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arXiv

QuanTiMedAI: Quantum-Enhanced Time-Series Model guided by Agentic AI for Cardiac Arrest Mortality Prediction

Mutasim Fuad Sarker, Adiba Rahman Namira, Wafa Binte Alam, Md Adnan Arefeen, Mahzabeen Emu, Sumaiya Tabassum Nimi

Cardiac arrest remains one of the most lethal conditions encountered in intensive care units. Despite the growing availability of electronic health record data, existing mortality prediction studies in this population largely depend on static summaries derived from early admission. Such approaches ignore the temporal progression of physiological deterioration and recovery that unfolds throughout a patient's ICU stay. To address this limitation, we introduce QuanTiMedAI, a quantum-agentic framework developed for cardiac arrest mortality prediction using agentic AI guided quantum enhancement time series model. The proposed system combines an agentic large language model (LLM) for clinically informed feature discovery with a compact quantum recurrent network for temporality aware mortality prediction. Our findings demonstrate that agentic LLM-guided feature selection consistently outperforms conventional feature selection approaches, and the proposed quantum architecture achieves competitive predictive performance through nonlinear feature enhancement while keeping the number of parameters very low. Through extensive experimentation on a MIMIC-IV cohort of cardiac arrest patients, QuanTiMedAI's quantum-enhanced architecture attains an AUROC of 0.852 using only 605 parameters, an improvement of approximately 2.9\% over a current state-of-the-art baseline for this task. A structured ablation study systematically validates the contribution of each architectural design choice. These results show that quantum-enhanced sequential modeling can exceed classical recurrent networks while using substantially fewer parameters.

arXiv

The Illusion of Visual Tool-Use: A Causal Audit of Thinking with Images

Zhiheng Wang, Bo Peng, Lai Wei, Chaochao Lu

The "thinking-with-images" paradigm equips multimodal LLMs with active visual operations such as crop-and-zoom. However, models using these operations often achieve only marginal or negative gains over direct inference at substantially higher token cost. They may also repeatedly crop irrelevant regions and fail on questions that direct inference answers correctly. We ask whether the returned visual evidence causally affects the answer. To answer this question, we formulate visual tool-use as a causal graph that separates observation-mediated paths from action-induced shortcuts. We then audit it through interventions at the three levels: policy (comparing tool-use with direct inference), trajectory (corrupting all observations during rollout), and step (counterfactually replacing one individual observation under a fixed prefix). Our step-level estimand, Visual Evidence Gain, isolates the contribution of each returned observation. Across six representative models and five fine-grained perception benchmarks, we uncover policy miscalibration with two failure modes. In Calling Without Looking, returned observations have no causal effect on the answer. In Looking Without Planning, observations are informative but the call schedule is incoherent. A trajectory-level diagnostic decomposes the policy-level accuracy gain and shows that the gain is concentrated in a Calibrated minority. We term this discrepancy the illusion of visual tool-use: despite aggregate accuracy gains, visual tool-use is not causally effective across a broad range of rollouts. The code is available at https://github.com/OpenCausaLab/CauAudit.

arXiv

From Passive Mirrors to Active Agents: Holonic Digital Twins for Physical AI over Networks

Christo Kurisummoottil Thomas, Omar Hashash, Walid Saad

Despite advances in artificial intelligence (AI) across multiple sectors, today's AI tools, including deep learning and generative AI, still fail when embedded into physical systems, such as robots and vehicles operating under real-world physical laws. This stems from their inability to maintain reliable world models for long-horizon planning under uncertainty and generalize to unseen scenarios. In this context, wireless networks, through pervasive sensing and communication, can orchestrate physical intelligence. However, current architectures optimize throughput, latency, and reliability and cannot support real-time physical AI coordination, requiring agents to maintain shared spatiotemporal context. To address these challenges, a network of holonic digital twins (HDT-Nets) framework is proposed to deliver real-time physical AI inference through holonic agents that actively reason about their environment rather than passively mirror physical assets. Each HDT is realized as a hierarchical structure spanning the physical agent and network edge, reasoning autonomously at the local level while cooperating with neighboring HDTs to form collectively intelligent units. In HDT-Net, causal Markov blankets spanning sensing, communication, and control determine which agents must coordinate and enable counterfactual reasoning over multi-domain interventions. Active inference within these boundaries unifies perception, action, and learning by minimizing expected free energy while deciding which beliefs to transmit based on their cognitive value to the receiver. Category theory ensures that transmitted beliefs preserve semantic structure across heterogeneous agents with incompatible representations. Finally, integrated information theory quantifies when collective intelligence exceeds independent operation and how network intelligence evolves through coordinated learning and information exchange.

arXiv

What Current AI Benchmarks Leave Unmeasured: Modality, Search, Citations, and Implications (for Safety Evaluations)

Ro Encarnación, Tina Behzad, Emma Lurie, Danaé Metaxa

Large language model (LLM) benchmark evaluations are routinely used to support claims about model safety, reliability, and deployment readiness. Yet most evaluations rely on a single access modality (model APIs), perform a single run per prompt, and report accuracy as the primary outcome metric, without accounting for conditions such as web search that may have effects on model behavior in deployment. We audit these assumptions for one of the most widely-used LLMs, comparing two modalities, ChatGPT's chat UI and OpenAI's API, with and without web search enabled. We use a stratified total sample of 401 prompts from two popular benchmarks, BBQ and SafetyBench, collecting 4,812 total responses across three repeated runs per prompt. Beyond standard performance measures, we evaluate model output dimensions including response consistency, response text similarity, citation grounding, and abstention behavior. For instance, chat UI responses were less accurate than API responses on both benchmarks with search disabled. Enabling web search reduced accuracy by up to 8 percentage points, and even reversed the direction of modality performance trends for one benchmark. Repeated runs of the same prompt produced inconsistent responses in up to 21\% of prompts. The two modalities also grounded answers in different citations, and abstention behavior was also inconsistent across both modalities. These results illustrate that, even within a model family, reporting only simple accuracy metrics can obscure important forms of model behavioral variation relevant to AI safety assessments. We argue that AI safety evaluations should systematically account for modality, multi-run consistency, search conditions, and response-level behaviors to better reflect how deployed AI systems behave in practice.

arXiv

EnvACE: Internalizing Environment Dynamics via World Rehearsal for Agentic Reinforcement Learning

Zishan Xu, Zhiyuan Yao, Yuxin Chen, Yifu Guo, Zhengxi Lu, YUQUAN LU, JinYang Huang, Yan Xu, Yasheng Wang, Weinan Zhang, Xingshan Zeng, Weiwen Liu

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.

arXiv

Comparative Approaches to Agent Retrieval over Large Skill Libraries

Indivara Kolluru, Nathan Sportsman

Agents backed by large skill libraries must decide which skills to load and in what order. Loading the entire library into context is expensive and provides no structure for autonomous sequencing. We study two systems for this problem over a corpus of 690 skills: a hybrid ranker combining lexical and dense-embedding retrieval for sparse, on-demand loading, and a typed knowledge graph encoding workflow relations such as prerequisites, data flow, and ordering. On a set of 117 realistic, non-echoing queries, the hybrid ranker retrieves the correct skill within the top five in 73.5% +/- 8.0 of cases, leaving roughly a quarter of queries unserved. When used as the design intended (substituting graph neighbours for additional ranked results at matched token budget), the graph is significantly worse (-11.2 points, p = 0.0007). Its LLM-generated edge layer adds nothing over neighbours obtained free from a local embedding pass, and 73% of the queries the ranker misses are not reachable through the graph at all. We attribute this to a pre-filter topology bound. Because the graph's candidate edges are drawn from the same embedding neighbourhood the ranker already searches, 98.6% of typed edges connect skills the ranker had already surfaced together. The graph can enrich relation semantics but cannot extend retrieval reach. We further show that evaluating on author-written queries overstates hit@5 by up to 44 points, which would have hidden these results entirely. Our contribution is a mechanistic account of why added structure does not improve retrieval over a strong ranker, and identify the conditions under which adding structural interdependence into the retrieval is optimal.

arXiv

MicroEvo: Knowledge-Guided LLM Sampling for Efficient Microarchitecture Design Space Exploration

Jia Xiong, Runkai Li, Chenxu Niu, Guangyuan Gao, Changwen Xing, Yifan Zhang, Xinlai Wan, Jieran Cui, Chen Bai, Yusheng Hua, Ying Wang, Ming Ling, Xi Wang, Tao Xie

Microarchitecture design space exploration suffers from expansive search spaces and expensive PPA evaluation, leaving only a small simulation budget for design decision-making. Existing methods perform blind search without considering microarchitectural dependencies and fail to learn from the iterative search effectively, leading to wasted evaluations and weak Pareto convergence. In this paper, we propose MicroEvo, a knowledge-guided framework that couples off-the-shelf LLMs with Monte Carlo Tree Search (MCTS) for multi-objective microarchitecture optimization. MicroEvo combines LLM-driven evolutionary operators, a Pareto-aware tree policy that balances Pareto contribution and diversity, an active knowledge accumulation mechanism that extracts and reuses optimization insights, and state-aware directives that adapt the search behavior online. Experiments show that MicroEvo improves Pareto-front quality by up to 36.2% over NSGA-II and achieves 10.6x higher search efficiency, and also demonstrates strong scalability to a complex industrial-scale core. The code repository is available at: https://github.com/GEAR-SEU/MicroEvo-ICCAD-26.

arXiv

Learning Globally Reusable Skills for Coding Agents

Chen Yang, Jiashuo Tian, Ziqi Wang, Xinyin Liu, Meiru Ye, Junjie Chen

Automated skill evolution enables Large Language Model (LLM) agents to continuously improve without expensive retraining. However, existing approaches typically treat skill evolution as a sequence of local updates, overlooking relationships among skills and often producing overfitted skill updates that fail to generalize across tasks. We propose GSE, a globalized skill evolution framework that jointly optimizes skill compatibility and skill generalization. To preserve consistency across the skill bank, GSE maintains a Skill Relation Graph (SRG) that explicitly models and co-evolves inter-skill relationships. To improve generalization, GSE performs cluster-based skill consolidation to abstract reusable capabilities from local updates and employs replay-driven verification to prevent overfitting and behavioral regressions. We evaluate GSE on two representative software engineering tasks: bug-revealing test generation and false-positive bug report filtering. Across two state-of-the-art coding agents, OpenHands and mini-SWE-agent, GSE consistently achieves the best precision, recall, and F1-score. Compared with existing evolution techniques, GSE improves precision and recall by 6.1%~34.1% and 31.8%~180.0% for test generation, and by 15.4%~96.4% and 13.1%~19.8% for false-positive filtering. Deployment on an internal industrial agent further yields a 61.4% improvement in F1-score, demonstrating the effectiveness and generalizability of GSE for evolving effective skills.

arXiv

Reducing belief in conspiracy theories as they unfold using large language models

Thomas H. Costello, Nathaniel Rabb, Michael Nicholas Stagnaro, Gordon Pennycook, David Rand

The emergence of conspiracy theories in the wake of major events is a significant societal challenge. Here we test whether conversational dialogues with a large language model (LLM) can reduce belief in immediately unfolding conspiracies. In experiments conducted in the days following the July 2024 assassination attempt on Donald Trump and the September 2025 assassination of Charlie Kirk, U.S. adults (Experiment 1: N = 472; Experiment 2: N = 1035) holding conspiratorial views about the crisis event engaged in a multi-turn conversation with an LLM prompted to reduce their conspiracy belief. Compared to control participants who either discussed an irrelevant topic with an LLM or viewed a static fact sheet, participants in the LLM treatment showed significantly reduced conspiracy beliefs in both experiments. We also found evidence of downstream effects of the LLM treatment, observing reduced belief in different conspiracies one to two months later in the wake of subsequent crisis events. These results shed light on the psychology of emerging conspiracies and highlight the potential for scalable, cognitively-focused interventions to counteract misinformation in the immediate aftermath of high-profile societal events.

arXiv

PaDoc: Layout-Grounded Parallel Decoding for Document Parsing

Hao Yu, Jiabo Zhan, Kang Liu, Linnan Zhao, Dongxu Yue, Rui Chen, Jinglin Wang, Chong Sun, Chen Li, Jing Lyu, Chun Yuan

End-to-end document parsers provide a unified interface, but serialize page layouts and regional contents into one autoregressive sequence. This formulation forces independent regions onto a decoding path whose length grows with the total content, whereas crop-based two-stage parsers expose region-level parallelism at the cost of repeated visual prefills and fragmented page context. To retain full-page context while removing dependencies, we propose PaDoc, a layout-grounded parser that treats the predicted layout as a branching structure over a shared page representation. Under a region-sufficiency assumption, we derive a prefix-conditioned factorization in which the layout stream and regional content branches advance concurrently, reducing the decoding depth to the longest layout-content path. We realize this factorization within a single MLLM: packed variable-length ancestor attention preserves the visibility under standard next-token training, while masked parallel decoding creates branches that the evaluated vLLM backend serves as concurrent requests with cache-resident shared-prefix reuse. On OmniDocBench Full, PaDoc attains an Overall layout F1 of 91.1 and, among end-to-end parsers, a top-tier Overall score of 94.24 together with the best Text Edit (0.038) and Formula CDM (95.59). On a 384-page subset and one A800 GPU, it is the fastest end-to-end parser at five concurrency levels, improving valid-page throughput by 67.4-118% and reducing P95 latency by 39.2-54.9% relative to a same-backbone Sequential SFT baseline. Code is available at https://github.com/Longin-Yu/Padoc

arXiv

FinEvo-Bench: A Longitudinal Benchmark for Self-Evolving Agents in Professional Financial Workflows

Bo Deng, Kang Zhou, Lifan Guo, Chongyang Tao, Xuanren Chen, Chenggang Xie, Renzhao Liang, Feng Chen, Chi Zhang

Most agent benchmarks evaluate tasks independently and cannot measure whether experience from one task helps with later tasks. Existing self-evolution benchmarks do not jointly cover professional workflows, open-ended deliverables, and multi-aspect evaluation. We introduce FinEvo-Bench, a longitudinal benchmark with 120 real-case-grounded tasks, 20 business scenes across six financial domains. Institution-provided professional procedures define the required operations and constraints. Eligible institution-provided and publicly documented cases supply the task facts. Each scene contains six related but substantively distinct cases that share a professional procedure and a manually reviewed rubric for task quality and financial compliance. We compare four self-evolving agent scaffolds using the same Qwen3.7-Max backbone and three independently shuffled, globally interleaved task streams. Paired non-evolving controls estimate each scaffold's self-evolution gain from retained experience, while an independent Claude Code scoring agent backed by Claude Opus 4.6 evaluates all outputs. Letta achieves the highest evolved score (91.65) and fewest compliance issues (0.09 per task); Codex achieves the largest self-evolution gain (+19.37). Across scaffolds, the evolving condition raises scores by 9.33-19.37 points and reduces compliance issues by 0.12-0.44 per task. Paired score gains at within-scene ranks 4-6 exceed those at ranks 1-3 by 6.10-8.70 points. In Claude Code, skill-only evolution produces higher task quality and fewer compliance issues than memory-only and combined memory-skill evolution. Across all four scaffolds, rubric feedback also yields higher scores and fewer compliance issues than reference-answer feedback. FinEvo-Bench measures both professional performance and self-evolution ability: how effectively an agent turns prior experience into later improvement.

arXiv

Mind the Gaps: Mixture-of-Minds for Human Simulation

Pranav Dahiya

Predicting how a population will answer a new question is a long-standing goal. Statistical methods succeed at the level of the mass but falter at the level of the individual. Large language model simulators inherit this gap. They recover a population's central tendencies while flattening its heterogeneity, and they carry social biases and prompt brittleness that distort individual predictions. This paper introduces Anacreon, an audience simulation model that targets the individual level within a narrow, well-specified domain. Anacreon learns an authorship embedding that separates individuals, clusters a real qualitative corpus around seed people, and trains a dedicated adapter for each cluster, a mixture of minds, on a Gemma~4 12B base. It harvests demographics, psychological traits, and survey responses from public text, and augments each record with a chain-of-emotion. It reduces prompt brittleness by shuffling response options and reduces positive bias by balancing the training distribution. On a large, externally sourced survey, Anacreon reaches a state-of-the-art ordinal alignment of 0.775, the individual-level accuracy measure on which the field has converged, with a small residual bias. The work is a step toward drawing aggregate insight from faithfully simulated individuals.

arXiv

Signal or Spurious Cue? A Randomized Audit of Survey-Country Metadata in LLM Social Inference

Yifan Lyu, Xinran Li, Jiaqi Qiao, Xiujuan Xu

Survey-country metadata can improve an LLM's forecast of an individual response when informative, yet the same cue may redirect the forecast when assigned at random. A within-record audit tests whether disclosing a random label's uniform, record-independent origin reduces its country-directed uptake, and whether verified survey country lowers held-out Brier loss. Independent population anchors and recorded human answers measure direction and consequence across five fixed API models, six countries, and seven development-selected targets. In the primary post-review 72-record panel, opaque and disclosed-random labels each produced country-direction shifts of 0.214. Paired attenuation was 0.0003 (95% CI [-0.0157, 0.0166]). Verified country reduced Brier loss by 0.040 (95% CI [0.024, 0.056]), while random-label regret included zero. A non-overlapping mixed-coverage consistency panel retained positive disclosed-random movement and verified utility, while attenuation remained uncertain. On the selected targets, verified metadata was useful in both panels, but disclosure did not reliably attenuate random-label uptake. PROV-FORECAST contains 14,400 paired item-level probability distributions from the corrected panel.

arXiv

When History Lies: Evaluating and Improving Tool Use under Misleading Multi-Turn Histories

Xiaoqing Wu, Xingyu Fan, Feifei Li, Wenhui Que

Tool-calling agents infer task state from accumulated dialogue and tool traces. In persistent interactions, however, historical traces may remain structurally valid and semantically plausible after they cease to be authoritative for the current request. We show that such history can hijack a policy the model already possesses: on Qwen3-1.7B, pollution flips 32.1% of decisions that are correct under the original trajectory and frequently induces reuse of corrupted entities or interface conventions. We introduce bench, a paired benchmark with synchronized Original, Polluted, and Oracle State views that preserve the system policy, current tools, latest request, and gold next action. Eleven gold-preserving interventions isolate failures in decision state, entity binding, and interface execution across complete calls and non-call decisions. We further propose ours, which transfers an Oracle-conditioned teacher policy to a student observing only polluted history through soft supervision on student-generated prefixes. On Qwen3-1.7B, ours achieves 87.0% Balanced Tool-Use Accuracy, outperforming Gold-SFT (66.3%), Oracle sequence distillation (82.3%), and off-policy token distillation (85.0%). The method scales consistently: an 8B teacher raises the same compact 1.7B student to 91.9%, while an 8B student reaches 93.0%. The resulting policies further transfer to clean histories, unseen functions, independently regenerated evaluation contexts, external tool-use benchmarks, and noisy multi-hop question answering. These results establish history reliability as a distinct tool-use bottleneck and demonstrate reliable-state policy transfer as an effective and scalable solution.

arXiv

HERALD: Counterfactual Audits and Minimal Repairs for Proof-of-Retrieval Rewards

Zhuowen Liu, Bohan Cui, YinShang Guo, Yuting Wang, Hao Li

Search-agent rewards mix answer quality, citation grounding, tool cost, and anti-hacking terms; a high score therefore need not imply that cited evidence was retrieved, and added penalties can cancel. We introduce HERALD, an offline audit that applies exact same-question interventions, separates candidate-visible from oracle information, and enumerates detector contracts before policy optimization. On four Qwen3-8B pools from HotpotQA, 2WikiMultiHopQA, and MuSiQue, $R_0$ rejects search deletion and fake IDs, but a label-free citation-laundering attack succeeds. A complete $2^3$ ablation identifies targeted strengthening of $L$---citing a corpus passage absent from the retrieved evidence---as the observed inclusion-minimal repair: $R[L]$ has zero empirical ASR with a 0.50% one-sided cluster upper bound. The gap persists across pool rules, a visible BM25 attacker, and four models; broader hardening remains vulnerable when the attack removes an oracle support-ID penalty. Under strict 5M-token matched training evaluated on 256 paired questions per benchmark, $R[L]$ meets the EM non-inferiority gate on HotpotQA and 2Wiki but not MuSiQue. Equal-suite citation precision and support recall improve by 2.02 and 1.46 points, unsupported citations fall by 1.69, and laundering attackability falls on 2Wiki and MuSiQue. Natural $L$ is not reduced, and the detector appears in only 18 of 58,368 training trajectories. HERALD thus separates robust scoring, sparse learning signal, and policy transfer.

arXiv

Hybrid Machine Learning Framework for Herd-Level Cattle Growth Pattern and Weight Gain Forecasting in Grazing-Based Production Systems

Muhammad Riaz Hasib Hossain, Rafiqul Islam, Shawn R. McGrath, Md Zahidul Islam, David W. Lamb

Commercial grazing systems yield irregular livestock observations, which challenge cattle growth forecasting. This study developed a hybrid machine learning framework for herd level cattle weight forecasting using automated sensing observations collected between 2022 and 2024 in southeastern Australia. Weekly live weight observations, demographic variables, and lagged environmental predictors were integrated into structured forecasting datasets. Herd level forecasting trajectories were generated through temporal aggregation of animal level predictions. Four hybrid architecture families were evaluated, including residual, stacked, cascade, and ensemble assisted frameworks. ARIMA, LSTM, and GRU models were used as comparative baselines. Independent testing demonstrated strong predictive agreement across multiple forecasting horizons. The cascade GB to RF to NN architecture achieved the best performance, with a test R^2 of 0.889, RMSE of 21.319 kg, and MAE of 15.462 kg. Hybrid architectures maintained greater robustness than recurrent sequential models under sparse observation conditions. Forecasting error increased progressively across extended prediction horizons. Feature importance analysis identified animal age, rainfall, and temperature as dominant predictors influencing herd level growth forecasting. The proposed framework may support feed allocation, grazing management, and livestock marketing decisions under heterogeneous sensing environments.

arXiv

OPERA: Operator-residual feedback for reliable autonomous optical experiments with language-model agents

Ning Xu, Xiang Zheng, Fuqiang Zhong, Huadong Wang, Xiaolong Wu, Zhiyuan Liu, Hui Ning

Autonomous agents choose actions using scores that may not reflect experimental success. We developed OPERA, an operator-residual framework for optical experiments. It represents experimental actions as optical operators and evaluates their outcomes using physically interpretable residuals. Operators specify executable changes to measurement, control or reconstruction, while residuals report departures from specified physical conditions. The agent uses both to select, combine or generate operators, and physical performance is evaluated independently against a withheld reference. Across three optical tasks, score-only feedback produced score increases without physical improvement in 23.6--39.0\% of decisions, compared with 0.9--1.9\% for operator-residual feedback. Operator-residual feedback increased the probability of reaching and maintaining task targets and reduced experimental budgets. Protocols selected in digital twins were transferred to three optical instruments, and repeated experiments showed a lower projection budget in structured-light reconstruction. Together, operators and residuals guide autonomous decisions using measurable physical evidence.

arXiv

TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

Taehyeon Kong, Woojin Kim, Jemin Hwangbo

In this paper, we present TRACE (Tokenized Robust Attention for Contact-Aware Estimation), an end-to-end learned proprioceptive odometry estimator for legged robots under unreliable contact conditions. The proposed estimator directly predicts relative displacement, relative rotation, and body-frame velocity from a recent history of onboard inertial and joint measurements. To improve robustness under unreliable contact conditions, we introduce a foot-aware cross-attention module that adaptively weights IMU and leg-wise kinematic tokens without relying on manually defined contact or slip thresholds. The estimator is trained with direct supervision and two physics-inspired auxiliary losses that promote kinematic consistency and reliable use of leg information. To reduce policy-specific overfitting and consequently improve sim-to-real transfer, simulation training incorporates policy randomization, followed by partial real-world fine-tuning of the temporal encoder and prediction head. Experiments across diverse indoor and outdoor terrains demonstrate consistent reductions in position drift compared with classical filtering-based, hybrid, and purely learning-based baselines. Ablation studies further validate the contributions of the proposed training objectives, policy randomization, and real-world fine-tuning, particularly under unreliable contacts and sim-to-real mismatch.

arXiv

SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation

Changyuan Wang, Chubin Zhang, Zhenyu Wu, Runhao Li, Angyuan Ma, Ke Chao, Yinan Liang, Xiuwei Xu, Ziwei Wang, Yansong Tang, Jiwen Lu

Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demonstrated promising performance on robotic manipulation benchmarks. However, their potential remains fundamentally constrained by the scarcity of large-scale embodied trajectory datasets, leading to insufficient compositional generalization in out-of-distribution (OOD) scenarios with limited capability to capture reusable skill structures. To address this limitation, we propose Skill-Based Memory (SkillMemo) framework that implicitly decomposes long-horizon demonstrations into latent atomic skills and integrates skill-level features into a dynamic episodic memory bank for solving compositional tasks. Specifically, we first introduce an expert-guided trajectory segmentation module built upon a Mixture-of-Experts (MoE) architecture, which implicitly partitions trajectories into distinct skill primitives represented by learned gating coefficients. We further design a skill-level episodic memory architecture that stores compact skill representations as retrievable key-value pairs. During inference, the memory bank retrieves the most relevant skill primitives which are subsequently fused with the model's current gating distribution, providing a robust contextual prior to refine action predictions. Extensive experiments on the simulation benchmark and real-world manipulation tasks demonstrate that SkillMemo consistently enhances both DP and VLA backbones, achieving state-of-the-art performance and outperforming $π_{0.5}$, while exhibiting strong compositional generalization to unseen task configurations.

arXiv

Stability of Ranking-dependent Pair-wise Comparison Patterns in the Analytic Hierarchy Process

Vitaliy Tsyganok, Sergii Kadenko, Oleh Andriichuk

The paper addresses several ranking-dependent decision support methods. Ordinal information on compared objects can be used to improve the quality of expert data during estimation and help reduce the number of comparisons that the experts need to perform. In the paper we compare three incomplete ranking-dependent pair-wise comparison patterns which can be used in the Analytic Hierarchy Process - Best-worst method, Best-Second Best (Top 2) method, and the original maximum difference method. The first two comparison patterns (and respective methods) are incomplete, while the third can be a complete one. We determine conditions under which these three methods can be compared in terms of stability to expert errors. We also present the results of a simulation-type experiment, in which the three methods are compared. The research allows us to define the most stable incomplete ranking-dependent pair-wise comparison pattern and reduce the number of comparisons without loss of credibility of expert session results. The research contributes to algorithmic, cognitive, and applied aspects of decision support in uncertain environments.

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