GroundingPI: A Grounding Foundation Model towards Physical Intelligence with Visual PrimitivesPrecise grounding matters. It specifies which object is the target and where that object is, even in clutter and for tiny objects, and it has to be fast enough for closed-loop control. Yet vision-language-action (VLA) and world-action models (WAMs) take perception from general-purpose vision-language and video-generation backbones, which still fail in these settings. We introduce GroundingPI, a 4B grounding foundation model that generates points and boxes as quantized coordinates in a shared vocabulary. Training combines multimodal and spatial pretraining, supervised fine-tuning, and reinforcement learning with GRPO, using supervision from public datasets and dedicated data engines. Against 44 baselines across 34 grounding benchmarks spanning 11 perceptual capabilities, GroundingPI establishes a new state of the art, averaging 73.68%, above the larger GPT-6 Astra (71.54%). As a downstream visual backbone, GroundingPI improves performance on robotic manipulation and autonomous driving. On RoboTwin 2.0, it outperforms every mainstream backbone we evaluate in all four out-of-distribution settings, by up to 24.8% relative to the strongest backbone. On RoboCasa-GR1, GroundingPI trained with 50% of the demonstrations outperforms those baselines trained with 75%. On nuScenes, used as the visual backbone, GroundingPI attains an average open-loop L2 error of 0.296 m. We systematically analyze GroundingPI's pretraining in scale and data composition. Downstream autonomous driving and robotic manipulation improve as the pretraining is scaled. Analyzing the data recipe across these 11 perceptual capabilities shows dense grounding's substantial benefits for both, and OCR's potential as a catalyst for perceptual learning. These results support grounding as a perceptual foundation, and dedicated perceptual pretraining as a promising direction for foundation models of physical intelligence.
Thinking Inertia: LLMs Keep Thinking When Told Not ToLarge Language Models (LLMs) increasingly ship with explicit "thinking modes", yet their counterpart, "no-thinking", has received far less attention. We study LLMs' no-thinking behavior along two axes. a. How to measure no-thinking? Prior work typically defines no-thinking through proxies such as a disabled thinking mode or the absence of long traces. These proxies are unreliable: disabled thinking modes may still emit reasoning, while long traces may contain filler rather than genuine inference. We instead normalize each response into a pre-answer trace and final answer, and evaluate it at three levels: (i) Empty-Thinking Rate for strict answer-only compliance; (ii) instruction-aware Question-Pre-answer Relevance for similarity between the question and pre-answer trace; and (iii) LLM-as-judge Explicit Inference Rate for visible explicit inference. Together, these metrics distinguish answer-only output, relevant but non-inferential text, and explicit inference. b. How does no-thinking vary across tasks and models? We evaluate six prompting interventions on six LLMs across Boolean, multiple-choice, and open-ended questions. We find that explicit no-think controls cannot reliably eliminate visible inference. Models instead exhibit "Thinking Inertia": explicit inference persists even under strict controls and becomes more prevalent as the answer space opens. Accuracy remains stable on Boolean and multiple-choice tasks, whereas open-ended tasks reveal a trade-off between answer-only compliance and task accuracy. Rewriting the same questions across answer spaces shows that supplying candidate answers makes answer-only responses easier to produce. These findings establish no-thinking as a non-trivial capability: stopping explicit reasoning cannot be assumed from model settings or instructions alone and deserves systematic evaluation alongside reasoning ability.
AgentSWE: Can Coding Agents Build the Agent You Actually Want?As the production of software passes into the hands of software itself, coding agents are increasingly commissioned to build agents fitted to their users' own workflows. This delegation carries a quiet assumption, that the delivered agent will faithfully serve the requirement it was built for, rather than merely appear to. No existing benchmark tests that assumption. We introduce AgentSWE, a benchmark for agent software engineering spanning three stages of the agent development lifecycle: Creation of a complete agent from a natural-language requirement, Editing of production agent codebases, and Optimization toward a measurable target. Each of its 25 tasks is framed as a commission rather than an exam: the builder iterates against a handful of illustrative cases, while acceptance exercises the frozen submission on held-out cases designed to span the full requirement, grading behavior against requirement-derived rubrics under hard pass/fail gates or, for Optimization, against the source benchmark's own objective. Evaluating a range of coding agents across models and harnesses, we find that none comes close to delivering what a requirement asks for: the gap between what a builder demonstrates and what it delivers is the norm, not the corner case. An accompanying empirical analysis of the failure trajectories identifies recurring failure modes, among them overfitting to the visible cases, hollow runtimes behind code that looks complete, and unsupported claims of completion, each a signal by which coding agents can learn to build the agents they are asked for.
Scaling Agentic Data for Long-Horizon Terminal IntelligenceTerminal 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.
VIS-Ground: Video Interactive Storytelling with Contextual GroundingVideo interactive storytelling enables viewers to actively steer how a video unfolds. However, once we allow viewers to intervene during generation, a new challenge arises: The viewer's request can have latent dependencies on both the grounding source and the current rendered video state. These dependencies may not be explicitly stated in any individual input, but emerge only when the source, rendered history, and new viewer intent are considered jointly. Existing interactive video generation systems primarily emphasize following viewer instructions, while source-grounded video generation methods focus on aligning generated content with an external narrative or knowledge source. This leaves a fundamental question underexplored: What context should a generation model ground on during interactive continuation, and how can heterogeneous, unstructured inputs be transformed into such grounding context? In this work, we formulate contextual grounding as the process of transforming heterogeneous input context into an executable constraint model for video generation. To address this challenge, we introduce VIS-Ground, which performs Structured Context Abstraction to recover grounded states and cross-context dependencies, Generation Constraints Induction to project relevant dependencies into candidate-specific constraints, and Constrained Video Generation to enforce these constraints through planning, verification, revision, and rendering. Across three video generation backbones, VIS-Ground consistently achieves the highest overall composite score, reaching an average absolute improvement of 10.3 points over the strongest per-backbone baselines. Detailed analysis further shows gains across both narrative and knowledge grounding, and reveals remaining challenges in dependency extraction, and faithful realization during video rendering.
GroundAnything: Reconciling Parallel Decoding with Precise Visual Grounding at Flash SpeedAutoregressive (AR) grounding models serialize spatial predictions, introducing sequential latency and imposing a causal order on output tokens. We view grounding as visual evidence extraction: objects, locations, and spatial relations are jointly constrained by the image and query, yet their dependencies do not imply an intrinsic left-to-right generation order. This distinction makes bidirectional diffusion a natural fit, allowing spatial hypotheses to emerge in parallel and be jointly refined through iterative denoising. We introduce GroundAnything, a 4B-parameter grounding foundation model that reconciles fast parallel decoding with precise localization through blockwise denoising. Training combines grounding pretraining from public datasets and dedicated data engines, direct AR-to-diffusion conversion with joint AR and diffusion objectives, supervised fine-tuning, and GRPO-based reinforcement post-training. Across 30 grounding benchmarks, our autoregressive variant, GroundAnything-VLM, establishes a new overall state of the art among similarly sized models at 72.42%, remaining competitive with GPT-6 Astra (71.35%). With entropy-guided decoding, GroundAnything also surpasses the prior state of the art at this scale, averaging 61.75% versus 53.32% for the fast MTP-based LocateAnything model. We further explore decoding strategies, showing that an optional self-speculative mode achieves a 4.51times speedup over the AR counterpart with a 0.74 percentage-point drop in COCO F1mIoU. Infrastructure experiments show that progressive inference optimizations translate parallel decoding into practical speedups. These support efficient visual grounding in latency-sensitive real-world systems.
Multi-Stream Attention ResidualsAttention Residuals (AttnRes) enables content-dependent retrieval over network depth, which can be viewed as single-stream softmax attention along the depth axis. Inspired by the success of multi-head attention along the sequence axis, we introduce Multi-Stream Attention Residuals (MSAR), an extension of AttnRes that generalizes this mechanism to multi-head depth attention, yielding substantial performance gains with minimal additional overhead. MSAR draws stream diversity from sequence context through multi-scale causal convolutions, allowing different heads to retrieve historical representations through distinct contextual views while preserving the integrity of the hidden representation. The retrieved streams are combined through lightweight adaptive mixing to generate the single-stream layer input. By retaining single-stream sources and expanding them on demand, MSAR supports multi-stream computation without requiring persistent multi-stream storage or communication. Across all 12 downstream benchmarks at the 18B and 28B MoE scales, MSAR consistently outperforms prior residual variants, including standard residual connections, manifold-constrained Hyper-Connections (mHC), and AttnRes. Scaling-law experiments yield an iso-loss compute speedup of 1.58times over the standard residual baseline, compared with 1.35times for AttnRes and 1.30times for mHC. These results make MSAR a promising residual architecture for large-scale pre-training.
Relevance Does Not Imply Applicability: Experience Activation for Personal GUI AgentsPersonal Graphical User Interface (GUI) agents rely on interaction history to infer what a user wants from ambiguous instructions and to anticipate recurring routines. Existing approaches retrieve task-relevant history and append it to the policy's context, implicitly assuming that experience relevant to a task remains useful for each decision within it. We find that this help is largely spent at the first decision: retrieved history strongly improves the opening step of an episode, yet provides little sustained benefit over the remaining 90\% of steps, and offers weak guidance on whether a proactive suggestion is warranted. A relevant record may tell the agent where to begin, but not which past action applies to the current screen or whether a routine is due now. The underlying issue is that relevance does not imply applicability}: relevance is determined at the task level, whereas applicability depends on the situation at decision time. We therefore recast personalization as experience activation and introduce ExpActivator, a training-free framework that activates only the experience applicable to the current situation. During execution, ExpActivator matches each new screen to historical states in the frozen GUI backbone's latent space and supplies the corresponding action as a reference. Before execution, it activates a recurring intent only when the current time and scenario provide sufficient support, and otherwise abstains. Across four GUI backbones, ExpActivator improves within-trajectory step success by 28\% on average, achieves the best personalized execution on every backbone while using about one-fifth as many history tokens, and reaches approximately 2.3times the Matthews correlation coefficient of the strongest proactive baseline. Experience pays where it is activated, not where it is appended.
CrossTimeEdit: A Decade-Spanning Cross-View Dataset and Reward-Guided Editing for Historical Street-View GenerationHistorical street-view imagery records urban evolution, but uneven coverage leaves substantial gaps in historical records. Generating plausible past appearances requires restoring changed structures while preserving persistent scene content. We construct VIGOR-his, a decade-spanning cross-view dataset containing 43,653 location-level quadruplets across 11 cities on three continents. Its automated pipeline performs spatial pairing, consistency screening, change classification, and the generation and validation of satellite-based change descriptions and local editing instructions. Based on VIGOR-his, we propose CrossTimeEdit, a model that reformulates historical street-view generation as editing, using recent street views to constrain viewpoint and unchanged appearance and temporal satellite differences as change evidence. Starting from FLUX.2 [Klein] 4B, we train CrossTimeEdit through supervised fine-tuning (SFT) followed by online reinforcement learning (RL). We design three street-view editing criteria, namely Instruction Alignment (IA), Background Preservation (BP), and Quality and Physical Plausibility (QP), as both RL reward dimensions and evaluation metrics. We optimize this multi-reward objective using Within Group Relative Policy Optimization for flow-matching models (Flow-GRPO) with Group reward-Decoupled Normalization Policy Optimization (GDPO), which normalizes each reward dimension before aggregation. CrossTimeEdit improves overall performance across the three editing criteria by 17.12\% over the pretrained baseline and outperforms cross-view generation models in scene consistency, visual realism, and perceptual quality. The implementation code, dataset, and model weights are available at https://luhanwen67.github.io/CrossTimeEdit-release/.
SpatialASM: Internalizing Active Mentalization for Spatial ReasoningWhen solving complex spatial reasoning tasks, ordinary humans naturally revisit the scenes from task-relevant viewpoints and mentally reconstruct the spatial layouts from those viewpoints. But can Large Vision-Language Models (LVLMs) proactively think in the same way? We term this ability Active Spatial Mentalization (ASM), an intrinsic component of visual intelligence that remains substantially underdeveloped in current LVLMs. To bridge this gap, we introduce SpatialASM, a scalable framework to internalize ASM into LVLMs through training-time spatial simulation. SpatialASM employs an allocentric novel-view generator to ground hypothetical viewpoints in visual evidence and produces two complementary forms of supervision: i) explicit ASM trajectories that teach LVLMs when and how to adaptively invoke view planning and imagination during spatial reasoning, and ii) automatically-constructed perspective-taking tasks that further strengthens viewpoint-conditioned scene imagination. On seven benchmarks spanning relatively perception-oriented spatial understanding to more challenging tasks requiring multi-image, cross-view and viewpoint-transformation reasoning, SpatialASM yields performance gain on LVLMs of four LVLM backbones in spatial reasoning while retaining their original general vision capabilities. The experimental results demonstrate that our approach improves average accuracy across the seven spatial benchmarks. And the synthesis of ASM trajectories provides a scalable pathway to alleviate the scarcity of spatial Chain-of-Thought (CoT) supervision for eliciting active viewpoint exploration and mental scene simulation.
T3lescope: Arbitrary-Resolution High-Fidelity Generative Surface Reconstruction from ImagesWe reconstruct high-fidelity 3D scene meshes from posed multi-view images without per-scene optimization, across scales ranging from single objects to large outdoor scenes. Per-scene optimization methods lack the learned 3D prior needed when observations are sparse or surfaces are glossy or transparent. Existing generative methods leverage such priors to complete geometry in sparsely observed regions, but typically operate at a fixed resolution over a limited spatial extent, trading spatial coverage against detail. Reconstructing a large scene therefore often requires partitioning it into independently processed overlapping local regions, making it difficult to maintain global geometric consistency. To address these issues, we propose T3lescope, which applies a single fixed-resolution generator across scene scales in an inference-time coarse-to-fine cascade. A coarse level establishes the scene layout, and finer levels perturb and denoise geometry inherited from the coarser level within progressively finer spatial cells to recover surface detail. The model is trained on individual cells at multiple scales and shares its weights across all levels, so no hierarchy is fixed during training, and the number of levels, cell scales, and cell locations are determined at inference time. On indoor, outdoor, and city-scale scenes, T3lescope outperforms feed-forward and generative baselines, matches or surpasses per-scene optimization, and recovers fine structures as well as glossy and transparent surfaces. These results show that our method generalizes across diverse scenes, view counts, and image resolutions. Project page: https://pfnet-research.github.io/t3lescope/
Systematic Multi-Agent Vision-and-Language Navigation: Formulation, Benchmark, and MethodVision-and-Language Navigation (VLN) has largely focused on a single agent following a single instruction, yet many real-world applications require teams of robots to tackle tasks beyond the capabilities of any individual agent. We present Systematic Multi-Agent Vision-and-Language Navigation, providing, to our knowledge, the first systematic formalization of multi-agent VLN as a constrained coordination problem: each mission consists of subtasks carrying dependency and resource constraints (presence locks and holding chains). A verified four-stage crafting pipeline instantiates the task as MAVLN, comprising 11,724 episodes across 145 scenes with teams of up to four agents under three instruction regimes, accompanied by tailored constraint-aware metrics. We further present TRISS, a coordination-ready navigation system coupling an LLM-based subtask scheduler, a shared topological memory that turns each agent's exploration into team knowledge, and a conflict-aware execution mechanism that realizes simultaneous intentions as collision-free routes. Extensive experiments establish TRISS as a comprehensive baseline and reveal substantial room for improvement across scheduling, planning, and execution, highlighting the challenges of coordinating under MAVLN task constraints. Project page: https://xyz9911.github.io/mavln.
ARCS: Towards Precise Text-to-SQL via Structured DisambiguationAs text-to-SQL systems move beyond demonstrations toward real-world deployment, ambiguity in user questions becomes a primary source of errors. Such ambiguities are often subtle, domain- or data-specific, and can silently cause system outputs to deviate from the user's true intent. Ambiguity is traditionally addressed through conversational clarification, which is often inefficient, cognitively demanding, and poorly aligned with real-world user workflows. We propose structured disambiguation, a new paradigm in which ambiguity is resolved through explicit, constrained interactions rather than free-form dialogue. We construct ARCS (Ambiguity Resolution Corpus for SQL), the first text-to-SQL benchmark featuring naturally occurring, unconstrained ambiguities over real-world databases, with complete annotations of all valid ambiguity points, interpretations, and SQL queries. Experimental results show that text-to-SQL remains challenging in the presence of ambiguity: gpt-6-sol achieves only 51% end-to-end execution accuracy, and no open-source model exceeds 27%.
Learning More by Training Less: Uncertainty-Guided Progressive Contraction for Efficient Reasoning Post-TrainingLarge language models have achieved remarkable advances in complex reasoning. However, scaling reasoning post-training with ever-larger corpora can substantially increase training cost without proportional performance gains. In this study, we therefore ask: how far can reasoning supervision be compressed without sacrificing capability? To this end, we propose an uncertainty-guided progressive contraction framework that concentrates supervision and optimization on the reasoning trajectories most valuable for learning. Specifically, rather than treating a teacher-generated chain-of-thought (CoT) as a single realized path, we construct uncertainty-profiled reasoning supervision by building Monte Carlo reasoning trees around intermediate reasoning states to expose process-level uncertainty. This uncertainty first contracts the original corpus into a compact teacher-informed pool. A second, learner-aware contraction then performs online routing during SFT, concentrating optimization according to the student's evolving learning state. Together, the two stages progressively contract both supervision and optimization, substantially reducing the student training budget. Experiments across diverse reasoning benchmarks and LLM families show that our method uses as little as 0.22% of the optimization budget of full-data SFT, over 450x less training exposure, while maintaining or improving reasoning performance. Notably, our framework generalizes well across heterogeneous student families, black-box teachers, and weak-to-strong transfer. This indicates that it is not only a way to accelerate training but can also enhance reasoning capability.
Branching On-Policy DistillationOn-policy distillation (OPD) provides teacher supervision on student-generated trajectories, but a single trajectory realizes only one continuation at each decision, limiting supervision coverage under a finite sampling budget. We propose BranchOPD (Branching On-Policy Distillation), which selects informative decision points using student uncertainty and teacher-student disagreement, resamples student-policy continuations from shared prefixes, and applies token-level teacher supervision to both main trajectories and branches. BranchOPD operates at token-level decisions in mathematics and within-turn decisions in agent tasks. Shared-prefix reuse reduces student-generated token costs by approximately 19% on ALFWorld and 31% on WebShop relative to seven independent trajectories. We also introduce protocol-boundary repair (PBR), which uses targeted supervision under protocol constraints to mitigate repetition and wasted generation. BranchOPD outperforms Vanilla OPD and Multi-Rollout OPD (n=7) across all evaluated benchmarks, with gains over Vanilla OPD of 18.55 percentage points in mean mathematics accuracy over 16 sampled answers (avg@16) and 13.8 points in mean ALFWorld ID/OOD success. Mechanistic analyses and selection ablations show that branching at uncertain decisions expands subsequent behavior coverage and outperforms random selection and turn-initial branching.
Initialization Improves LLM-Driven DiscoveryLarge Language Models (LLMs) have been used for novel discovery of algorithms, theorems, drugs, and other tasks through the use of harnesses that prompt an LLM to iteratively optimize an objective. In this work, we study the relationship between the population of previous iterates and eventual discovery success. We generalize past work on harness design to develop a suite of 12 harnesses called 'Modular' and characterize their performance across 5 diverse discovery tasks, finding that discovery success is brittle and sensitive to harness design. We uncover mode collapse, characterized by a dramatic drop in the diversity of iterates, as a common failure mode. We find that popular state-of-the-art harnesses and diversity-inducing harness interventions, which aim to prolong this collapse, yield inconsistent gains. Our results instead uncover that the performance of early discoveries is predictive of eventual success. We therefore propose a universally applicable intervention that performs an initial stage of parallel exploration in order to initialize subsequent iterative optimization. Our method provides consistent gains across many harnesses and target applications, confirming the importance of initialization in LLM-driven discovery.
Prospective Hindsight: Self-Calibrating Reinforcement Learning via Prediction-Reality GapsReinforcement learning for long-horizon agents relies on purely retrospective training signals: credit is assigned only after observing environmental consequences, leaving the agent's belief at action time invisible to the gradient. We introduce Prospective Hindsight (PH), a self-calibrating training principle that augments any retrospective base method with a signal derived from the gap between the agent's prospective prediction (before feedback) and the retrospective evaluation (after feedback). This per-rollout surprise identifies samples where the agent's self-model is most inaccurate and amplifies their gradient contribution through a stop-gradient surprise-weighted advantage. Since the prospective predictor shares parameters with the policy, the two co-evolve, progressively shifting focus to the agent's remaining blind spots. We connect this principle to a privileged-information gap and show that minimizing the surprise residual provides a descent pathway on the agent's miscalibration rate; calibration thus emerges as a byproduct of optimization rather than from an added objective. On single-turn verifiable tasks and a multi-turn personal-agent task (under GRPO, on-policy distillation, and their combination), PH improves both task performance and calibration, with consistent gains across model scales. Notably, the dominant miscalibration mode shifts structurally between regimes, overconfident failures in single-turn, underconfident successes in multi-turn, yet the same training principle addresses both successfully.
Evaluating LLM Creativity through Long-Tail PerformanceCreativity benchmarks for large language models (LLMs) vary widely in task and metric design. This raises the question of whether they capture a common notion of creativity. We propose that this shared target can be formalized as task-specific performance in the long tail of a reference input-output distribution, which describes how common input-output pairs are relative to a chosen source of text. We ground this proposition in the novelty-quality product formulation and evaluate it empirically across 15 benchmarks and 26 open-weight models, using n-gram absence from the pretraining data as a novelty proxy. Our results show that creativity benchmarks lie further in the tail regions than standard benchmarks. Moreover, on both creativity and standard benchmarks, model rankings from higher-tail subsets of each benchmark align more closely with human creativity judgments in LM-Arena. Building on these findings, we introduce q@Tail(α), a lower-cost creativity diagnostic that measures mean task quality on the tail fraction of an existing benchmark. Applying it to creativity-promoting methods reveals substantial room to improve LLM creativity through stronger tail performance.
Visual Grounding Safety in Vision-Language ModelsVision-language models (VLMs) are increasingly trained to generate structured outputs like points and bounding boxes that downstream interfaces, agents, and robots can act on, yet safety alignment of this output channel has not been systematically analyzed. We study visual grounding safety by repurposing three safety benchmarks spanning direct harm (VLSU), social bias (BBQ-V), and situational safety (Asimov-2.0) into 15,401 matched pairs of harmful requests that differ only in the requested output: a free-text answer (VQA) or a grounding (point or bounding box). Across five VLMs, models that refuse a harmful request posed as a question often comply when the same request asks for a grounding: averaged over models, grounding refusal trails VQA refusal by 31-59 percentage points, depending on the domain, and safety system prompts do not close this gap. We propose a fine-tuning approach that combines grounding-form refusals with capability grounding data and self-distilled benign data to counter over-refusal. For Qwen3-VL-8B and VisionReasoner-7B, it improves grounding refusal by 77-95 percentage points on VLSU and BBQ-V and by 64-85 points on the held-out Asimov-2.0 domain, while also improving VQA refusal, preserving grounding capability, and keeping over-refusal limited. Representation analysis shows that fine-tuning moves harmful requests toward each model's refusal direction, most strongly for grounding, while leaving benign requests near the harmless reference.
Same Output, Different Gold: Measuring How Reference Choice Moves a Multilingual Benchmark ScoreA benchmark score compares a system output against a reference, and methodological attention falls almost entirely on the first term. We measure the second. The retained annotation record of a six-language benchmark for personally identifiable information contains two independent annotator labellings, the aggregate shipped as gold, and a reviewer gold from independent expert re-annotation of a sample. Using it, we hold the scored output fixed and exchange the reference. The score moves by 4.95 F1 points for one output and 2.00 for the other (95% CIs [3.23, 6.27] and [0.26, 3.37]), and by 7.55 in the worst language. The comparison between two outputs moves as well: the paired interaction between reference and system is +2.95 points (CI [+1.97, +3.87]), survives correction for multiple testing, and changes one language's margin outright. The cause is an undocumented aggregation default that usually kept one annotator when adjudication did not fire, making the shipped reference a partial copy of an output being scored. We report the resulting reference-sensitivity band, show how to compute one from any retained annotation record, and argue that the quantity belongs beside the score.
UNITAS: A 3D-Native World Action Model for Embodied ManipulationWorld action models (WAMs) aim to answer a coupled physical question: given a task instruction, what motion should the robot execute, and how will that motion change the surrounding world? Most existing WAMs build on pretrained video generators and represent world evolution through images or visual latents. Robotic interaction, however, takes place in metric three-dimensional space, while images are view-dependent projections whose pixel distances do not directly encode physical distances. We introduce UNITAS, to our knowledge the first 3D-native world action model that unifies observations, actions, and scene dynamics in a shared metric 3D frame within each interaction, using a common representation across robot embodiments and human hands. Action flow represents human hands and robot grippers as 3D point trajectories, while scene flow describes scene-point displacements conditioned on these trajectories. World-aligned 3D positional embeddings ground visual tokens with or without depth input, and a physical-time trajectory tokenizer encodes each point trajectory as one token anchored at its current 3D position. This interface supports both direct action execution and action-conditioned scene prediction. With 1.7B parameters, UNITAS achieves the best action-conditioned scene prediction on RoboTwin among the compared methods, with up to 49% lower displacement errors than PointWorld, and state-of-the-art manipulation success, including 99.8% on LIBERO and an average of 85% across real-world tasks. The code is available at https://github.com/DexForce/UNITAS.
SPLATIFY: Reproduce, Discover, Innovate! From Papers and Ideas to Trainable 3DGS CodeThe rapid growth of 3D Gaussian Splatting (3DGS) research demands significant effort to reimplement papers before building on them. We introduce SPLATIFY, a multi-agent framework that converts 3DGS papers into trainable gsplat-based implementations, where generic paper-to-code methods and frontier models fail. SPLATIFY achieves this through five innovations: (1) A context-free grammar for gsplat over a modular method template with extension points for losses, densification, rendering, and optimization, constraining synthesis so generated code satisfies gsplat's architectural invariants by construction. (2) Architectural elements for faithful reproduction: fork-aware citation recovery retrieving component-level code at function-level granularity, Graph-of-Thought synthesis in topological dependency order, RAG-guided in-context example selection from over 20 verified implementations, and visual feedback combining PSNR-guided regeneration, Gaussian-level structural checks, and VLM-driven patching. (3) Knowledge-driven compositional improvement that autonomously finds weaknesses and composes complementary regularizers, losses, and densification strategies to improve upon original results. (4) Interdisciplinary method discovery where agents retrieve physical priors from outside the 3DGS literature and compose them with rendering knowledge to produce methods for previously unaddressed scene types. (5) SPLATIFY-Bench, an evaluation framework across 30 diverse 3DGS papers. On papers without public code, SPLATIFY matches expert implementations while reducing development time from weeks to minutes, and through compositional discovery further improves PSNR by up to 2.4 dB. We additionally demonstrate novel methods for volumetric nebula rendering and other scientific domains, synthesized entirely by SPLATIFY.
