Nex-N1 consistently outperforms SOTA open-source models and achieves competitive performance against frontier proprietary models on complex agentic tasks. We open-source the Nex ecosystem and model weights to facilitate further research.

Training capable software engineering (SWE) agents demands large-scale, executable, and verifiable environments that provide dynamic feedback loops for iterative code editing, test execution, and solution refinement. However, existing open-source datasets remain limited in scale and repository diversity, while industrial solutions are opaque with unreleased infrastructure, creating a prohibitive barrier for most academic research groups. We present OpenSWE, the largest fully transparent framework for SWE agent training in Python, comprising 45,320 executable Docker environments spanning over 12.8k repositories, with all Dockerfiles, evaluation scripts, and infrastructure fully open-sourced for reproducibility. OpenSWE is built through a multi-agent synthesis pipeline deployed across a 64-node distributed cluster, automating repository exploration, Dockerfile construction, evaluation script generation, and iterative test analysis. Beyond scale, we propose a quality-centric filtering pipeline that characterizes the inherent difficulty of each environment, filtering out instances that are either unsolvable or insufficiently challenging and retaining only those that maximize learning efficiency. With 891K spent on environment construction and an additional 576K on trajectory sampling and difficulty-aware curation, the entire project represents a total investment of approximately $1.47 million, yielding about 13,000 curated trajectories from roughly 9,000 quality guaranteed environments. Extensive experiments validate OpenSWE's effectiveness: OpenSWE-32B and OpenSWE-72B achieve 62.4% and 66.0% on SWE-bench Verified, establishing SOTA among Qwen2.5 series. Moreover, SWE-focused training yields substantial out-of-domain improvements, including up to 12 points on mathematical reasoning and 5 points on science benchmarks, without degrading factual recall.

We pursue a vision for self-improving language models in which the model does not merely generate problems or traces to imitate, but constructs the environments that train it. In zero-data reasoning RL, this reframes self-improvement from a data-generation loop into an environment-construction loop, where each artifact is a reusable executable object that samples instances, computes references, and scores responses. Whether this vision sustains improvement hinges on a single property: the environments must exhibit stable solve--verify asymmetry, the model must be able to write an oracle once that it cannot reliably execute in natural language on fresh instances. This asymmetry takes two complementary forms. Some tasks are algorithmically hard to reason through but trivial as code: a dynamic program or graph traversal, compiled once, yields unboundedly many calibrated instances. Others are intrinsically hard to solve but easy to verify, like planted subset-sum or constraint satisfaction. Both create a durable gap between proposing and solving that the policy cannot close by gaming the verifier, and it is this gap that keeps reward informative as the learner improves. We instantiate this view in EvoEnv, a single-policy generator, solver method that synthesizes Python environments from ten seeds and admits them only after staged validation, semantic self-review, solver-relative difficulty calibration, and novelty checks. The strongest evidence comes from the already-strong regime: on Qwen3-4B-Thinking, fixed public-data RLVR and fixed hand-crafted environment RLVR reduce the average, while EvoEnv improves it from 72.4 to 74.8, a relative gain of 3.3%. Stable self-improvement, we suggest, depends not on producing more synthetic data, but on models learning to construct worlds whose difficulty stays structurally beyond their own reach.

Simulated environments enable scalable training data generation for embodied agents, but more data does not necessarily provide what a particular agent needs to learn. Existing environment-generation pipelines largely optimize generic properties such as realism, diversity, or task coverage, while different pretrained policies can fail for different environmental reasons. We therefore introduce WEDGE, a framework for weakness-guided navigation learning in which the failure modes of a pretrained agent guide the generation of training environments at each adaptation round. Given a pretrained policy, WEDGE uses an LLM to propose executable weakness features from contrasting successful and failed rollouts, automatically validates them on the diagnostic set, and selects the strongest validated weakness based on its success-rate gap. The validated weaknesses are then mapped to the environmental factors that control them. WEDGE varies these factors to construct environments in the difficulty regimes where the policy struggles, producing targeted training experience for adaptation. Across three navigation agents with different adaptation mechanisms, we find that policies exhibit distinct weakness profiles and benefit from different training environments. Weakness-conditioned adaptation consistently outperforms matched random and hard-example alternatives on ProcTHOR, while the resulting gains for Uni-NaVid and Gemini also extend to HM3D after ProcTHOR adaptation. Iterative re-diagnosis further shows that dominant weaknesses can persist or shift as the policy improves, providing updated guidance for subsequent environment construction. Together, these results show that policy failures are not only diagnostic signals, but actionable guidance for constructing training environments that target a policy's current weaknesses.

Automated environment configuration is a critical bottleneck in scaling software engineering (SWE) automation. To provide a reliable evaluation standard for this task, we present Multi-Docker-Eval benchmark. It includes 40 real-world repositories spanning 9 programming languages and measures both success in achieving executable states and efficiency under realistic constraints. Our extensive evaluation of state-of-the-art LLMs and agent frameworks reveals key insights: (1) the overall success rate of current models is low (F2P at most 37.7%), with environment construction being the primary bottleneck; (2) model size and reasoning length are not decisive factors, and open-source models like DeepSeek-V3.1 and Kimi-K2 are competitive in both efficiency and effectiveness; (3) agent framework and programming language also have significantly influence on success rate. These findings provide actionable guidelines for building scalable, fully automated SWE pipelines.

Reliable Docker-based environment construction is a dominant bottleneck for scaling execution-grounded training and evaluation of software engineering agents. We introduce DockSmith, a specialized agentic Docker builder designed to address this challenge. DockSmith treats environment construction not only as a preprocessing step, but as a core agentic capability that exercises long-horizon tool use, dependency reasoning, and failure recovery, yielding supervision that transfers beyond Docker building itself. DockSmith is trained on large-scale, execution-grounded Docker-building trajectories produced by a SWE-Factory-style pipeline augmented with a loop-detection controller and a cross-task success memory. Training a 30B-A3B model on these trajectories achieves open-source state-of-the-art performance on Multi-Docker-Eval, with 39.72% Fail-to-Pass and 58.28% Commit Rate. Moreover, DockSmith improves out-of-distribution performance on SWE-bench Verified, SWE-bench Multilingual, and Terminal-Bench 2.0, demonstrating broader agentic benefits of environment construction.

Equipping LLMs with tool-use capabilities via Agentic Reinforcement Learning (Agentic RL) is bottlenecked by two challenges: the lack of scalable, robust execution environments and the scarcity of realistic training data that captures implicit human reasoning. Existing approaches depend on costly real-world APIs, hallucination-prone LLM simulators, or synthetic environments that are often single-turn or depend on pre-collected documents. Moreover, synthetic trajectories are frequently over-specified, resembling instruction sequences rather than natural human intents, reducing their effectiveness for RL training. We introduce EnvFactory, a fully automated framework that addresses both challenges. EnvFactory autonomously explores and verifies stateful, executable tool environments from authentic resources, and synthesizes natural multi-turn trajectories through topology-aware sampling and calibrated refinement, producing grounded queries with implicit intents. Using only 85 verified environments across 7 domains, EnvFactory generates 2,575 SFT and RL trajectories. Despite using significantly fewer environments than prior work, which are often 5 times more, EnvFactory achieves superior training efficiency and downstream performance, improving Qwen3-series models by up to +15% on BFCLv3, +8.6% on MCP-Atlas, and +6% on conversational benchmarks including τ^2-Bench and VitaBench. By fully automating both environment construction and trajectory synthesis, EnvFactory provides a scalable, extensible, and robust foundation for Agentic RL.

LLM agents learn by interacting with environments, yet existing environments are designed for specific tasks and fail to generalize to new ones. Recent methods automate environment construction with LLMs. However, they generate each environment from scratch, neither reusing parts shared across environments nor carrying a fix from one environment to the rest. To address this, we propose a new paradigm of evolving environment atoms, which composes environments from reusable atoms (intent, rule, data and server) and evolves the atoms when an environment fails to give reliable feedback (e.g., an application lacks a tool the task requires). To instantiate this paradigm, we introduce LegoEnv, which builds 5,465 verified environments over 223 applications, and one round of evolution raises the share of solvable environments from 71.6% to 88.3%. On AutomationBench, SFT on these environments lifts Qwen3.6-27B from 16.0% to 32.0%, and RL with their verifiers lifts Qwen3.8-27B from 37.6% to 40.3%. Further analyses show steady gains with corpus size, transfer to unseen applications, and failures concentrated in a few shared root causes.

Test-time scaling (TTS) has become an effective approach for improving large language model performance by allocating additional computation during inference. However, existing TTS strategies are largely hand-crafted: researchers manually design reasoning patterns and tune heuristics by intuition, leaving much of the computation-allocation space unexplored. We propose an environment-driven framework, AutoTTS, that changes what researchers design: from individual TTS heuristics to environments where TTS strategies can be discovered automatically. The key to AutoTTS lies in environment construction: the discovery environment must make the control space tractable and provide cheap, frequent feedback for TTS search. As a concrete instantiation, we formulate width--depth TTS as controller synthesis over pre-collected reasoning trajectories and probe signals, where controllers decide when to branch, continue, probe, prune, or stop and can be evaluated cheaply without repeated LLM calls. We further introduce beta parameterization to make the search tractable and fine-grained execution trace feedback to improve discovery efficiency by helping the agent diagnose why a TTS program fails. Experiments on mathematical reasoning benchmarks show that the discovered strategies improve the overall accuracy--cost tradeoff over strong manually designed baselines. The discovered strategies generalize to held-out benchmarks and model scales, while the entire discovery costs only $39.9 and 160 minutes. Our data, and code will be open-source at https://github.com/zhengkid/AutoTTS.

Low Earth orbit (LEO) satellites increasingly carry compute hardware capable of on-board processing, yet each satellite generates roughly two orders of magnitude more data than it can downlink per orbit. This mismatch forces operators to decide, for every workload, which computation runs on-board and which runs on the ground, how intermediate data crosses the space-ground boundary through narrow contact windows, and how to maintain delivery guarantees over noisy channels. We present Constraint-Aware Execution (CAE), a planning system that takes a satellite identifier, a workload expressed as a directed acyclic graph of processing steps, and a set of orbital and resource constraints, and produces a deterministic, physically grounded execution plan. CAE operates in four phases: (1) orbital environment construction via SGP4 propagation with eclipse detection and ground station pass prediction, (2) compute placement using a cost model that compares on-board resource consumption against transfer overhead, (3) transfer insertion with adaptive forward error correction and security overhead modeling, and (4) greedy first-fit scheduling into orbital windows under power, thermal, compute, and communication constraints. We evaluate CAE against five representative workload patterns across satellites in distinct orbital regimes and demonstrate that the system produces feasible plans in under two seconds, correctly exploits onboard data reduction to minimize transfer volume, and adapts FEC and multi-pass allocation to varying channel conditions. CAE is deployed as a production API computing plans for any cataloged satellite using live two-line element data.

Generative simulation can automate robot environment construction, but physically valid environments are not necessarily useful for training. The challenge is to identify environments that address a policy's failures and supervision that helps it overcome them. We introduce CoDA, a framework in which a simulation data engine and an action policy co-evolve through a shared heterogeneous memory of environment construction, policy failures, and learning progress. The memory compiles validated diagnoses from a vision-language critic into generation programs that recreate difficulties and training programs that help the policy overcome them. We further propose Text2potential to convert these diagnoses into staged potentials for action-chunk value learning, providing dense supervision for policy updates while preserving the task's optimal policy under standard shaping assumptions. Measured learning progress guides further generation and program refinement. Across four manipulation task families, CoDA improves out-of-distribution success from 5.3% after supervised fine-tuning to 27.6%, exceeding the strongest closed-loop baseline by 9.5 percentage points with the same generation budget. On LIBERO-Pro, 15 rounds of generation and training raise success from 25% to 84% under position perturbations and from 1% to 76% under instruction perturbations.

Training capable coding agents via reinforcement learning (RL) requires diverse tasks with reliable verifiers. Open-source codebases offer a rich source of such tasks, while existing methods typically rely on development artifacts such as issues and commits, limiting the range of tasks that can be extracted. To better scale RL environments, we present CodeMidas, an agentic pipeline that turns implemented functionality in existing codebases into executable RL environments using source code as its only task-specific input. CodeMidas allocates agentic compute to every stage of environment construction: agents explore implemented functionality to formulate behavioral specifications, construct tests grounded in execution of the original code, and validate and filter candidate tasks through execution checks and repeated solution rollouts. The resulting dataset has 5,545 training tasks from 3,185 open-source codebases spanning 23 programming languages and 15 technical domains. Training MiMo-V2.5 on these tasks with GRPO improves performance on all five diverse benchmarks, covering issue repair (DeepSWE + 11.7%), whole-program construction (ProgramBench +17%), and terminal work (Terminal-Bench v2.1 +8.5%). Ablations show that increasing the number of high-quality training tasks improves performance. Trajectory analysis shows the RL-trained agent demonstrates better behaviors like increasing codebase exploration and more diverse self-verification. These results establish source code as a scalable foundation for constructing RL environments that improve coding agents across diverse software tasks.

Recent advances in large language models (LLMs) have enabled software engineering agents to tackle complex code modification tasks. Most existing approaches rely on execution feedback from containerized environments, which require dependency-complete setup and physical execution of programs and tests. While effective, this paradigm is resource-intensive and difficult to maintain, substantially complicating agent training and limiting scalability. We propose SWE-World, a Docker-free framework that replaces physical execution environments with a learned surrogate for training and evaluating software engineering agents. SWE-World leverages LLM-based models trained on real agent-environment interaction data to predict intermediate execution outcomes and final test feedback, enabling agents to learn without interacting with physical containerized environments. This design preserves the standard agent-environment interaction loop while eliminating the need for costly environment construction and maintenance during agent optimization and evaluation. Furthermore, because SWE-World can simulate the final evaluation outcomes of candidate trajectories without real submission, it enables selecting the best solution among multiple test-time attempts, thereby facilitating effective test-time scaling (TTS) in software engineering tasks. Experiments on SWE-bench Verified demonstrate that SWE-World raises Qwen2.5-Coder-32B from 6.2\% to 52.0\% via Docker-free SFT, 55.0\% with Docker-free RL, and 68.2\% with further TTS. The code is available at https://github.com/RUCAIBox/SWE-World

Effective tool use is essential for large language models (LLMs) to interact meaningfully with their environment. However, progress is limited by the lack of efficient reinforcement learning (RL) frameworks specifically designed for tool use, due to challenges in constructing stable training environments and designing verifiable reward mechanisms. To address this, we propose an automated environment construction pipeline, incorporating scenario decomposition, document generation, function integration, complexity scaling, and localized deployment. This enables the creation of high-quality training environments that provide detailed and measurable feedback without relying on external tools. Additionally, we introduce a verifiable reward mechanism that evaluates both the precision of tool use and the completeness of task execution. When combined with trajectory data collected from the constructed environments, this mechanism integrates seamlessly with standard RL algorithms to facilitate feedback-driven model training. Experiments on LLMs of varying scales demonstrate that our approach significantly enhances the models' tool-use performance without degrading their general capabilities, regardless of inference modes or training algorithms. Our analysis suggests that these gains result from improved context understanding and reasoning, driven by updates to the lower-layer MLP parameters in models.

Foundation GUI agents can automate complex digital tasks, but deployment is hindered by scarce and biased training data, ambiguous prompts, and unreliable execution. Routine workflows rely on user-specific tools and tacit conventions, so unstated instructions can produce arbitrary variations across runs. We present UI-Mate, a foundation GUI agent that integrates an environment-grounded training stack with in-context demonstration learning. UI-Mate makes three contributions: A Scalable Environment-Grounded Training Stack: A closed-loop data engine automates task generation, environment construction, rollout, filtering, capability balancing, SFT, and online RL across massively parallel environments via unified task-verifier bundles. In-Context Demonstration Learning: A mechanism that transforms multimodal demonstrations into flexible subtask-level workflows, follows relevant demonstrated steps, and re-plans from the live interface. OSWorkerBench Benchmark and Insights: A benchmark of 100 long-horizon office tasks across 41 applications that supports instruction-only and demonstration-guided evaluation. Its demonstration resources separate a 33-task self-demo setting, built from successful strong-agent rollouts of the same targets, from a 45-task variant-demo setting, built from human recordings of related but non-identical tasks. Experiments show that UI-Mate-27B sets a new open-weight state of the art on general computer-use benchmarks, scoring 77.0% on OSWorld-Verified and 66.2% on WindowsAgentArena. On OSWorkerBench, it reaches 41.0% strict success and 76.9% progress, outperforming its Qwen3.6-27B base by 17.7 and 24.5 points. On the 33-task self-demo subset, one demonstration raises strict success from 17.2% to 35.4% and progress from 67.9% to 81.1%, substantially improving long-horizon reliability. Project page: https://ui-mate.github.io.

Automatic indoor layout generation has attracted increasing attention due to its potential in interior design, virtual environment construction, and embodied AI. Existing methods fall into two categories: prompt-driven approaches that leverage proprietary LLM services (e.g., GPT APIs) and learning-based methods trained on layout data upon diffusion-based models. Prompt-driven methods often suffer from spatial inconsistency and high computational costs, while learning-based methods are typically constrained by coarse relational graphs and limited datasets, restricting their generalization to diverse room categories. In this paper, we revisit LLM-based indoor layout generation and present 3D-SynthPlace, a large-scale dataset that combines synthetic layouts generated via a 'GPT synthesize, Human inspect' pipeline, upgraded from the 3D-Front dataset. 3D-SynthPlace contains nearly 17,000 scenes, covering four common room types -- bedroom, living room, kitchen, and bathroom -- enriched with diverse objects and high-level spatial annotations. We further introduce OptiScene, a strong open-source LLM optimized for indoor layout generation, fine-tuned based on our 3D-SynthPlace dataset through our two-stage training. For the warum-up stage I, we adopt supervised fine-tuning (SFT), which is taught to first generate high-level spatial descriptions then conditionally predict concrete object placements. For the reinforcing stage II, to better align the generated layouts with human design preferences, we apply multi-turn direct preference optimization (DPO), which significantly improving layout quality and generation success rates. Extensive experiments demonstrate that OptiScene outperforms traditional prompt-driven and learning-based baselines. Moreover, OptiScene shows promising potential in interactive tasks such as scene editing and robot navigation.

Constructing large-scale datasets for the GitHub issue resolution task is crucial for both training and evaluating the software engineering capabilities of Large Language Models (LLMs). However, the traditional process for creating such benchmarks is notoriously challenging and labor-intensive, particularly in the stages of setting up evaluation environments, grading test outcomes, and validating task instances. In this paper, we propose SWE-Factory, an automated pipeline designed to address these challenges. To tackle these issues, our pipeline integrates three core automated components. First, we introduce SWE-Builder, a multi-agent system that automates evaluation environment construction, which employs four specialized agents that work in a collaborative, iterative loop and leverages an environment memory pool to enhance efficiency. Second, we introduce a standardized, exit-code-based grading method that eliminates the need for manually writing custom parsers. Finally, we automate the fail2pass validation process using these reliable exit code signals. Experiments on 671 issues across four programming languages show that our pipeline can effectively construct valid task instances; for example, with GPT-4.1-mini, our SWE-Builder constructs 269 valid instances at 0.045 per instance, while with Gemini-2.5-flash, it achieves comparable performance at the lowest cost of 0.024 per instance. We also demonstrate that our exit-code-based grading achieves 100% accuracy compared to manual inspection, and our automated fail2pass validation reaches a precision of 0.92 and a recall of 1.00. We hope our automated pipeline will accelerate the collection of large-scale, high-quality GitHub issue resolution datasets for both training and evaluation. Our code and datasets are released at https://github.com/DeepSoftwareAnalytics/swe-factory.

Coding agents have made substantial progress on software engineering tasks that modify existing codebases, including bug fixing and feature implementation. However, constructing a complete program from scratch remains a major challenge: even the frontier models evaluated on ProgramBench fully resolve fewer than 1% of tasks. One obstacle is the lack of scalable training environments for this from-scratch setting, spanning the whole software engineering life cycle, as existing environment-construction frameworks focus only on a single phase in software development. To address this gap, we introduce MindForge, an automated pipeline that converts open-source command-line programs into source-free environments that expose only a compiled reference executable and its documentation. Using MindForge, we construct training environments from repositories disjoint from those in ProgramBench, and curate a high-quality data recipe consisting of program synthesis trajectories using GLM-5.2 as the teacher agent. Fine-tuning Qwen3.6-27B on these trajectories increases its ProgramBench average test pass rate from 37.98% to 49.51%, achieving performance comparable to substantially larger frontier models. Moreover, the fine-tuned model consistently improves over the base model across all seven unseen software engineering benchmarks, spanning long-horizon repository generation and translation, bug fixing, feature implementation, and cross-language issue resolution, with absolute gains of 31.00 points on RepoZero-C2Rust, 14.16 on DeepSWE, 10.70/4.56 on NL2Repo-Bench (with/without tests), 5.04 on SWE-bench Verified, 5.93 on SWE-bench Pro, 5.22 on SWE-bench Multilingual, and 4.94 on FeatBench.

Agents learn to act through interaction with environments, yet the environments used for training are often manually constructed or synthesized around predefined tasks and benchmarks. This task-centric paradigm makes it difficult to scale environments that reflect realistic and evolving workflows where diverse tasks can naturally emerge from the underlying world. We introduce AgentMercury, a scalable framework for synthesizing executable environments from high-level business scenarios. Rather than constructing an environment for a specific task, AgentMercury first instantiates a persistent world with entities, services, tools, state, and executable cross-service invariants, from which diverse tasks and interaction trajectories can subsequently emerge. We construct 4,783 executable environments spanning 14 industries and 50 countries, and use them as training substrates for reinforcement learning. Despite being generated without targeting the evaluation benchmarks, policies trained on these business-oriented environments improve substantially on both enterprise workflows and out-of-domain benchmarks spanning reasoning, coding, scientific computing, and tool use. In our experiments, Qwen3.5-4B improves from 12.3 to 15.7 on EnterpriseOps-GYM and from 45.9 to 56.0 on AIME26 after training on AgentMercury environments. We further show that the construction process itself can be learned: fine-tuning Qwen3.5-35B-A3B on construction traces increases executable-world authoring success from 3.3% to 83.3% on held-out business scenarios. These results show that scenario-grounded environments can provide useful and generalizable learning signals beyond benchmark-specific training, while their construction can itself become a learnable capability.

Agents driven by large language models are increasingly deployed on long-horizon tasks, where they use tools and modify real workspaces. How well they perform depends as much on the harness around the model as on the model itself. Existing benchmarks measure downstream task success under a fixed harness, leaving harness engineering itself unexplored. We propose Doc2Harness, a two-stage benchmark that evaluates long-horizon harness engineering directly. In Stage 1, a build model operating inside a fixed builder harness receives an interface-only contract skeleton and a development document that consolidates behavior across twelve frontier harnesses, and then constructs a complete candidate harness in an isolated container. In Stage 2, the frozen candidate harness runs in containers separate from the construction environment, one per test case, and is driven end to end by a scripted mock model. We score each test case using four observable channels, namely the requests sent to the model, the files on disk, the process exit code, and the command output; positive controls rule out vacuous passes. Across nineteen frontier models, each evaluated with three independent builds on 328 test cases, GPT-6 Astra achieves the highest pass rate at 53.05%, while the weakest model reaches 27.44%, a gap of roughly twenty-six percentage points. Even the strongest model fails nearly half of the test cases, and failures cluster around how cross-cutting functionality is split across modules. To our knowledge, Doc2Harness provides the first deterministic benchmark for measuring long-horizon harness engineering.

We introduce GUI-360^circ, a large-scale, comprehensive dataset and benchmark suite designed to advance computer-using agents (CUAs). CUAs present unique challenges and is constrained by three persistent gaps: a scarcity of real-world CUA tasks, the lack of automated collection-and-annotation pipelines for multi-modal trajectories, and the absence of a unified benchmark that jointly evaluates GUI grounding, screen parsing, and action prediction. GUI-360^circ addresses these gaps with an LLM-augmented, largely automated pipeline for query sourcing, environment-template construction, task instantiation, batched execution, and LLM-driven quality filtering. The released corpus contains over 1.2M executed action steps across thousands of trajectories in popular Windows office applications, and includes full-resolution screenshots, accessibility metadata when available, instantiated goals, intermediate reasoning traces, and both successful and failed action trajectories. The dataset supports three canonical tasks, GUI grounding, screen parsing, and action prediction, and a hybrid GUI+API action space that reflects modern agent designs. Benchmarking state-of-the-art vision--language models on GUI-360^circ reveals substantial out-of-the-box shortcomings in grounding and action prediction; supervised fine-tuning and reinforcement learning yield significant gains but do not close the gap to human-level reliability. We release GUI-360^circ and accompanying code to facilitate reproducible research and accelerate progress on robust desktop CUAs. The full dataset has been made public on https://huggingface.co/datasets/vyokky/GUI-360.

Training terminal agents requires scalable executable supervision, yet synthesizing high-quality terminal tasks remains challenging. Each task couples an instruction, an initialized environment, a reference solution, and an executable verifier; if these artifacts are generated from inconsistent assumptions, the resulting task may be unsolvable or incorrectly evaluated. Meanwhile, multi-stage synthesis can discard the goals, dependencies, state transitions, and procedural constraints encoded in the original sources. We present FACET (Fine-grained Agentic Construction of Executable Tasks), a framework that addresses both information preservation and cross-artifact consistency. FACET reconstructs related agent skills into coherent, information-rich scenarios, then realizes and repairs the execution environment before generating the final task artifacts. The resulting container state serves as shared grounding for the instruction, solution, and verifier, while execution-based validation and targeted repair correct artifact-specific failures without unnecessarily regenerating valid components. FACET produces complex terminal tasks with dense executable checks, and successful trajectories collected from these tasks provide effective, data-efficient supervision. Fine-tuning models across multiple scales consistently improves performance on Terminal-Bench 2.1, while analyses of alternative generation schemes support the importance of environment-grounded construction for task validity and solution-verifier alignment. These results establish source-intent preservation and shared executable-state grounding as key principles for scalable terminal-task synthesis.

Recent efforts to scale tool-use post-training have largely centered on the synthesis of executable environments, which constitute only one component of a broader agentic interaction system comprising the environment, task, agent harness, and evaluator. Scaling environments in isolation, however, does not guarantee commensurate gains in model performance, because reliable learning signals depend on coherent interactions among all components of the agentic interaction system. To address this problem, we introduce WEFT (Whole-system Evolution For Tool-use Post-training), which couples scalable agentic interaction system construction, execution-driven self-evolution, and stable post-training. WEFT scales agentic interaction system construction across environment breadth, task complexity, and interaction diversity. Execution-driven self-evolution iteratively uses execution traces and state evidence to attribute failures and revise the responsible components, with fresh rollouts evaluating the changes and providing evidence for subsequent evolution rounds. For stable post-training at scale, WEFT addresses both optimization and execution reliability: prefix-preserving sampling retains verified progress and atomic-turn credit assignment localizes learning signals, while MegaMCP maintains isolated, recoverable state across concurrent rollouts over shared tool services. Extensive experiments across various models and benchmarks demonstrate the effectiveness of WEFT for tool-use post-training. WEFT-8B and WEFT-14B outperform all evaluated matched-size environment-scaling baselines on BFCL V4, τ^2-Bench, and Claw-Eval. In particular, WEFT-14B improves over Agent-World-14B by 6.41, 2.23, and 12.27 percentage points. WEFT-35B-A3B further extends these gains to more challenging long-horizon workflow benchmarks, including Toolathlon-Verified and AutomationBench.

The issue-resolving task, where a model generates patches to fix real-world bugs, has emerged as a critical benchmark for evaluating the capabilities of large language models (LLMs). While SWE-bench and its variants have become standard in this domain, they suffer from key limitations: they have not been updated since their initial releases, cover a narrow set of repositories, and depend heavily on manual effort for instance construction and environment setup. These factors hinder scalability and introduce risks of overfitting and data contamination. In this work, we present SWE-bench-Live, a live-updatable benchmark designed to overcome these challenges. Our initial release consists of 1,319 tasks derived from real GitHub issues created since 2024, spanning 93 repositories. Each task is accompanied by a dedicated Docker image to ensure reproducible execution. Central to our benchmark is \method, an automated curation pipeline that streamlines the entire process from instance creation to environment setup, removing manual bottlenecks and enabling scalability and continuous updates. We evaluate a range of state-of-the-art agent frameworks and LLMs on SWE-bench-Live, revealing a substantial performance gap compared to static benchmarks like SWE-bench, even under controlled evaluation conditions. To better understand this discrepancy, we perform detailed analyses across repository origin, issue recency, and task difficulty. By providing a fresh, diverse, and executable benchmark grounded in live repository activity, SWE-bench-Live facilitates rigorous, contamination-resistant evaluation of LLMs and agents in dynamic, real-world software development settings.

Powered by advances in LLMs and autonomous agents, deep research has become one of the most widely adopted agentic products. However, most deep research systems write general-purpose reports, which are inadequate for financial deep research. Financial research demands specialized knowledge to analyze historical patterns and forecast upcoming events. Automating financial deep research therefore requires both a layered harness to drive the research agent and a verifiable, point-in-time benchmark that prevents leakage of future information. We present FinanceHarness, a harness that runs finance-oriented tools and practitioner-guided workflows, automating financial deep research end to end: environment and data construction, the agent execution loop, and reward modeling. We further propose FinanceGym, comprising thesis-driven research questions and rubrics that combine pre-cutoff and post-cutoff criteria. Professional expert validation yields an 82% pass rate. With the same open-weight backbone, FinanceHarness improves the overall rubric score from 25.3% to 32.4%, demonstrating the effectiveness of our specialized harness design. However, even pairing FinanceHarness with the most cutting edge LLM (e.g. Opus-5), the FinanceGym score is below 45%, showing that it is a challenging benchmark for financial deep research. Leaderboard is available at: https://financegym.github.io/ and FinanceHarness code is available at: https://github.com/Yijia-Xiao/FinanceHarness.

Parametric computer-aided design (CAD) is a standard paradigm used to design manufactured objects, where a 3D shape is represented as a program supported by the CAD software. Despite the pervasiveness of parametric CAD and a growing interest from the research community, currently there does not exist a dataset of realistic CAD models in a concise programmatic form. In this paper we present the Fusion 360 Gallery, consisting of a simple language with just the sketch and extrude modeling operations, and a dataset of 8,625 human design sequences expressed in this language. We also present an interactive environment called the Fusion 360 Gym, which exposes the sequential construction of a CAD program as a Markov decision process, making it amendable to machine learning approaches. As a use case for our dataset and environment, we define the CAD reconstruction task of recovering a CAD program from a target geometry. We report results of applying state-of-the-art methods of program synthesis with neurally guided search on this task.

LLM agents are rapidly becoming production software, deployed to handle customer service, adjudicate disputes, and operate internal systems. Notably, the work of building them is increasingly handed to coding agents, yet existing benchmarks say little about whether an AI system can deliver one under the conditions of a real client engagement. We introduce τ^τ-bench (pronounced hyper-tau-bench), a benchmark that makes agent construction the task. A developer agent is given the records a business actually keeps, a client who holds requirements, a production API that operations must run through, a codebase to inherit, and limits on serving cost and models: the same starting point a real engagement provides. From these it must deliver a complete customer-service agent, scored by deploying that agent against held-out simulated users. Across 53 tasks spanning four domains, the strongest configuration, Claude Opus 5 under Claude Code, passes just 23.9% of evaluation simulations. Meanwhile, an expert-authored reference ceiling scores 82.2%. The failures mirror ones human agent developers see: models issue shallow queries in place of deep comprehension of the records, communicate almost nothing to the client, and experiment too little with agent architecture and serving spend, shipping the first design that runs. We aim for τ^τ-bench to turn the work of cooperative agent building into a measurable target for coding agents.

As browser-use agents improve, benchmarks keep pace by collecting new tasks, websites, and applications, often making tasks longer or more novel. This makes difficulty expensive to refresh and difficult to control: when many aspects change at once, it is unclear what actually makes a task challenging. We instead construct challenging instances from tasks agents already solve, turning difficulty into a programmable property of the environment. BreakingWeb pairs every base task with an intervention condition that preserves the user instruction, latent target, and backend success criterion while changing the environment at different web stack layers. Each intervention is deterministic, detectable, and recoverable, and is annotated with the cognitive primitive it primarily loads. The benchmark contains 519 clean/intervention task pairs across seven self-hosted websites and 29 intervention families, all graded against outcomes. We evaluate six strong browser-use agents, three GUI-only agents that see only screenshots, and humans. The construction is effective: interventions cut agent pass rate by 22.9% on average and overturn nearly half of the tasks each agent solves cleanly, whereas humans lose 10.0% on a first attempt and 5.7% after one familiarisation attempt. The dominant failure is belief failure: 75% of the six agents' failures end with a declared success although the required change never happened. Our code, data and environment are publicly available at www.breakingweb.app.

Reinforcement learning with verifiable rewards (RLVR) has substantially improved language-model reasoning, yet its extension to vision-language models remains constrained by the lack of training data that are simultaneously broad, exactly verifiable, and reproducible. We introduce Trace, a taxonomy-guided environment for multidomain visual reasoning. Trace factorizes task construction into a scene grammar and an executable task program, separating visual realization from answer computation. A shared semantic state determines the rendered image, prompt, typed answer, verifier state, and replayable instance trace. The resulting environment comprises 1,000 tasks over 277 scene grammars and 11 visual domains, with controlled semantic and visual variation. RLVR on 64,000 Trace instances improves the macro-average across 24 external benchmarks by 3.51 percentage points for Qwen2.5-VL-3B and 4.06 points for Qwen2.5-VL-7B, providing evidence that broad procedural training can transfer beyond the generated task distributions. Project page: https://maveryn.github.io/trace/.

Executable environments are critical for post-training agents on tasks that require tool use and multi-step interaction, but constructing executable tasks together with their environments remains difficult to scale. Skills provide reusable domain knowledge, operational procedures, and tool-use instructions, but a substantial gap remains between the information contained in a skill and a concrete, challenging task with a complete executable environment. To address this gap, we introduce Skill2Env, a capability-oriented framework that starts from a skill and uses agent capability demands to guide task and environment synthesis. Skill2Env represents these demands through reusable difficulty patterns and instantiates them into task blueprints that specify objectives, challenges, environment facts, information boundaries, and acceptance criteria. These blueprints guide the joint construction of task instructions, execution substrates, workspaces, and rubric-based evaluators around source skills. We further propose Iterative Task Hardening, which uses solver execution evidence to identify insufficiently challenging task designs, strengthen or extend their difficulty-pattern instantiations, and revise the corresponding blueprints and environments. Using 1.5K high-scoring trajectories generated from Skill2Env environments for supervised fine-tuning, we observe consistent improvements across a broad range of agent benchmarks, demonstrating the effectiveness of capability-oriented environment synthesis for agent post-training.

Egocentric "walking tour" videos provide a rich source of image data to develop rich and diverse visual models of environments around the world. However, the significant presence of humans in frames of these videos due to crowds and eye-level camera perspectives mitigates their usefulness in environment modeling applications. We focus on addressing this challenge by developing a generative algorithm that can realistically remove (i.e., inpaint) humans and their associated shadow effects from walking tour videos. Key to our approach is the construction of a rich semi-synthetic dataset of video clip pairs to train this generative model. Each pair in the dataset consists of an environment-only background clip, and a composite clip of walking humans with simulated shadows overlaid on the background. We randomly sourced both foreground and background components from real egocentric walking tour videos around the world to maintain visual diversity. We then used this dataset to fine-tune the state-of-the-art Casper video diffusion model for object and effects inpainting, and demonstrate that the resulting model performs far better than Casper both qualitatively and quantitatively at removing humans from walking tour clips with significant human presence and complex backgrounds. Finally, we show that the resulting generated clips can be used to build successful 3D/4D models of urban locations.

We study autonomous mathematical discovery in the Station, an open-world multi-agent environment in which AI agents from different model families pursue a shared research goal without a central coordinator or scripted pipeline. Agents choose their own research directions, conduct experiments, collaborate, and build a shared scientific literature. Across 12 construction problems from the AlphaEvolve catalogue and two additional case studies, the Station obtained results novel relative to the prior literature on five problems: a new infinite family of finite-field Kakeya sets, new exact 604-point kissing configurations in dimension 11, new records for the discretized Kakeya needle and sign uncertainty problems, and a substantially improved lower bound for Erdős's minimum-overlap problem. Agents also discovered novel infinite families for Book Ramsey numbers. Importantly, the agents produced not only numerical constructions but also theorems and analyses explaining how those constructions work, making the results more interpretable and easier for mathematicians to build upon. We release all raw agent dialogues, proofs, and verification code, providing a transparent record of how these discoveries emerged.

Building an embodied agent system with a large language model (LLM) as its core is a promising direction. Due to the significant costs and uncontrollable factors associated with deploying and training such agents in the real world, we have decided to begin our exploration within the Minecraft environment. Our STEVE Series agents can complete basic tasks in a virtual environment and more challenging tasks such as navigation and even creative tasks, with an efficiency far exceeding previous state-of-the-art methods by a factor of 2.5times to 7.3times. We begin our exploration with a vanilla large language model, augmenting it with a vision encoder and an action codebase trained on our collected high-quality dataset STEVE-21K. Subsequently, we enhanced it with a Critic and memory to transform it into a complex system. Finally, we constructed a hierarchical multi-agent system. Our recent work explored how to prune the agent system through knowledge distillation. In the future, we will explore more potential applications of STEVE agents in the real world.

GUI agents that interact with graphical interfaces on behalf of users represent a promising direction for practical AI assistants. However, training such agents is hindered by the scarcity of suitable environments. We present InfiniteWeb, a system that automatically generates functional web environments at scale for GUI agent training. While LLMs perform well on generating a single webpage, building a realistic and functional website with many interconnected pages faces challenges. We address these challenges through unified specification, task-centric test-driven development, and a combination of website seed with reference design image to ensure diversity. Our system also generates verifiable task evaluators enabling dense reward signals for reinforcement learning. Experiments show that InfiniteWeb surpasses commercial coding agents at realistic website construction, and GUI agents trained on our generated environments achieve significant performance improvements on OSWorld and Online-Mind2Web, demonstrating the effectiveness of proposed system.

Scaling interactive environments is important for training long-horizon agents through reinforcement learning. These environments often require further testing and refinement after initial generation, and correcting defects in a task may also require updating its work context and verifier. However, existing construction pipelines offer limited support for such iterative refinement while keeping these components aligned. We introduce WorkRover, a framework for training long-horizon cowork agents through recursive environment evolution. Its harness-driven synthesis enables construction agents to jointly build and validate semantically aligned work contexts, executable tasks, and evidence-grounded verifiers, adapting their actions to workspace state and execution feedback rather than following a fixed construction workflow. To support environment evolution, we introduce Factorial Compatibility Replay (FCR), which uses rollout feedback to evaluate combinations of component revisions through dependency-closed replay and selects the smallest validated repair among tested candidates while preserving task requirements and evaluation constraints. To provide finer-grained training signals, we propose Verifier-to-Turn Credit Assignment (VTCA), which augments trajectory-level GRPO advantages with signals from deterministic workspace-progress checks and assigns a bounded share of positive-progress credit to prerequisite turns using recorded tool-output and artifact dependencies. Using WorkRover, we post-train Qwen3.5-35B-A3B to obtain WorkRover-35B-A3B and evaluate it on several cowork-agent benchmarks. Its reported scores exceed those of Qwen3.5-35B-A3B by 26.27 percentage points on JobBench, 29.32 percentage points on OfficeQA Pro, and 413.25 Elo points on GDPval v2. These results suggest that WorkRover offers a promising foundation for scalable training of long-horizon cowork agents.

Radio maps (RMs) serve as a critical foundation for enabling environment-aware wireless communication, as they provide the spatial distribution of wireless channel characteristics. Despite recent progress in RM construction using data-driven approaches, most existing methods focus solely on pathloss prediction in a fixed 2D plane, neglecting key parameters such as direction of arrival (DoA), time of arrival (ToA), and vertical spatial variations. Such a limitation is primarily due to the reliance on static learning paradigms, which hinder generalization beyond the training data distribution. To address these challenges, we propose UrbanRadio3D, a large-scale, high-resolution 3D RM dataset constructed via ray tracing in realistic urban environments. UrbanRadio3D is over 37times3 larger than previous datasets across a 3D space with 3 metrics as pathloss, DoA, and ToA, forming a novel 3Dtimes33D dataset with 7times3 more height layers than prior state-of-the-art (SOTA) dataset. To benchmark 3D RM construction, a UNet with 3D convolutional operators is proposed. Moreover, we further introduce RadioDiff-3D, a diffusion-model-based generative framework utilizing the 3D convolutional architecture. RadioDiff-3D supports both radiation-aware scenarios with known transmitter locations and radiation-unaware settings based on sparse spatial observations. Extensive evaluations on UrbanRadio3D validate that RadioDiff-3D achieves superior performance in constructing rich, high-dimensional radio maps under diverse environmental dynamics. This work provides a foundational dataset and benchmark for future research in 3D environment-aware communication. The dataset is available at https://github.com/UNIC-Lab/UrbanRadio3D.

A reliable executable environment is the foundation for ensuring that large language models solve software engineering tasks. Due to the complex and tedious construction process, large-scale configuration is relatively inefficient. However, most methods always overlook fine-grained analysis of the actions performed by the agent, making it difficult to handle complex errors and resulting in configuration failures. To address this bottleneck, we propose EvoConfig, an efficient environment configuration framework that optimizes multi-agent collaboration to build correct runtime environments. EvoConfig features an expert diagnosis module for fine-grained post-execution analysis, and a self-evolving mechanism that lets expert agents self-feedback and dynamically adjust error-fixing priorities in real time. Empirically, EvoConfig matches the previous state-of-the-art Repo2Run on Repo2Run's 420 repositories, while delivering clear gains on harder cases: on the more challenging Envbench, EvoConfig achieves a 78.1% success rate, outperforming Repo2Run by 7.1%. Beyond end-to-end success, EvoConfig also demonstrates stronger debugging competence, achieving higher accuracy in error identification and producing more effective repair recommendations than existing methods.

3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and edges represent relations between concepts. While 3D scene graphs can serve as an advanced "mental model" for robots, how to build such a rich representation in real-time is still uncharted territory. This paper describes a real-time Spatial Perception System, a suite of algorithms to build a 3D scene graph from sensor data in real-time. Our first contribution is to develop real-time algorithms to incrementally construct the layers of a scene graph as the robot explores the environment; these algorithms build a local Euclidean Signed Distance Function (ESDF) around the current robot location, extract a topological map of places from the ESDF, and then segment the places into rooms using an approach inspired by community-detection techniques. Our second contribution is to investigate loop closure detection and optimization in 3D scene graphs. We show that 3D scene graphs allow defining hierarchical descriptors for loop closure detection; our descriptors capture statistics across layers in the scene graph, ranging from low-level visual appearance to summary statistics about objects and places. We then propose the first algorithm to optimize a 3D scene graph in response to loop closures; our approach relies on embedded deformation graphs to simultaneously correct all layers of the scene graph. We implement the proposed Spatial Perception System into a architecture named Hydra, that combines fast early and mid-level perception processes with slower high-level perception. We evaluate Hydra on simulated and real data and show it is able to reconstruct 3D scene graphs with an accuracy comparable with batch offline methods despite running online.

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from the latent BEV grid. However, traditional map construction models provide deterministic point estimates, failing to capture uncertainty and the inherent ambiguities of real-world environments, such as occlusions and missing lane markings. We propose MapDiffusion, a novel generative approach that leverages the diffusion paradigm to learn the full distribution of possible vectorized maps. Instead of predicting a single deterministic output from learned queries, MapDiffusion iteratively refines randomly initialized queries, conditioned on a BEV latent grid, to generate multiple plausible map samples. This allows aggregating samples to improve prediction accuracy and deriving uncertainty estimates that directly correlate with scene ambiguity. Extensive experiments on the nuScenes dataset demonstrate that MapDiffusion achieves state-of-the-art performance in online map construction, surpassing the baseline by 5% in single-sample performance. We further show that aggregating multiple samples consistently improves performance along the ROC curve, validating the benefit of distribution modeling. Additionally, our uncertainty estimates are significantly higher in occluded areas, reinforcing their value in identifying regions with ambiguous sensor input. By modeling the full map distribution, MapDiffusion enhances the robustness and reliability of online vectorized HD map construction, enabling uncertainty-aware decision-making for autonomous vehicles in complex environments.

Large language model (LLM)-based agentic search systems are often evaluated as if the underlying LLM were the only component that matters, yet their measured performance also depends on the surrounding search environment: the Wikipedia snapshot, preprocessing pipeline, chunking policy, retrieval backend, tool schema, observation format, and answer submission rule. These details are frequently under-specified, making it difficult to compare results or reproduce reported baselines. We present SimpleWikiSearch, whose corpus construction, retrieval stack, tool contract, and evaluation protocol are explicit and runnable. The environment starts from a full English Wikipedia dump, cleans and chunks the corpus, builds keyword and dense retrieval indexes, and exposes a minimal tool interface consisting of search, open\_url, and submit\_answer. We report baseline results on six QA datasets using open-source LLMs and provide a random-300 subset for comparisons with closed-source commercial models. SimpleWikiSearch provides a domain-specific agent harness and a controlled offline environment for reproducible agentic-search evaluation. Its contribution is this specified reference setup, rather than a new agent algorithm. Code and data will be available at: https://github.com/JimXiongGM/simple_wiki_search.

Video-based world models generate visually plausible rollouts, but since they infer dynamics in latent states, they enforce no explicit physical constraints: contacts drift, shapes distort, and motion loses consistency. We present ChronoAgentic, a multi-agent framework that instead constructs the world as executable simulation code. The plan agent converts the natural-language prompt into a structured scene plan that the user can inspect and approve. The code agent implements the plan as an executable PyChrono program, grounded in a curated skill library, a generative 3D asset pipeline, and retrieval over the simulator source. After execution, the visual-analysis agent describes the rendered rollout, while deterministic physics checks scan the simulated trajectories for anomalies. The review agent evaluates this execution evidence, and the code agent iteratively repairs the program until it satisfies the plan objectives and physical constraints. On a suite of 80 demos selected from the PhyWorldBench benchmark, ChronoAgentic satisfies the benchmark's full correctness criterion--semantic adherence and physical correctness judged jointly---on 82.5% of demos, against 52.5% for the strongest of ten text-to-video models, scored under the same criterion on their officially released benchmark videos. The same construction loop extends to interactive use, including a live ROS driving environment in a generated city. The project page is available at https://uwsbel.github.io/chrono-agentic-website/.

Dogs have a unique evolutionary relationship with humans and serve many important roles e.g. search and rescue, blind assistance, emotional support. However, few datasets exist to categorize visual features and objects available to dogs, as well as how dogs direct their visual attention within their environment. We collect and study a dataset with over 11,698 gazes to categorize the objects available to be gazed at by 11 dogs in everyday outdoor environments i.e. a walk around a college campus and urban area. We explore the availability of these object categories and the visual attention of dogs over these categories using a head mounted eye tracking apparatus. A small portion (approx. 600 images or < 20% of total dataset) of the collected data is used to fine tune a MaskRCNN for the novel image domain to segment objects present in the scene, enabling further statistical analysis on the visual gaze tendencies of dogs. The MaskRCNN, with eye tracking apparatus, serves as an end to end model for automatically classifying the visual fixations of dogs. The fine tuned MaskRCNN performs far better than chance. There are few individual differences between the 11 dogs and we observe greater visual fixations on buses, plants, pavement, and construction equipment. This work takes a step towards understanding visual behavior of dogs and their interaction with the physical world.

Command-line interfaces (CLIs) provide structured textual environments for system administration. Explorations have been performed using pre-trained language models (PLMs) to simulate these environments for safe interaction in high-risk environments. However, their use has been constrained to frozen, large parameter models like GPT. For smaller architectures to reach a similar level of believability, a rich dataset of CLI interactions is required. Existing public datasets focus on mapping natural-language tasks to commands, omitting crucial execution data such as exit codes, outputs, and environmental side effects, limiting their usability for behavioral modeling. We introduce a Shell Input -Output Environment (ShIOEnv), which casts command construction as a Markov Decision Process whose state is the partially built sequence and whose actions append arguments. After each action, ShIOEnv executes the candidate and returns its exit status, output, and progress toward a minimal-length behavioral objective. Due to the intractable nature of the combinatorial argument state-action space, we derive a context-free grammar from man pages to mask invalid arguments from being emitted. We explore random and proximal-policy optimization (PPO)-optimized sampling of unrestricted and grammar-masked action spaces to produce four exploration strategies. We observed that grammar masking and PPO significantly improve sample efficiency to produce a higher quality dataset (maximizing the number of arguments while minimizing redundancies). Policy-generated datasets of shell input-output behavior pairs are used to fine-tune CodeT5, where we observe 85% improvements in BLEU-4 when constraining the action space to grammar productions with an additional 26% improvement when applying PPO. The ShIOEnv environment and curated command behavior datasets are released for use in future research.

Constructing environments for training and evaluating claw-like agents remains a manual, human-intensive process that does not scale. We argue that what is needed is not just a dataset, but an automated pipeline capable of generating diverse, verified environments on demand. To this end, we introduce ClawEnvKit, an autonomous generation pipeline that instantiates this formalism from natural language descriptions. The pipeline comprises three modules: (1) a parser that extracts structured generation parameters from natural language input; (2) a generator that produces the task specification, tool interface, and scoring configuration; and (3) a validator that enforces feasibility, diversity, structural validity, and internal consistency across the generated environments. Using ClawEnvKit, we construct Auto-ClawEval, the first large-scale benchmark for claw-like agents, comprising 1,040 environments across 24 categories. Empirically, Auto-ClawEval matches or exceeds human-curated environments on coherence and clarity at 13,800x lower cost. Evaluated across 4 model families and 8 agent harness frameworks, we find that harness engineering boosts performance by up to 15.7 percentage points over a bare ReAct baseline, completion remains the primary axis of variation with no model saturating the benchmark, and automated generation enables evaluation at a scale previously infeasible. Beyond static benchmarking, ClawEnvKit enables live evaluation: users describe a desired capability in natural language and obtain a verified environment on demand, turning evaluation into a continuous, user-driven process. The same mechanism serves as an on-demand training environment generator, producing task distributions that adapt to an agent's current weaknesses rather than being bounded by existing user logs.

Machine-learning generative methods for material design are constructed by representing a given chemical structure, either a solid or a molecule, over appropriate atomic features, generally called structural descriptors. These must be fully descriptive of the system, must facilitate the training process and must be invertible, so that one can extract the atomic configurations corresponding to the output of the model. In general, this last requirement is not automatically satisfied by the most efficient structural descriptors, namely the representation is not directly invertible. Such drawback severely limits our freedom of choice in selecting the most appropriate descriptors for the problem, and thus our flexibility to construct generative models. In this work, we present a general optimization method capable of inverting any local many-body descriptor of the chemical environment, back to a cartesian representation. The algorithm is then implemented together with the bispectrum representation of the local structure and demonstrated for a number of molecules. The scheme presented here, thus, represents a general approach to the inversion of structural descriptors, enabling the construction of efficient structural generative models.

Training large language model agents for long-horizon tool use typically relies on interactions with real or synthesized executable environments, whose construction and verification are costly, or on external simulators that are difficult to ground. We introduce EnvACE, an agentic reinforcement learning method that replaces external environment interaction during training with world rehearsal. The policy alternates between acting and rehearsal: it first generates a tool call, then plays the role of the environment to produce the response induced by that action, and conditions subsequent decisions on the rehearsed response. Both roles are jointly optimized end-to-end using task-success rewards. Through world rehearsal, the policy internalizes the relationship between actions and their environment responses in its parameters, yielding an agent world model that directly supports decision making. Across BFCL-v4, tau^2-Bench, VitaBench, and FinMCP-Bench, EnvACE achieves strong and transferable performance, outperforming environment-scaling baselines in the overall evaluation. Controlled studies further show that world rehearsal consistently improves policy learning across model scales. At test time, the internalized world model enables private rehearsal before committed execution, yielding further gains under a moderate rehearsal budget without additional external interaction. Our findings establish world rehearsal as a new path toward scaling LLM agent training beyond the constraints of external environments. Our code is publicly available at https://github.com/Within-yao/EnvACE.

The development of autonomous agents increasingly relies on Multimodal Language Models (MLMs) to perform tasks described in natural language with GUI environments, such as websites, desktop computers, or mobile phones. Existing benchmarks for MLM agents in interactive environments are limited by their focus on a single environment, lack of detailed and generalized evaluation methods, and the complexities of constructing tasks and evaluators. To overcome these limitations, we introduce Crab, the first agent benchmark framework designed to support cross-environment tasks, incorporating a graph-based fine-grained evaluation method and an efficient mechanism for task and evaluator construction. Our framework supports multiple devices and can be easily extended to any environment with a Python interface. Leveraging Crab, we developed a cross-platform Crab Benchmark-v0 comprising 100 tasks in computer desktop and mobile phone environments. We evaluated four advanced MLMs using different single and multi-agent system configurations on this benchmark. The experimental results demonstrate that the single agent with GPT-4o achieves the best completion ratio of 35.26%. All framework code, agent code, and task datasets are publicly available at https://github.com/camel-ai/crab.

Entity matching (EM) is the most critical step for entity resolution (ER). While current deep learningbased methods achieve very impressive performance on standard EM benchmarks, their realworld application performance is much frustrating. In this paper, we highlight that such the gap between reality and ideality stems from the unreasonable benchmark construction process, which is inconsistent with the nature of entity matching and therefore leads to biased evaluations of current EM approaches. To this end, we build a new EM corpus and re-construct EM benchmarks to challenge critical assumptions implicit in the previous benchmark construction process by step-wisely changing the restricted entities, balanced labels, and single-modal records in previous benchmarks into open entities, imbalanced labels, and multimodal records in an open environment. Experimental results demonstrate that the assumptions made in the previous benchmark construction process are not coincidental with the open environment, which conceal the main challenges of the task and therefore significantly overestimate the current progress of entity matching. The constructed benchmarks and code are publicly released

Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real robot is indispensable. Existing environments achieve these requirements for robotics simulation with different levels of simplification and focus. We take one step further in constructing an environment that supports household tasks for training robot learning algorithm. Our work, SAPIEN, is a realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. Our SAPIEN enables various robotic vision and interaction tasks that require detailed part-level understanding.We evaluate state-of-the-art vision algorithms for part detection and motion attribute recognition as well as demonstrate robotic interaction tasks using heuristic approaches and reinforcement learning algorithms. We hope that our SAPIEN can open a lot of research directions yet to be explored, including learning cognition through interaction, part motion discovery, and construction of robotics-ready simulated game environment.

Object extraction and segmentation from remote sensing (RS) images is a critical yet challenging task in urban environment monitoring. Urban morphology is inherently complex, with irregular objects of diverse shapes and varying scales. These challenges are amplified by heterogeneity and scale disparities across RS data sources, including sensors, platforms, and modalities, making accurate object segmentation particularly demanding. While the Segment Anything Model (SAM) has shown significant potential in segmenting complex scenes, its performance in handling form-varying objects remains limited due to manual-interactive prompting. To this end, we propose UrbanSAM, a customized version of SAM specifically designed to analyze complex urban environments while tackling scaling effects from remotely sensed observations. Inspired by multi-resolution analysis (MRA) theory, UrbanSAM incorporates a novel learnable prompter equipped with a Uscaling-Adapter that adheres to the invariance criterion, enabling the model to capture multiscale contextual information of objects and adapt to arbitrary scale variations with theoretical guarantees. Furthermore, features from the Uscaling-Adapter and the trunk encoder are aligned through a masked cross-attention operation, allowing the trunk encoder to inherit the adapter's multiscale aggregation capability. This synergy enhances the segmentation performance, resulting in more powerful and accurate outputs, supported by the learned adapter. Extensive experimental results demonstrate the flexibility and superior segmentation performance of the proposed UrbanSAM on a global-scale dataset, encompassing scale-varying urban objects such as buildings, roads, and water.

Genotype-by-Environment (GxE) interactions influence the performance of genotypes across diverse environments, reducing the predictability of phenotypes in target environments. In-depth analysis of GxE interactions facilitates the identification of how genetic advantages or defects are expressed or suppressed under specific environmental conditions, thereby enabling genetic selection and enhancing breeding practices. This paper introduces two key models for GxE interaction research. Specifically, it includes significance analysis based on the mixed effect model to determine whether genes or GxE interactions significantly affect phenotypic traits; stability analysis, which further investigates the interactive relationships between genes and environments, as well as the relative superiority or inferiority of genotypes across environments. Additionally, this paper presents RGxEStat, a lightweight interactive tool, which is developed by the authors and integrates the construction, solution, and visualization of the aforementioned models. Designed to eliminate the need for breeders and agronomists to learn complex SAS or R programming, RGxEStat provides a user-friendly interface for streamlined breeding data analysis, significantly accelerating research cycles. Codes and datasets are available at https://github.com/mason-ching/RGxEStat.

We introduce Tencent WorkBuddy Bench, a multi-domain evaluation suite for coding agents; this report documents its construction methodology, scoring protocol, and a cross-model leaderboard. At its core is a unified evaluation framework for constructing and running distribution-informed coding-agent tasks across four work domains - Code, Web, Office, and Security. Rather than adapting public issue text, every task is reverse-engineered from a real commit, pull request, or business scenario and rewritten as a short, colloquial, role-played request, so that a task's prompt is not recoverable by web-searching the underlying issue, pull request, or commit thread. Because the dataset is released openly - task directories, environment images, evaluation harness, tests, and reference solutions - contamination resistance rests on this construction together with dataset versioning rather than on secrecy. The four subsets - repository-level engineering, front-end development, office and business workflows, and red-/blue-team security - probe complementary facets of real work, each with its own verification style. All are packaged in a uniform task-directory format and run, under a uniform and reproducible protocol, on two agent harnesses (CodeBuddy Code and Claude Code); the full open release makes the benchmark reproducible end to end and directly auditable, since any third party can re-run each task and inspect its content. Because each subset uses a different scoring instrument, scores are not comparable across subsets and the suite reports no suite-wide average. We report a cross-model leaderboard across several model families.

We present Sphinx, a synthetic environment for visual perception and reasoning that targets core cognitive primitives. Sphinx procedurally generates puzzles using motifs, tiles, charts, icons, and geometric primitives, each paired with verifiable ground-truth solutions, enabling both precise evaluation and large-scale dataset construction. The benchmark covers 25 task types spanning symmetry detection, geometric transformations, spatial reasoning, chart interpretation, and sequence prediction. Evaluating recent large vision-language models (LVLMs) shows that even state-of-the-art GPT-5 attains only 51.1% accuracy, well below human performance. Finally, we demonstrate that reinforcement learning with verifiable rewards (RLVR) substantially improves model accuracy on these tasks and yields gains on external visual reasoning benchmarks, highlighting its promise for advancing multimodal reasoning.

Accurate environmental representations are essential for autonomous driving, providing the foundation for safe and efficient navigation. Traditionally, high-definition (HD) maps are providing this representation of the static road infrastructure to the autonomous system a priori. However, because the real world is constantly changing, such maps must be constructed online from on-board sensor data. Navigation-grade standard-definition (SD) maps are widely available, but their resolution is insufficient for direct deployment. Instead, they can be used as coarse prior to guide the online map construction process. We propose NavMapFusion, a diffusion-based framework that performs iterative denoising conditioned on high-fidelity sensor data and on low-fidelity navigation maps. This paper strives to answer: (1) How can coarse, potentially outdated navigation maps guide online map construction? (2) What advantages do diffusion models offer for map fusion? We demonstrate that diffusion-based map construction provides a robust framework for map fusion. Our key insight is that discrepancies between the prior map and online perception naturally correspond to noise within the diffusion process; consistent regions reinforce the map construction, whereas outdated segments are suppressed. On the nuScenes benchmark, NavMapFusion conditioned on coarse road lines from OpenStreetMap data reaches a 21.4% relative improvement on 100 m, and even stronger improvements on larger perception ranges, while maintaining real-time capabilities. By fusing low-fidelity priors with high-fidelity sensor data, the proposed method generates accurate and up-to-date environment representations, guiding towards safer and more reliable autonomous driving. The code is available at https://github.com/tmonnin/navmapfusion

Large Language Models (LLMs) motivate generative agent simulation (e.g., AI Town) to create a ``dynamic world'', holding immense value across entertainment and research. However, for non-experts, especially those without programming skills, it isn't easy to customize a visualizable environment by themselves. In this paper, we introduce World Craft, an agentic world creation framework to create an executable and visualizable AI Town via user textual descriptions. It consists of two main modules, World Scaffold and World Guild. World Scaffold is a structured and concise standardization to develop interactive game scenes, serving as an efficient scaffolding for LLMs to customize an executable AI Town-like environment. World Guild is a multi-agent framework to progressively analyze users' intents from rough descriptions, and synthesizes required structured contents (\eg environment layout and assets) for World Scaffold . Moreover, we construct a high-quality error-correction dataset via reverse engineering to enhance spatial knowledge and improve the stability and controllability of layout generation, while reporting multi-dimensional evaluation metrics for further analysis. Extensive experiments demonstrate that our framework significantly outperforms existing commercial code agents (Cursor and Antigravity) and LLMs (Qwen3 and Gemini-3-Pro). in scene construction and narrative intent conveyance, providing a scalable solution for the democratization of environment creation.

Despite growing interest in domain-specific benchmarking of large language models (LLMs) and agents, current evaluations remain limited to static, small-scale datasets, especially in high-stakes tasks like network operations that demand reliability for deployments. We present NetPress, an automated benchmark generation framework for evaluating LLM agents in network applications. NetPress introduces a unified abstraction with state and action, enabling dynamic generation of diverse query sets along with corresponding ground truths. At runtime, users can specify benchmark configurations to generate millions of queries on the fly. In addition to dynamic benchmark construction, NetPress integrates with network emulators to provide realistic environment feedback, supporting comprehensive evaluation across correctness, safety, and latency. We instantiate NetPress on three representative applications, revealing interesting fine-grained differences in agent behavior that static, correctness-only benchmarks often miss. NetPress moves LLM evaluation toward realistic, scalable testing in infrastructure-centric domains, helping close the gap between benchmark performance and real-world deployment readiness. Code is available at https://github.com/Froot-NetSys/NetPress.

Retrieval-Augmented Generation (RAG) mitigates hallucination in LLMs by incorporating external knowledge, but relies on chunk-based retrieval that lacks structural semantics. GraphRAG methods improve RAG by modeling knowledge as entity-relation graphs, but still face challenges in high construction cost, fixed one-time retrieval, and reliance on long-context reasoning and prompt design. To address these challenges, we propose Graph-R1, an agentic GraphRAG framework via end-to-end reinforcement learning (RL). It introduces lightweight knowledge hypergraph construction, models retrieval as a multi-turn agent-environment interaction, and optimizes the agent process via an end-to-end reward mechanism. Experiments on standard RAG datasets show that Graph-R1 outperforms traditional GraphRAG and RL-enhanced RAG methods in reasoning accuracy, retrieval efficiency, and generation quality.

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved?

Reinforcement Learning (RL) with verifiable environments has emerged as a powerful approach for enhancing the reasoning capabilities of Large Language Models (LLMs). While prior research demonstrates that scaling environment quantity improves RL performance, existing manual or individual construction methods suffer from linear scaling limits, thereby hindering scalable reasoning generalization. This paper introduces RACES (Recursive Automated Composition for Environment Scaling), a framework that conceptualizes verifiable environments as composable building blocks that can be recursively assembled. The key insight is that when the codomain (output type) of one environment matches the domain (input type) of another, they can be automatically fused into a new verifiable environment, enabling recursive composition. RACES is implemented with 300 individual environments and defines a set of composition operators (SEQUENTIAL, PARALLEL, SORT, and SELECT) that induce diverse reasoning patterns. Extensive experiments show that RL training on these composite environments consistently enhances reasoning generalization. Specifically, RACES improves DeepSeek-R1-Distill-Qwen-14B by an average of 3.1 points (from 48.2 to 51.3) and boosts Qwen3-14B performance from 58.8 to 61.1 on six benchmarks, which are unseen during the construction of training environments. Moreover, RACES achieves performance comparable to training on 300 individual environments using only 50 base environments, demonstrating significant efficiency in environment utilization.

Training multimodal search agents to perform multi-hop reasoning remains challenging due to a fundamental structural disconnect: existing pipelines construct training data, search environments, and reward signals independently, causing synthesized structural metadata to be discarded, environments to rely on irreproducible external engines, and RL rewards to remain sparse at the trajectory level. We present SearchEyes, which uses a typed knowledge graph as the backbone of a simulated search world that unifies all three components. We propose Perception-Knowledge Chains (PKC) to sample constrained multi-hop paths over the visual-knowledge intersection of Wikidata5M, retaining hop-level entity metadata that simultaneously defines a self-contained search world and step-level reward anchors. We further propose Hop-Anchored Policy Optimization (HaPO), which reuses these anchors for step-level credit assignment without a separately trained process reward model. Experiments on six multimodal knowledge-intensive benchmarks show that SearchEyes achieves state-of-the-art performance among open-source multimodal search agents, with SearchEyes-27B improving over the strongest open-source baseline by 6.2 points on average.%

In long-horizon tool-calling tasks, LLM agents can fail not only because of tool-use errors, but also because of ineffective interaction with users. Yet existing benchmarks largely assume cooperative and behaviorally stable users, leaving the effect of emotional variation on agent reliability underexplored. We introduce τ-Emotion-Bench, a ten-domain benchmark for evaluating tool-calling agents under controlled emotion-conditioned user interactions while preserving the underlying task objective. To scale both benchmark construction and agent training, we introduce Tracer, a scalable agentic data-generation pipeline that constructs grounded, policy-valid tasks and collects trajectories through an interactive agent--user--environment harness. By allowing dissatisfied users to terminate inefficient interactions, the harness provides an interaction-aware signal that filters trajectories with excessive user dependence and favors effective tool use. Experiments with two user simulators show that frontier agents remain unreliable, with substantial gaps between average task success and consistent task completion. Tracer-generated supervision consistently improves Qwen3 models across scales, generalizes to unseen domains, and transfers to τ-Bench and τ-Trait. Behavioral analyses further show that higher task success is associated with a better balance between tool execution and necessary user follow-up. Overall, τ-Emotion-Bench and Tracer provide a scalable framework for evaluating agent reliability under diverse user behaviors and improving tool-calling agents through interaction-aware supervision.

Autonomous driving has now made great strides thanks to artificial intelligence, and numerous advanced methods have been proposed for vehicle end target detection, including single sensor or multi sensor detection methods. However, the complexity and diversity of real traffic situations necessitate an examination of how to use these methods in real road conditions. In this paper, we propose RMMDet, a road-side multitype and multigroup sensor detection system for autonomous driving. We use a ROS-based virtual environment to simulate real-world conditions, in particular the physical and functional construction of the sensors. Then we implement muti-type sensor detection and multi-group sensors fusion in this environment, including camera-radar and camera-lidar detection based on result-level fusion. We produce local datasets and real sand table field, and conduct various experiments. Furthermore, we link a multi-agent collaborative scheduling system to the fusion detection system. Hence, the whole roadside detection system is formed by roadside perception, fusion detection, and scheduling planning. Through the experiments, it can be seen that RMMDet system we built plays an important role in vehicle-road collaboration and its optimization. The code and supplementary materials can be found at: https://github.com/OrangeSodahub/RMMDet

Open-ended learning frames intelligence as emerging from continual interaction with an ever-expanding space of environments. While recent advances have utilized foundation models to programmatically generate diverse environments, these approaches often focus on discovering isolated behaviors rather than orchestrating sustained progression. In complex open-ended worlds, the large combinatorial space of possible challenges makes it difficult for agents to discover sequences of experiences that remain consistently learnable. To address this, we propose Dreaming in Code (DiCode), a framework in which foundation models synthesize executable environment code to scaffold learning toward increasing competence. In DiCode, "dreaming" takes the form of materializing code-level variations of the world. We instantiate DiCode in Craftax, a challenging open-ended benchmark characterized by rich mechanics and long-horizon progression. Empirically, DiCode enables agents to acquire long-horizon skills, achieving a 16% improvement in mean return over the strongest baseline and non-zero success on late-game combat tasks where prior methods fail. Our results suggest that code-level environment design provides a practical mechanism for curriculum control, enabling the construction of intermediate environments that bridge competence gaps in open-ended worlds. Project page and source code are available at https://konstantinosmitsides.github.io/dreaming-in-code and https://github.com/konstantinosmitsides/dreaming-in-code.

Human intelligence exhibits a remarkable capacity for rapid adaptation and effective problem-solving in novel and unfamiliar contexts. We argue that this profound adaptability is fundamentally linked to the efficient construction and refinement of internal representations of the environment, commonly referred to as world models, and we refer to this adaptation mechanism as world model induction. However, current understanding and evaluation of world models in artificial intelligence (AI) remains narrow, often focusing on static representations learned from training on massive corpora of data, instead of the efficiency and efficacy in learning these representations through interaction and exploration within a novel environment. In this Perspective, we provide a view of world model induction drawing on decades of research in cognitive science on how humans learn and adapt so efficiently; we then call for a new evaluation framework for assessing adaptive world models in AI. Concretely, we propose a new benchmarking paradigm based on suites of carefully designed games with genuine, deep and continually refreshing novelty in the underlying game structures -- we refer to this class of games as novel games. We detail key desiderata for constructing these games and propose appropriate metrics to explicitly challenge and evaluate the agent's ability for rapid world model induction. We hope that this new evaluation framework will inspire future evaluation efforts on world models in AI and provide a crucial step towards developing AI systems capable of human-like rapid adaptation and robust generalization -- a critical component of artificial general intelligence.

Fast Healthcare Interoperability Resources (FHIR) is the dominant standard for interoperable exchange of healthcare data. In FHIR, electronic health records form a directed graph of resources. Answering clinically meaningful questions over FHIR requires agents to perform multi-step reasoning, filtering, and aggregation across multiple resource types. Prior work shows that even tool-augmented LLM agents (retrieval, code execution, multi-turn planning) often select the wrong resources or violate traversal constraints. We study this problem in the context of FHIR-AgentBench, a benchmark for realistic question answering over real-world hospital data, and frame reasoning on FHIR as a sequential decision-making problem over a queryable structured graph. We implement a multi-turn CodeAct agent and post-train it with reinforcement learning using a custom harness and tools. A LLM Judge provides execution-grounded rewards. Compared to prompt-based, closed-model baselines, RL post-training improves performance while enforcing data-integrity constraints. Empirically, our approach improves answer correctness from 50% (o4-mini) to 77% on FHIR-AgentBench using a smaller and cheaper Qwen3-8B model. We present an end-to-end post-training pipeline (environment building, harness construction, model training and custom evaluation) that reliably improves multi-turn reasoning over structured clinical graphs.

Tool-calling agents have become central to enterprise AI, yet training and evaluating them at scale remains severely constrained due to business and legal restrictions on enterprise systems, data, and database schemas. Tabular data synthesis offers a natural alternative, but its effectiveness is fundamentally limited by structural validity and schema availability, while procedure-based approaches yield the opposite weakness, typically lacking distributional fidelity without per-domain authoring. We introduce **Synthesis Through Simulation** (STS), a **schema--free** data synthesis paradigm in which an LLM agent generates data by executing operations against policy-enforcing APIs within simulated enterprise environments. Because data is generated through the same environment that defines what is valid, STS guarantees structural validity by construction while decoupling validity enforcement from distribution modeling, allowing each to be addressed independently. The **Generalist Populator** (GP), STS's domain-agnostic agent, addresses the remaining challenges of distributional fidelity and synthesis scalability: GP achieves **0.88** average marginal fidelity and **100\% constraint satisfaction** across all ten environments *without access to DB schemas*, while statistical synthesizers are inapplicable to seven due to necessary seed data requirements, and schema-privileged agents fail 82\% of trajectories on airline environment's tightly coupled workflows due to brittle task composition. We open-source the full framework, all ten environments, and generated datasets at https://github.com/SAP/synthesis-through-simulation.

Autonomous agents powered by large language models (LLMs) have the potential to enhance human capabilities, assisting with digital tasks from sending emails to performing data analysis. The abilities of existing LLMs at such tasks are often hindered by the lack of high-quality agent data from the corresponding environments they interact with. We propose Learn-by-interact, a data-centric framework to adapt LLM agents to any given environments without human annotations. Learn-by-interact synthesizes trajectories of agent-environment interactions based on documentations, and constructs instructions by summarizing or abstracting the interaction histories, a process called backward construction. We assess the quality of our synthetic data by using them in both training-based scenarios and training-free in-context learning (ICL), where we craft innovative retrieval approaches optimized for agents. Extensive experiments on SWE-bench, WebArena, OSWorld and Spider2-V spanning across realistic coding, web, and desktop environments show the effectiveness of Learn-by-interact in various downstream agentic tasks -- baseline results are improved by up to 12.2\% for ICL with Claude-3.5 and 19.5\% for training with Codestral-22B. We further demonstrate the critical role of backward construction, which provides up to 14.0\% improvement for training. Our ablation studies demonstrate the efficiency provided by our synthesized data in ICL and the superiority of our retrieval pipeline over alternative approaches like conventional retrieval-augmented generation (RAG). We expect that Learn-by-interact will serve as a foundation for agent data synthesis as LLMs are increasingly deployed at real-world environments.

LLM-powered tool-calling agents fulfill user requests by interacting with environments, querying data, and invoking tools in a multi-turn process. Yet, most existing benchmarks evaluate these systems under static environment interfaces, with fixed schemas and toolsets, making it difficult to assess how agents behave as environments evolves -- when capabilities are added, reorganized, or deprecated across successive environment versions. In this paper, we study structured environment evolution as a benchmark-construction problem for tool-calling agents. We propose ProEvolve, a graph-based framework that makes environment evolution programmable. At its core, a typed relational graph provides a unified, explicit representation of the environment - data, tools, and schema. Under this formalism, adding, removing, or modifying capabilities are expressed as graph transformations that coherently propagate updates across tools, schemas, and data access. Building on this, ProEvolve supports (1) automatic generation of evolved executable environments through explicit graph transformations, and (2) graph-grounded construction of task sandboxes via subgraph sampling and instantiation. We validate ProEvolve in two tool-calling domains, e-commerce and airline booking, in terms of quality, implementation validity, and failure modes. Finally, we use the generated benchmark as a downstream diagnostic to study how representative agents behave under structured environment evolution.

Function calling (FC) empowers large language models (LLMs) and autonomous agents to interface with external tools, a critical capability for solving complex, real-world problems. As this ability becomes increasingly central to advanced AI systems, the need for high-quality, multi-turn training data to develop and refine it cannot be overstated. Existing data synthesis methods, such as random environment sampling or multi-agent role-playing, are not powerful enough to generate high-quality data in real-world environments. Practical challenges come in three folds: targeted model training, isolation of tool architecture, and multi-turn logical dependency. To address these structural deficiencies, we present FunReason-MT, a novel data synthesis framework for real-world multi-turn tool use. FunReason-MT resolves the complexity barrier in multi-turn FC data by employing 1) Environment-API Graph Interactions to gather varied high-quality trajectories, 2) Advanced Tool-Query Synthesis to simplify hard query construction, and 3) Guided Iterative Chain for sophisticated CoT generation. Evaluations on Berkeley Function-Calling Leaderboard (BFCLv3) demonstrate the power of our framework: a 4B model built upon FunReason-MT generated data achieves state-of-the-art performance among comparable-sized models, outperforming most close-source models. Further performance improvements on BFCLv4 confirm that FunReason-MT provides a reliable and robust source for agentic learning.

Agent memory is typically constructed either offline from curated demonstrations or online from post-deployment interactions. However, regardless of how it is built, an agent faces a cold-start gap when first introduced to a new environment without any task-specific experience available. In this paper, we study pre-task memory construction: whether an agent can build procedural memory before observing any target-environment tasks, using only self-generated synthetic practice. Yet, synthetic interaction alone is insufficient, as without controlling what to practice and what to store, synthetic tasks become redundant, infeasible, and ultimately uninformative, and memory further degrades quickly due to unfiltered trajectories. To overcome this, we present Preping, a proposer-guided memory construction framework. At its core is proposer memory, a structured control state that shapes future practice. A Proposer generates synthetic tasks conditioned on this state, a Solver executes them, and a Validator determines which trajectories are eligible for memory insertion while also providing feedback to guide future proposals. Experiments on AppWorld, BFCL v3, and MCP-Universe show that Preping substantially improves over a no-memory baseline and achieves performance competitive with strong playbook-based methods built from offline or online experience, with deployment cost 2.99times lower on AppWorld and 2.23times lower on BFCL v3 than online memory construction. Further analyses reveal that the main benefit does not come from synthetic volume alone, but from proposer-side control over feasibility, redundancy, and coverage, combined with selective memory updates.

To survive and thrive in complex environments, humans have evolved sophisticated self-improvement mechanisms through environment exploration, hierarchical abstraction of experiences into reuseable skills, and collaborative construction of an ever-growing skill repertoire. Despite recent advancements, autonomous web agents still lack crucial self-improvement capabilities, struggling with procedural knowledge abstraction, refining skills, and skill composition. In this work, we introduce SkillWeaver, a skill-centric framework enabling agents to self-improve by autonomously synthesizing reusable skills as APIs. Given a new website, the agent autonomously discovers skills, executes them for practice, and distills practice experiences into robust APIs. Iterative exploration continually expands a library of lightweight, plug-and-play APIs, significantly enhancing the agent's capabilities. Experiments on WebArena and real-world websites demonstrate the efficacy of SkillWeaver, achieving relative success rate improvements of 31.8% and 39.8%, respectively. Additionally, APIs synthesized by strong agents substantially enhance weaker agents through transferable skills, yielding improvements of up to 54.3% on WebArena. These results demonstrate the effectiveness of honing diverse website interactions into APIs, which can be seamlessly shared among various web agents.

Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution is to use a scene graph that contains all the necessary information. Modern methods rely on prebuilt scene graphs and assume that all task-relevant information is available at the start of planning. However, these approaches do not account for changes in the environment that may occur between the graph construction and the task execution. We propose LookPlanGraph - a method that leverages a scene graph composed of static assets and object priors. During plan execution, LookPlanGraph continuously updates the graph with relevant objects, either by verifying existing priors or discovering new entities. This is achieved by processing the agents egocentric camera view using a Vision Language Model. We conducted experiments with changed object positions VirtualHome and OmniGibson simulated environments, demonstrating that LookPlanGraph outperforms methods based on predefined static scene graphs. To demonstrate the practical applicability of our approach, we also conducted experiments in a real-world setting. Additionally, we introduce the GraSIF (Graph Scenes for Instruction Following) dataset with automated validation framework, comprising 514 tasks drawn from SayPlan Office, BEHAVIOR-1K, and VirtualHome RobotHow. Project page available at https://lookplangraph.github.io .

Terminal agents are moving beyond local operations toward completing real-world professional tasks. Short trajectories can demonstrate commands and tool calls, but they do not fully show how agents accumulate evidence through exploration, use it to inform judgments, continually adjust strategies based on feedback, and turn intermediate results into final deliverables. High-quality long-horizon trajectories capture these agentic behavioral patterns and their connections within a single problem-solving process, providing richer experience for sustained autonomous work. However, environment synthesis may complete or simplify the key work underlying these patterns in advance and thus remove the need for exploration, implementation, and verification that the agent was meant to perform. To address this, we introduce TerminalHorizon, a fully automated data synthesis engine for long-horizon terminal agents. Starting from real-world professional work, it uses independent execution to identify key work omitted during construction and uses the resulting evidence to guide environment reconstruction. To extend these patterns across stages, it progressively expands tasks under the same goal, introducing new requirements that build on prior results and call for further exploration and improvement. Using this engine, we construct 1.5K task environments and perform supervised fine-tuning of Qwen3.5-27B on the resulting dataset to obtain TerminalHorizon-27B. We achieve substantial performance gains on all 12 benchmarks spanning coding-agent tasks, agentic tasks in real-world production settings, and general reasoning. Multiple RSI case studies, each with a 12-hour research budget, further demonstrate the model's ability to continue experimenting beyond an initial solution, improve its methods based on feedback, and retain effective improvements in its final deliverables.

While recent work in scene reconstruction and understanding has made strides in grounding natural language to physical 3D environments, it is still challenging to ground abstract, high-level instructions to a 3D scene. High-level instructions might not explicitly invoke semantic elements in the scene, and even the process of breaking a high-level task into a set of more concrete subtasks, a process called hierarchical task analysis, is environment-dependent. In this work, we propose ASHiTA, the first framework that generates a task hierarchy grounded to a 3D scene graph by breaking down high-level tasks into grounded subtasks. ASHiTA alternates LLM-assisted hierarchical task analysis, to generate the task breakdown, with task-driven 3D scene graph construction to generate a suitable representation of the environment. Our experiments show that ASHiTA performs significantly better than LLM baselines in breaking down high-level tasks into environment-dependent subtasks and is additionally able to achieve grounding performance comparable to state-of-the-art methods.

In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of cost-effectiveness. The framework is natively compatible with the RealMirror ecosystem, offering ready-to-use functionality for stable and precise robotic trajectory recording within the Isaac simulation environment, thereby facilitating the construction of Vision-Language-Action (VLA) datasets. Additionally, the system supports real-time teleoperation of a variety of end-effector-equipped robots, including dexterous hands and robotic grippers. This work aims to lower the technical barriers in the study of upper-limb robotic manipulation, thereby accelerating advancements in VLA-related research.

Function-calling agents -- large language models that invoke tools and APIs -- require high-quality, domain-specific training data spanning executable environments, backing databases, and diverse multi-turn trajectories. We introduce EigenData, an integrated, self-evolving platform that automates the full data lifecycle through a multi-agent architecture. A top-level orchestrator, EigenCore, coordinates three specialized sub-systems: DatabaseAgent for realistic domain database construction, CodingAgent for verified executable environment generation with iterative test-debug loops, and DataAgent for multi-turn trajectory synthesis with self-evolving prompt optimization. Cross-component feedback ensures consistency across all artifacts. We apply EigenData to audit and repair the Berkeley Function-Calling Leaderboard (BFCL-V3), identifying systematic errors in function schemas, implementations, and reference trajectories, automatically correcting them through coordinated schema refinement, code-level bug fixes, and trajectory modification, and introducing an outcome-aware evaluation protocol that assesses task success via database-state correctness rather than turn-level trajectory matching. We demonstrate that the repaired benchmark, coupled with outcome-aware metrics, produces model rankings substantially better correlated with human judgments of functional correctness.

This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a critical role in decision making. We are motivated in this work by the example of traffic weaving, e.g., at highway on-ramps/off-ramps, where entering and exiting cars must swap lanes in a short distance---a challenging negotiation even for experienced drivers due to the inherent multimodal uncertainty of who will pass whom. Our approach is to learn multimodal probability distributions over future human actions from a dataset of human-human exemplars and perform real-time robot policy construction in the resulting environment model through massively parallel sampling of human responses to candidate robot action sequences. Direct learning of these distributions is made possible by recent advances in the theory of conditional variational autoencoders (CVAEs), whereby we learn action distributions simultaneously conditioned on the present interaction history, as well as candidate future robot actions in order to take into account response dynamics. We demonstrate the efficacy of this approach with a human-in-the-loop simulation of a traffic weaving scenario.

Large language models excel as few-shot learners when provided with appropriate demonstrations, yet this strength becomes problematic in multiturn agent scenarios, where LLMs erroneously mimic their own previous responses as few-shot examples. Through attention analysis, we identify conversational inertia, a phenomenon where models exhibit strong diagonal attention to previous responses, which is associated with imitation bias that constrains exploration. This reveals a tension when transforming few-shot LLMs into agents: longer context enriches environmental feedback for exploitation, yet also amplifies conversational inertia that undermines exploration. Our key insight is that for identical states, actions generated with longer contexts exhibit stronger inertia than those with shorter contexts, enabling construction of preference pairs without environment rewards. Based on this, we propose Context Preference Learning to calibrate model preferences to favor low-inertia responses over highinertia ones. We further provide context management strategies at inference time to balance exploration and exploitation. Experimental results across eight agentic environments and one deep research scenario validate that our framework reduces conversational inertia and achieves performance improvements.

Multimodal GUI agents have emerged as a promising paradigm for digital task automation, yet transitioning from benchmark-oriented models to dependable real-world applications remains challenging due to limited environment coverage, brittle task construction, and unreliable reward verification. In this work, we present UI-Venus-2, a general-purpose foundation GUI agent designed to operate across mobile, web, and desktop environments through a unified closed-loop reasoning-action framework. To bridge the gap toward practical deployment, we jointly scale three critical dimensions: (1) Environments, expanding coverage to more than 170 multilingual mobile apps and native desktop operating systems; (2) Tasks, employing a deep-research pipeline for function-grounded instruction generation; and (3) Verification, adopting trace-level and sample-level evaluators with visual keypoints and multi-model voting to ensure reliable RL signals for training. Furthermore, we integrate safety-aware mechanisms to ensure controlled execution of consequential actions. By offering a capable, efficient, and open-source foundation, UI-Venus-2 advances the field toward more generalizable, verifiable, and self-reflective agents for real-world applications.

We introduce LongCat-Flash-Thinking-2601, a 560-billion-parameter open-source Mixture-of-Experts (MoE) reasoning model with superior agentic reasoning capability. LongCat-Flash-Thinking-2601 achieves state-of-the-art performance among open-source models on a wide range of agentic benchmarks, including agentic search, agentic tool use, and tool-integrated reasoning. Beyond benchmark performance, the model demonstrates strong generalization to complex tool interactions and robust behavior under noisy real-world environments. Its advanced capability stems from a unified training framework that combines domain-parallel expert training with subsequent fusion, together with an end-to-end co-design of data construction, environments, algorithms, and infrastructure spanning from pre-training to post-training. In particular, the model's strong generalization capability in complex tool-use are driven by our in-depth exploration of environment scaling and principled task construction. To optimize long-tailed, skewed generation and multi-turn agentic interactions, and to enable stable training across over 10,000 environments spanning more than 20 domains, we systematically extend our asynchronous reinforcement learning framework, DORA, for stable and efficient large-scale multi-environment training. Furthermore, recognizing that real-world tasks are inherently noisy, we conduct a systematic analysis and decomposition of real-world noise patterns, and design targeted training procedures to explicitly incorporate such imperfections into the training process, resulting in improved robustness for real-world applications. To further enhance performance on complex reasoning tasks, we introduce a Heavy Thinking mode that enables effective test-time scaling by jointly expanding reasoning depth and width through intensive parallel thinking.

This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the domain, existing exploration planners often suffer from inefficiencies such as frequent revisitations of previously explored regions.FALCON effectively harnesses the full potential of online generated coverage paths in enhancing exploration efficiency.The framework begins with an incremental connectivity-aware space decomposition and connectivity graph construction, which facilitate efficient coverage path planning.Subsequently, a hierarchical planner generates a coverage path spanning the entire unexplored space, serving as a global guidance.Then, a local planner optimizes the frontier visitation order, minimizing traversal time while consciously incorporating the intention of the global guidance.Finally, minimum-time smooth and safe trajectories are produced to visit the frontier viewpoints.For fair and comprehensive benchmark experiments, we introduce a lightweight exploration planner evaluation environment that allows for comparing exploration planners across a variety of testing scenarios using an identical quadrotor simulator.Additionally, an in-depth analysis and evaluation is conducted to highlight the significant performance advantages of FALCON in comparison with the state-of-the-art exploration planners based on objective criteria.Extensive ablation studies demonstrate the effectiveness of each component in the proposed framework.Real-world experiments conducted fully onboard further validate FALCON's practical capability in complex and challenging environments.The source code of both the exploration planner FALCON and the exploration planner evaluation environment has been released to benefit the community.

Large language model (LLM)-based agents are increasingly used in interactive textual environments, from web navigation and code editing to tool use and long-horizon dialogue. Yet many remain largely reactive, mapping observations to actions without an explicit model of how these environments are structured and evolve. This motivates text world models (TWMs): transition models over textual states that, given a state and a candidate action, predict the resulting webpage, terminal output, API response, or user reply, thereby supporting planning, efficient learning, and principled evaluation. We systematically review text world models for LLM-based agents, organized around a formal framework and the agent lifecycle: (1) Foundations, defining text world models and characterizing them by state representation and grounding domain; (2) Construction, taxonomizing LLM-as-WM and code-as-WM paradigms and reviewing methods for building them; (3) Application, examining how world models support agents at training time through experience synthesis and at inference time through planning, verification, and adaptation; and (4) Evaluation, covering both evaluation of the world model itself and its use as an evaluation environment for agents. We aim to consolidate this rapidly developing area, clarify its design space, and highlight open challenges for future research.

We introduce ShotcreteDepth, a bi-modal dataset from the construction domain that captures both an active shotcreting process and general construction environments. The dataset comprises stereo RGB imagery and LiDAR point clouds acquired under harsh real-world conditions, including high turbidity and poor illumination. Such conditions adversely affect sensor measurements, leading to incomplete and noisy observations that pose significant challenges for perception systems in autonomous applications. Alongside the dataset, we release a lightweight annotation tool designed for time-efficient labeling of LiDAR point clouds. ShotcreteDepth consists of 11,252 temporally synchronized data samples, of which 220 are annotated for evaluation purposes. The dataset supports research in stereo matching, depth completion, and depth estimation under conditions that closely reflect the operational complexities found in industrial settings. Project repository: https://github.com/dtu-pas/shotcrete-depth

Recognizing safety violations in construction environments is critical yet remains underexplored in computer vision. Existing models predominantly rely on 2D object detection, which fails to capture the complexities of real-world violations due to: (i) an oversimplified task formulation treating violation recognition merely as object detection, (ii) inadequate validation under realistic conditions, (iii) absence of standardized baselines, and (iv) limited scalability from the unavailability of synthetic dataset generators for diverse construction scenarios. To address these challenges, we introduce Safe-Construct, the first framework that reformulates violation recognition as a 3D multi-view engagement task, leveraging scene-level worker-object context and 3D spatial understanding. We also propose the Synthetic Indoor Construction Site Generator (SICSG) to create diverse, scalable training data, overcoming data limitations. Safe-Construct achieves a 7.6% improvement over state-of-the-art methods across four violation types. We rigorously evaluate our approach in near-realistic settings, incorporating four violations, four workers, 14 objects, and challenging conditions like occlusions (worker-object, worker-worker) and variable illumination (back-lighting, overexposure, sunlight). By integrating 3D multi-view spatial understanding and synthetic data generation, Safe-Construct sets a new benchmark for scalable and robust safety monitoring in high-risk industries. Project Website: https://Safe-Construct.github.io/Safe-Construct

Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM achieves high geometric precision, but its sensors are typically large and power-demanding, limiting their use on portable platforms. Visual SLAM offers a practical alternative with lightweight cameras already embedded in most mobile devices. however, visually mapping construction environments remains challenging: repetitive layouts, occlusions, and incomplete or low-texture structures often cause drift in the trajectory map. To mitigate this, we propose an RGB-D SLAM system that incorporates the Building Information Model (BIM) as structural prior knowledge. Instead of relying solely on visual cues, our system continuously establishes correspondences between detected wall and their BIM counterparts, which are then introduced as constraints in the back-end optimization. The proposed method operates in real time and has been validated on real construction sites, reducing trajectory error by an average of 23.71% and map RMSE by 7.14% compared to visual SLAM baselines. These results demonstrate that BIM constraints enable reliable alignment of the digital plan with the as-built scene, even under partially constructed conditions.

Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has posed new demanding challenges in terms of accuracy and robustness. To develop new SLAM systems that can address these challenges, new datasets containing cutting-edge hardware and realistic scenarios are required. We propose the Hilti SLAM Challenge Dataset. Our dataset contains indoor sequences of offices, labs, and construction environments and outdoor sequences of construction sites and parking areas. All these sequences are characterized by featureless areas and varying illumination conditions that are typical in real-world scenarios and pose great challenges to SLAM algorithms that have been developed in confined lab environments. Accurate sparse ground truth, at millimeter level, is provided for each sequence. The sensor platform used to record the data includes a number of visual, lidar, and inertial sensors, which are spatially and temporally calibrated. The purpose of this dataset is to foster the research in sensor fusion to develop SLAM algorithms that can be deployed in tasks where high accuracy and robustness are required, e.g., in construction environments. Many academic and industrial groups tested their SLAM systems on the proposed dataset in the Hilti SLAM Challenge. The results of the challenge, which are summarized in this paper, show that the proposed dataset is an important asset in the development of new SLAM algorithms that are ready to be deployed in the real-world.

Computer-use agents (CUAs) are rapidly improving, yet synthesizing diverse and reliable software environments at scale remains challenging. Native application environments require substantial construction and integration effort, which limits application coverage and increases the risk of application-specific overfitting. Browser-hosted environments provide limited interaction depth and workflow complexity. These limitations motivate SoftwareGym, an automated pipeline for synthesizing GUI software environments with diverse interfaces, executable functionality, and runtime-verified behavior. It generates structurally diverse designs, realizes them as runnable applications, and uses GUI evaluation with iterative repair to ensure functional reliability. Using SoftwareGym, we synthesize 182 applications across twelve categories and achieve a mean GUI task pass rate of 91.5%. We construct SoftwareGym-Bench, a 120-task evaluation suite spanning the same twelve categories, and use trajectories collected from these environments for CUA training. The resulting model improves Pass@3 from 41.39% to 56.97% on the strictly out-of-domain OSWorld benchmark and achieves 40.0% on SoftwareGym-Bench. These results demonstrate the potential of synthesized software environments as scalable and transferable supervision for CUA training.

Environment setup-the process of configuring the system to work with a specific software project-represents a persistent challenge in Software Engineering (SE). Automated environment setup methods could assist developers by providing fully configured environments for arbitrary repositories without manual effort. This also helps SE researchers to scale execution-based benchmarks. However, recent studies reveal that even state-of-the-art Large Language Models (LLMs) achieve limited success in automating this task. To address this limitation, we tune a specialized model for environment setup. We combine supervised fine-tuning for generating correct Bash scripts and Reinforcement Learning with Verifiable Rewards (RLVR) to adapt it to the task of environment setup. On EnvBench-Python, our method enables Qwen3-8B (a model runnable on consumer hardware) to perform on par with larger models-Qwen3-32B and GPT-4o. The training code and model checkpoints are available online: https://github.com/JetBrains-Research/PIPer.

Before developers can use a software project, they must first get it to run. This often requires installing the right language runtime, system packages, build tools, and test commands. Recent LLM-based agents automate environment setup by inspecting a repository, writing setup scripts, running them, and repairing the resulting errors. However, these agents still follow a sequential trial-and-error loop: they try one setup route, wait for slow commands to finish, observe the failure, and only then decide what to try next. Because environment commands often take long to run, this sequential workflow makes setup slow and limits exploration to one route at a time. We present SpecBuild, an LLM-based environment setup system designed to be both faster and more successful through speculative forking. SpecBuild explores candidate setup branches in parallel, returns the first committed environment, and discards the rest. It applies this design at two granularities: strategy-level forking explores alternative setup routes, such as different base images and dependency policies, while command-level forking predicts failures of running commands and prepares repair branches before those failures are observed. We evaluate SpecBuild on Multi-Docker-Eval, covering 334 tasks from 40 repositories and 9 programming languages. Across three backbone models, SpecBuild improves the success rate by 6.4 to 12.0 percentage points over the strongest baseline, while reducing average setup time by 22.4% to 41.6%. These results show that LLM-based environment setup need not trade speed for reliability: parallel speculative exploration can make agents both faster and more successful.

Building AI systems that can plan, act, and create in the physical world requires more than pattern recognition. Such systems must understand the causal mechanisms and constraints governing physical processes in order to guide sequential decisions. This capability relies on internal representations, analogous to an internal language model, that relate observations, actions, and resulting environmental changes. However, many existing benchmarks treat visual perception and programmatic reasoning as separate problems, focusing either on visual recognition or on symbolic tasks. The domain of origami provides a natural testbed that integrates these modalities. Constructing shapes through folding operations requires visual perception, reasoning about geometric and physical constraints, and sequential planning, while remaining sufficiently structured for systematic evaluation. We introduce OrigamiBench, an interactive benchmark in which models iteratively propose folds and receive feedback on physical validity and similarity to a target configuration. Experiments with modern vision-language models show that scaling model size alone does not reliably produce causal reasoning about physical transformations. Models fail to generate coherent multi-step folding strategies, suggesting that visual and language representations remain weakly integrated.

Terminal agents are increasingly deployed beyond software engineering in science and other specialized domains. Constructing training environments requires executable reference behavior and a domain-specific verifier that distinguishes semantic correctness from superficially plausible artifacts. Authoring these components for each task requires repeated engineering and limits reuse. We introduce software-in-the-loop reconstruction, a self-supervised framework that obtains reference outputs and verification targets from existing software workflows, executable programs mapping structured inputs to outputs. For each workflow, we execute multiple input configurations and partition cases into public observations and hidden evaluations. Given the instruction, input schema, and public input--output observations, an agent constructs an editable program without access to the source workflow. The candidate is evaluated on hidden configurations against workflow outputs. A hierarchical verifier combines domain-specific semantic comparison, structural validity, and anti-shortcut checks, while public feedback supports iterative revision. The construction admits additional workflows and configurations without authoring a reference solution for each task. We instantiate SWR with 500 workflows and 46 software families across six domains. Across three attempts per task, Qwen3.8-Max solves 838 tasks and produces 1,422 verified trajectories, which we oversample to 3,000 reconstruction-only training examples. Supervised fine-tuning of Qwen3.8-27B improves mean Terminal-Bench 2 performance from 47.94% to 53.56% across three seeds and achieves the highest mean among four matched-token corpus controls on all four reported evaluations. These results indicate that existing scientific software can provide scalable, behaviorally verified supervision for terminal agents.

Causal discovery aims to recover directed causal relations from observational and interventional data, providing a basis for mechanistic understanding and reliable decision-making. Causal discovery foundation models (CDFMs) seek to amortize this problem by mapping a dataset directly to a causal graph in a single forward pass, avoiding per-dataset testing, search, or optimization. However, existing CDFMs remain limited, often failing to consistently match strong classical methods, and we find that a key bottleneck is how causal pretraining tasks are constructed. Based on this observation, we propose TabCausal, a data-driven CDFM trained with broad causal pretraining over diverse graph priors, structural mechanisms, noise models, dimensions, sample sizes, and intervention regimes. A dynamic task construction strategy composes these causal environments into varied discovery tasks, enabling more transferable structural learning from observational and mixed-interventional data. On large-scale synthetic benchmarks, TabCausal achieves better macro-averaged performance than a diverse set of causal discovery baselines. To further bridge abstract synthetic generators and realistic causal reasoning scenarios, we introduce a protocol-guided and LLM-audited semantic causal environment benchmark, where domain-grounded SCMs generate interpretable observational and interventional datasets for out-of-distribution analysis. Across both synthetic and semantic environments, TabCausal demonstrates robust structure recovery, especially under interventional evidence, highlighting broad causal pretraining as a key ingredient for transferable amortized causal discovery.

Recent works train agents by constructing large-scale multimodal environment pools. However, we find that simply increasing the number of multimodal environments does not always benefit. We further analyze the limitations in current multimodal environment distributions through a series of experiments. Based on these findings, we study how to build more effective training environment distributions from two dimensions: **diversity** and **difficulty structure**. For diversity, we propose **Ability-aware Environment Selection (AES)** to obtain diverse environment sets. For difficulty structure, we propose **Hierarchical Difficulty Curriculum (HDC)**, which organizes curriculum learning through two difficulty levels: harness weakening and state-scale progression. Experiments show that AES and HDC effectively improve multimodal agent training.

AI coworkers must coordinate tools, communicate across turns, and act on changing workspace state while respecting workflow constraints. Constructing training experience for these capabilities requires coherent requests, service records, tool interfaces, and grading checks. We present CoworkEnv, a capability-guided framework for synthesizing executable training environments for AI coworkers. Workflow requirements guide task construction, and programmatic validation with feedback repair checks generated specifications and grading behavior. Teacher executions yield curated demonstrations for supervised fine-tuning (SFT), while student interactions provide rollouts and rewards for reinforcement learning (RL). Using these resources, we train compact PocketWorker models. For Qwen3-VL-8B-Instruct, SFT raises the mean score from 46.6 to 64.1 on Claw-Eval, including a 31.9-point gain on Multi-turn tasks. An SFT-only extension to ClawMark demonstrates applicability across coworker benchmarks. We further compare RL training dynamics across configurations that vary reward processing and credit assignment. Improving training rewards provide preliminary evidence that the constructed environments support policy optimization.

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose World2Minecraft to convert real-world scenes into structured Minecraft environments based on 3D semantic occupancy prediction. In the reconstructed scenes, we can effortlessly perform downstream tasks such as Vision-Language Navigation(VLN). However, we observe that reconstruction quality heavily depends on accurate occupancy prediction, which remains limited by data scarcity and poor generalization in existing models. We introduce a low-cost, automated, and scalable data acquisition pipeline for creating customized occupancy datasets, and demonstrate its effectiveness through MinecraftOcc, a large-scale dataset featuring 100,165 images from 156 richly detailed indoor scenes. Extensive experiments show that our dataset provides a critical complement to existing datasets and poses a significant challenge to current SOTA methods. These findings contribute to improving occupancy prediction and highlight the value of World2Minecraft in providing a customizable and editable platform for personalized embodied AI research. Project page:https://world2minecraft.github.io/.

Generating robot simulation environments remains a major bottleneck in simulation-based robot learning. Constructing a training-ready MuJoCo scene typically requires expertise in 3D asset modeling, MJCF specification, spatial layout, collision avoidance, and robot-model integration. We present SR-Platform, a production-deployed agentic system that converts free-form natural language descriptions into executable, physically valid MuJoCo environments. SR-Platform decomposes scene synthesis into four stages: an LLM-based orchestrator that converts user intent into a structured scene plan; an asset forge that retrieves cached assets or generates new 3D geometry through LLM-to-CadQuery synthesis; a layout architect that assigns object poses and verifies industrial constraints; and a bridge layer that assembles the final MJCF scene and merges the selected robot model. The system is deployed as a nine-service Docker stack with WebSocket progress streaming, MinIO-backed mesh storage, Qdrant-based semantic asset retrieval, Redis job state, and InfluxDB telemetry. Using 30 days of production telemetry covering 611 successful LLM calls, SR-Platform generates five-object scenes with a median end-to-end latency of approximately 50 s, while cache-accelerated scenes complete in approximately 30-40 s. The asset forge shows an 11.3% first-attempt retry rate with automatic recovery, and cached asset retrieval removes per-object LLM calls for previously generated object types. These results show that agentic scene synthesis can reduce the manual effort required to create diverse robot training environments, enabling users to produce executable MuJoCo scenes from plain English prompts in under one minute.

Environments are the foundation of recursive self-improvement: they provide the problems agents work on and the feedback used to evaluate progress. Yet constructing challenging research environments with reliable evaluation still depends on domain experts, limiting their scale and disciplinary coverage. We introduce RSI-Forge, a multi-agent pipeline that turns published papers into executable environments for self-improvement. Three agents coordinate construction, reproduction, and review to produce tasks with automated evaluators; each paper's method is independently reimplemented to establish a baseline score. We present 210 environments across 18 fields, including 90 reviewed by independent human domain experts. Both experts and agent judges give high ratings to the potential for improving the provided starting solutions and the evaluators' ability to distinguish solution quality, whereas experts are more critical of shortcut resistance, faithfulness to the source paper, and whether a single idea can exhaust a task. To validate their use for repeated improvement, we evaluate four models over 3 successive attempts on 120 environments, with each attempt inheriting prior code and notes while model weights remain fixed. At least one model improves after the first attempt in 84% of environments. Models also outperform the reproduced paper methods in 68 of the 120 environments, demonstrating room for gains beyond these baselines. Transcript analysis identifies work beyond parameter tuning in 95% of these successful attempts. Analysis of the resulting trajectories shows that models scoring lower on these tasks explore less, more often accept gains smaller than the reported standard error, and rely more heavily on tuning to the development set. RSI-Forge provides a scalable approach to constructing research environments for training and evaluating self-improving agents.

Construction grammar posits that children acquire constructions (form-meaning pairings) from the statistics of their environment. Recent work supports this hypothesis by showing sensitivity to constructions in pretrained language models (PLMs), including one recent study (Rozner et al., 2025) demonstrating that constructions shape the PLM's output distribution. However, models under study have generally been trained on developmentally implausible amounts of data, casting doubt on their relevance to human language learning. Here we use Rozner et al.'s methods to evaluate constructional learning in models from the 2024 BabyLM challenge. Our results show that even when trained on developmentally plausible quantities of data, models represent diverse constructions, even hard cases that are superficially indistinguishable. We further find correlational evidence that constructional performance may be functionally relevant: models that better represent constructions perform better on the BabyLM benchmarks.

3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation instead requires object-level change, i.e., objects must move independently, make contact, and reveal previously occluded surroundings. This gap arises because object appearance may remain entangled with the background, while hidden object geometry and occluded background content may be unobserved. To address this challenge, we present ϕ-RIE, a Gaussian-native pipeline that converts selected objects into movable simulator assets while preserving the remaining reconstruction. Our key observation is that asset construction and source removal should be coupled, i.e., one object identity should define the movable asset and the scene content to remove and complete. Accordingly, Scene Observation supplies shared evidence to Coupled Scene Construction, which creates registered assets and completed background Gaussians for simulator-driven rendering in an Interactive Environment. This coupling preserves unedited Gaussians while aligning visual and physical state. On 50 ScanNet++ scenes, evidence-based selection and registration retry increase matched F1 at 20\,mm from 0.336 to 0.383 at fixed retention. Further tests demonstrate asset executability, manipulation gains over a single-generator baseline, and the visual cost of conversion. Together, these results demonstrate that \name\ enables interactive scene conversion.

We develop a perturbative framework for systems coupled quadratically to bosonic environments with quadratic Hamiltonians and linear Lindblad operators. The method applies to both single-mode and multimode environments whose initial states may be non-Gaussian and nonstationary. By combining linear evolution in a doubled operator space with a characteristic-function representation, we express ordered multitime environmental correlation functions in terms of derivatives of the initial characteristic function. These correlation functions enter a recursive construction of the time-convolutionless generator at arbitrary finite order. We illustrate the method with a qubit coupled to a damped mode via a two-photon interaction. Initial Fock and thermal states with identical first and second field moments produce different second-order generators through their fourth moments.

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well studied, navigating dynamic environments remains open due to challenges in perception and planning. Payload limitations restrict the robots to using cameras with limited fields of view, resulting in unreliable perception and tracking during collision avoidance. Moreover, the rapidly changing conditions of dynamic environments can quickly make the generated optimal trajectory outdated.To address these challenges, this paper presents a comprehensive navigation framework that integrates perception, intent prediction, and planning. Our perception module detects and tracks dynamic obstacles efficiently and handles tracking loss and occlusion during collision avoidance. The proposed intent prediction module employs a Markov Decision Process (MDP) to forecast potential actions of dynamic obstacles with the possible future trajectories. Finally, a novel intent-based planning algorithm, leveraging model predictive control (MPC), is applied to generate navigation trajectories. Simulation and physical experiments demonstrate that our method improves the safety of navigation by achieving the fewest collisions compared to benchmarks.

Despite recent progress in language models and agents for scientific data-driven discovery, further advancing their capabilities is held back by the absence of verifiable environments representing real-world scientific tasks. To fill this gap, we introduce D3-Gym, the first automatically constructed dataset with verifiable environments for scientific Data-Driven Discovery. D3-Gym comprises (1) 565 tasks sourced from 239 real scientific repositories across four disciplines where (2) each task is equipped with a natural language instruction, an executable environment with pre-installed dependencies, input dataset and artifact previews, a reference code solution, and an automatically synthesized evaluation script. Rigorous evaluation of the quality of the verification signal in D3-Gym confirms that our evaluation scripts achieve 87.5% agreement with human-annotated gold standards and strong alignment in domain-specific evaluation logic, showing their scientific soundness. Further, training on trajectories sampled from D3-Gym yields consistent and substantial gains across Qwen3 models of varying sizes on ScienceAgentBench, boosting Qwen3-32B by 7.8 absolute points and substantially shrinking the gap with strong proprietary models. All D3-Gym artifacts (environments, creation workflow, trajectories, and models) can be found at https://github.com/OSU-NLP-Group/D3-Gym.

In this study, we introduce the DriveEnv-NeRF framework, which leverages Neural Radiance Fields (NeRF) to enable the validation and faithful forecasting of the efficacy of autonomous driving agents in a targeted real-world scene. Standard simulator-based rendering often fails to accurately reflect real-world performance due to the sim-to-real gap, which represents the disparity between virtual simulations and real-world conditions. To mitigate this gap, we propose a workflow for building a high-fidelity simulation environment of the targeted real-world scene using NeRF. This approach is capable of rendering realistic images from novel viewpoints and constructing 3D meshes for emulating collisions. The validation of these capabilities through the comparison of success rates in both simulated and real environments demonstrates the benefits of using DriveEnv-NeRF as a real-world performance indicator. Furthermore, the DriveEnv-NeRF framework can serve as a training environment for autonomous driving agents under various lighting conditions. This approach enhances the robustness of the agents and reduces performance degradation when deployed to the target real scene, compared to agents fully trained using the standard simulator rendering pipeline.

Graphical User Interface (GUI) agents powered by Vision-Language Models (VLMs) have demonstrated human-like computer control capability. Despite their utility in advancing digital automation, a critical bottleneck persists: collecting high-quality trajectory data for training. Common practices for collecting such data rely on human supervision or synthetic data generation through executing pre-defined tasks, which are either resource-intensive or unable to guarantee data quality. Moreover, these methods suffer from limited data diversity and significant gaps between synthetic data and real-world environments. To address these challenges, we propose OS-Genesis, a novel GUI data synthesis pipeline that reverses the conventional trajectory collection process. Instead of relying on pre-defined tasks, OS-Genesis enables agents first to perceive environments and perform step-wise interactions, then retrospectively derive high-quality tasks to enable trajectory-level exploration. A trajectory reward model is then employed to ensure the quality of the generated trajectories. We demonstrate that training GUI agents with OS-Genesis significantly improves their performance on highly challenging online benchmarks. In-depth analysis further validates OS-Genesis's efficiency and its superior data quality and diversity compared to existing synthesis methods. Our codes, data, and checkpoints are available at https://qiushisun.github.io/OS-Genesis-Home/{OS-Genesis Homepage}.

We present APT, an advanced Large Language Model (LLM)-driven framework that enables autonomous agents to construct complex and creative structures within the Minecraft environment. Unlike previous approaches that primarily concentrate on skill-based open-world tasks or rely on image-based diffusion models for generating voxel-based structures, our method leverages the intrinsic spatial reasoning capabilities of LLMs. By employing chain-of-thought decomposition along with multimodal inputs, the framework generates detailed architectural layouts and blueprints that the agent can execute under zero-shot or few-shot learning scenarios. Our agent incorporates both memory and reflection modules to facilitate lifelong learning, adaptive refinement, and error correction throughout the building process. To rigorously evaluate the agent's performance in this emerging research area, we introduce a comprehensive benchmark consisting of diverse construction tasks designed to test creativity, spatial reasoning, adherence to in-game rules, and the effective integration of multimodal instructions. Experimental results using various GPT-based LLM backends and agent configurations demonstrate the agent's capacity to accurately interpret extensive instructions involving numerous items, their positions, and orientations. The agent successfully produces complex structures complete with internal functionalities such as Redstone-powered systems. A/B testing indicates that the inclusion of a memory module leads to a significant increase in performance, emphasizing its role in enabling continuous learning and the reuse of accumulated experience. Additionally, the agent's unexpected emergence of scaffolding behavior highlights the potential of future LLM-driven agents to utilize subroutine planning and leverage the emergence ability of LLMs to autonomously develop human-like problem-solving techniques.

Document layout analysis is a critical preprocessing step in document intelligence, enabling the detection and localization of structural elements such as titles, text blocks, tables, and formulas. Despite its importance, existing layout detection models face significant challenges in generalizing across diverse document types, handling complex layouts, and achieving real-time performance for large-scale data processing. To address these limitations, we present PP-DocLayout, which achieves high precision and efficiency in recognizing 23 types of layout regions across diverse document formats. To meet different needs, we offer three models of varying scales. PP-DocLayout-L is a high-precision model based on the RT-DETR-L detector, achieving 90.4% mAP@0.5 and an end-to-end inference time of 13.4 ms per page on a T4 GPU. PP-DocLayout-M is a balanced model, offering 75.2% mAP@0.5 with an inference time of 12.7 ms per page on a T4 GPU. PP-DocLayout-S is a high-efficiency model designed for resource-constrained environments and real-time applications, with an inference time of 8.1 ms per page on a T4 GPU and 14.5 ms on a CPU. This work not only advances the state of the art in document layout analysis but also provides a robust solution for constructing high-quality training data, enabling advancements in document intelligence and multimodal AI systems. Code and models are available at https://github.com/PaddlePaddle/PaddleX .

High-definition (HD) maps, particularly those containing lane-level information regarded as ground truth, are crucial for vehicle localization research. Traditionally, constructing HD maps requires highly accurate sensor measurements collection from the target area, followed by manual annotation to assign semantic information. Consequently, HD maps are limited in terms of geographic coverage. To tackle this problem, in this paper, we propose SIO-Mapper, a novel lane-level HD map construction framework that constructs city-scale maps without physical site visits by utilizing satellite images and OpenStreetmap data. One of the key contributions of SIO-Mapper is its ability to extract lane information more accurately by introducing SIO-Net, a novel deep learning network that integrates features from satellite image and OpenStreetmap using both Transformer-based and convolution-based encoders. Furthermore, to overcome challenges in merging lanes over large areas, we introduce a novel lane integration methodology that combines cluster-based and graph-based approaches. This algorithm ensures the seamless aggregation of lane segments with high accuracy and coverage, even in complex road environments. We validated SIO-Mapper on the Naver Labs Open Dataset and NuScenes dataset, demonstrating better performance in various environments including Korea, the United States, and Singapore compared to the state-of-the-art lane-level HD mapconstruction methods.

Agent skills occupy a privileged position in the agent workflow, as agents are expected to implicitly follow and execute them, rendering third-party skills a vulnerable attack surface. Existing studies have revealed unsafe agent behaviors induced by skill-based attacks, but they primarily evaluate poisoned skills within a single task execution and enumerate harms through ad-hoc risk lists. To bridge these gaps, we introduce SkillHarm, a benchmark of skill-based attacks across the skill-use lifecycle, paired with a systematic taxonomy of skill-relevant risks. SkillHarm evaluates two attack scenarios: Fixed-Payload Poisoning (FPP), where a fixed poisoned skill package directly compromises any task session that invokes it, and Self-Mutating Poisoning (SMP), where an initially benign execution silently mutates persistent skill content, deferring harm until a subsequent reuse. It further defines 12 risk types based on the agent workflow component targeted by the harm: data pipelines, system environments, and agent autonomy. To instantiate these attacks at scale, we build AutoSkillHarm, an automated construction pipeline with coding agents driven by natural-language harnesses. The resulting benchmark contains 879 attack samples across 71 skills. Experiments show that current agents remain vulnerable with attack success rates up to 86.3% in FPP and 69.3% in SMP. Our analysis further reveals a latent risk: many apparent attack failures stem from the agent failing to engage with the poisoned file rather than genuine resistance, and current defenses still fail to reliably mitigate the threat.

Digital agents must often adapt to new environments whose interfaces, tools, and failure modes are not fully captured by pretrained models. We introduce RSIAgent, a training-free multi-agent framework for recursive self-improvement through autonomous memory construction. RSIAgent coordinates curriculum, actor, and verifier agents to continually explore the environment, validate outcomes, and retain environment-specific knowledge, including reusable causal relationships between actions, conditions, and consequences. It further adopts a broad-then-deep exploration strategy, combining parallel broad recursive self-exploration for discovering diverse environment structures with focused deep self-exploration for uncovering hard cases, hidden constraints, boundary conditions, and previously unknown causal dependencies. The resulting memory is frozen and can be directly reused for downstream tasks without updating model parameters. Experiments on OSWorld-v2 and Agent's Last Exam show that RSIAgent substantially improves strong open-source models, enabling Kimi-K3 and GLM-5.3 to outperform frontier closed-source models including GPT-6.

Web agents require diverse, executable, and resettable website environments for reproducible training and evaluation. Human-assisted mirrors demand per-site engineering, while generative construction can diverge from specified real websites. Capture-and-replay preserves observations, with interaction coverage constrained by captured content and replay capabilities. We present WebAnything, a fully automated framework that reconstructs source-grounded, reusable Web environments from real URLs without per-site manual implementation or repair after initial setup and authorization. An Explorer-Builder collects browser-observable structures, resources, and interaction outcomes; an independent verifier checks frozen candidates and guides local repair or targeted source recapture. We construct 244 website artifacts across 14 application domains and 53 categories, supporting 12,984 executed and accepted tasks. Compared with human-assisted WebHarbor, WebAnything achieves higher aggregate scores on three fidelity metrics, with 12 wins, two ties, and no losses in a blind audit. Fine-tuning Qwen3.5-9B on 5,856 interaction trajectories improves REAL success by 9.9 percentage points, Odysseys-Easy Rubric Avg and Task Avg by 6.25 and 6.32 percentage points, and WebArena-Verified Overall success by 13.33 percentage points under the fixed harness. Code: https://github.com/china-qijizhifeng/Web-Anything

Training embodied agents in the real world requires skilled operators and expensive hardware. Simulation environments offer a compelling alternative by enabling large-scale, cost-effective data augmentation. Consequently, rapidly constructing high-fidelity simulation scenes with a minimal sim-to-real gap has become a critical objective in robot learning. While reconstruction-based methods provide superior visual quality, current workflows are hindered by inefficient data acquisition and subpar foreground object extraction. We thus propose GASE, a highly automated system for simulation scene construction. GASE leverages multi-view video streams from panoramic camera arrays to enable rapid environment scanning. To ensure high-quality asset generation, our pipeline introduces a camera-pose-based strategy that robustly extracts objects across frames in the 2D domain, followed by high-fidelity scene inpainting. Foreground objects and the static background are then reconstructed independently and seamlessly imported into physics simulators for policy training. Extensive experiments demonstrate that GASE outperforms existing 3D Gaussian-based methods in segmentation accuracy by over 10\% while achieving state-of-the-art inpainting quality. Furthermore, real-robot deployments across manipulation and navigation tasks maintains a performance gap of less than 10\% compared to policies trained purely on real-world data. These results confirm that GASE provides an efficient and highly effective solution for bridging the sim-to-real gap. Code will be released.

Medical care follows complex clinical pathways that extend beyond isolated physician-patient encounters, emphasizing decision-making and transitions between different stages. Current benchmarks focusing on static exams or isolated dialogues inadequately evaluate large language models (LLMs) in dynamic clinical scenarios. We introduce CP-Env, a controllable agentic hospital environment designed to evaluate LLMs across end-to-end clinical pathways. CP-Env simulates a hospital ecosystem with patient and physician agents, constructing scenarios ranging from triage and specialist consultation to diagnostic testing and multidisciplinary team meetings for agent interaction. Following real hospital adaptive flow of healthcare, it enables branching, long-horizon task execution. We propose a three-tiered evaluation framework encompassing Clinical Efficacy, Process Competency, and Professional Ethics. Results reveal that most models struggle with pathway complexity, exhibiting hallucinations and losing critical diagnostic details. Interestingly, excessive reasoning steps can sometimes prove counterproductive, while top models tend to exhibit reduced tool dependency through internalized knowledge. CP-Env advances medical AI agents development through comprehensive end-to-end clinical evaluation. We provide the benchmark and evaluation tools for further research and development at https://github.com/SPIRAL-MED/CP_ENV.

Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to learn complex reasoning from long-horizon human interactions. While Multi-modal Large Language Models (MLLMs) have driven recent progress, current training paradigms struggle to balance generalization capability, error recovery and training stability. Specifically, (i) policies derived from SFT suffer from compounding errors, struggling to recover from out-of-distribution states, and (ii) Reinforcement Fine-Tuning (RFT) methods e.g. GRPO are bottlenecked by sparse outcome rewards. Their binary feedback fails to assign credit to individual steps, leading to gradient signal collapse in failure dominant batches. To address these challenges, we introduce Step-Aware Contrastive Alignment (SACA), a framework designed to extract dense supervision from imperfect trajectories. At its core, the Perception-Grounded Step-Aware auditor evaluates progress step-by-step, disentangling failed trajectories into valid prefixes and exact divergence points. Leveraging these signals, Scenario-Conditioned Group Construction mechanism dynamically routes batches to specialized resampling and optimization strategies. Extensive experiments on VLN-CE benchmarks demonstrate that SACA achieves state-of-the-art performance.

The construction industry has long explored robotics and computer vision, yet their deployment on construction sites remains very limited. These technologies have the potential to revolutionize traditional workflows by enhancing accuracy, efficiency, and safety in construction management. Ground robots equipped with advanced vision systems could automate tasks such as monitoring mechanical, electrical, and plumbing (MEP) systems. The present research evaluates the applicability of open-vocabulary vision-language models compared to fine-tuned, lightweight, closed-set object detectors for detecting MEP components using a mobile ground robotic platform. A dataset collected with cameras mounted on a ground robot was manually annotated and analyzed to compare model performance. The results demonstrate that, despite the versatility of vision-language models, fine-tuned lightweight models still largely outperform them in specialized environments and for domain-specific tasks.

Navigation instruction generation from ego-centric RGB video in continuous environments is an important yet challenging task for human-robot interaction and scalable dataset construction. Prior instruction generators assume discrete viewpoint graphs with panoramic observations, where trajectory structure is explicit; in continuous environments, however, the agent receives only a dense RGB stream, making trajectory cues difficult to recover. We propose VTInstructor, the first VLN instruction generation framework for continuous environments. Our key idea is to convert implicit trajectory geometry into explicit visual trajectory prompts: EDTC condenses long RGB trajectories into navigation-critical keyframes, VTP overlays path, turn, and goal cues onto these anchors, VTMod injects the resulting trajectory signals into the visual encoder, and VT-GRPO further calibrates this spatial injection during training, all without requiring a navigation graph, pre-built map, or scene reconstruction. On the challenging R2R-CE and RxR-CE Val Unseen benchmarks, VTInstructor sets a new state of the art across all standard NLG metrics, surpassing the strongest baseline by +0.357 CIDEr and +0.109 CIDEr, respectively. Beyond automatic metrics, VTInstructor-generated instructions raise a frozen follower's success rate to 63.3%, a +14.7 percentage-point gain over the best competing instruction source, and provide consistent data augmentation gains of +3 SR points on downstream navigation tasks.

GUI agents often encounter dynamic anomalies when deployed on Android devices, from unexpected pop-ups to action misuse, yet existing benchmarks lack systematic evaluation of agent robustness against runtime anomalies. We introduce AnTrap, a comprehensive benchmark that injects dynamic perturbations into agent execution trajectories. We propose a taxonomy organizing real-world anomalies into four layers (State, Thinking, Action and Round) with ten fine-grained subcategories, and develop a construction pipeline that preserves task solvability while introducing realistic adversarial conditions. Evaluating 16 leading GUI models, we reveal universal vulnerability to dynamic anomalies, with even the strongest models suffering significant performance degradation. Furthermore, we conduct GRPO training in both original and adversarial environments to validate our benchmark, separating environment-learnable anomalies from reasoning-bottlenecked ones. Our findings show that while single-step traps at state and action layers are largely addressable through adversarial reinforcement learning, deep contextual traps, like state deadlock, expose intrinsic limitations that cannot be resolved by training in environments with traps alone.

Confronting the escalating threat of climate change requires innovative and large-scale interventions. This paper presents a bold proposal to employ a buried nuclear explosion in a remote basaltic seabed for pulverizing basalt, thereby accelerating carbon sequestration through Enhanced Rock Weathering (ERW). By precisely locating the explosion beneath the seabed, we aim to confine debris, radiation, and energy while ensuring rapid rock weathering at a scale substantial enough to make a meaningful dent in atmospheric carbon levels. Our analysis outlines the parameters essential for efficient carbon capture and minimal collateral effects, emphasizing that a yield on the order of gigatons is critical for global climate impact. Although this approach may appear radical, we illustrate its feasibility by examining safety factors, preservation of local ecosystems, political considerations, and financial viability. This work argues for reimagining nuclear technology not merely as a destructive force but as a potential catalyst for decarbonization, thereby inviting further exploration of pioneering solutions in the fight against climate change.

LLM agents learn by interacting with environments, yet these environments are hand-built and static: blind to an agent's weaknesses, and quickly left behind as it improves. While recent environment generation methods attempt to address this, they require domain-specific pipelines, rely on expensive or unreliable verifiers, and still produce static environments. To alleviate the engineering burden of rebuilding environments from scratch, we propose Environment Harness (EnvHarness), a programmable layer of plug-in components that wraps a static environment to reshape its behavior without modifying the underlying logic. Operating through standard interfaces, EnvHarness applies across diverse domains while ensuring every reshaped environment retains its original verifier. To automate this process, we introduce EnvRigger, which treats the target policy as a black box, observing its execution trajectories to synthesize EnvHarness components targeting diagnosed flaws, and validating them via fresh rollouts. Across five benchmarks in four domains, EnvHarness outperforms both original environments and domain-specific environment generation pipelines, achieving up to a 9.0-point improvement on held-out instances with 9.8% fewer execution steps. Furthermore, EnvHarness provides a superior optimization signal for reinforcement learning, enabling continuous, targeted co-evolution of the policy and its environment.