Face
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Swanada: Split-Encoder Capability-Routed Conformer CTC and Sub-30 MB On-Device Speech Recognition Across Twelve Scripts
2026-11-10 09:43:36Hemanth HMAbstract
Client-side automatic speech recognition (ASR) across Indic and Classical scripts eliminates cloud transcription costs, network tail latency, and server-side audio retention, yet neural exports face four systems bottlenecks in browsers and mobile runtimes: (1) monolithic per-language Conformer checkpoints require ~177 MiB per script (> 2.1 GiB across 12 scripts), exhausting CacheStorage quotas; (2) static relative positional encoding tables embed 10.2-20.5 MB of FP32 constants while 1x1 Conv1d layers trigger slow or unsupported ConvInteger kernels in WebAssembly SIMD; (3) sliding-window CTC flickers on boundary tokens; and (4) mobile WebAudio pipelines suffer 44.1/48 kHz sample-rate mismatches and silent AudioWorklet stalls under iOS WKWebView. We present Swanada, an open-source 16 kHz streaming ASR system spanning Classical Sanskrit, Indian English, and ten Indian languages (sa, en, hi, kn, mr, bn, ta, te, ml, gu, pa, or) across browser WebAssembly, this http URL, and Python. Swanada pairs capability-routed shared INT8 Conformer encoders (a 17-layer 177.38 MiB Studio tier at $d = 512$ for desktop/servers and a distilled 14-layer 25.35 MiB Mobile tier at $d = 256$ for phones) with twelve hot-swappable 515.0 KiB native-script linear CTC heads ($257 \times 512$), cutting 12-language storage by $11.6\times$ (183.4 MiB) and $67.8\times$ (31.39 MiB; 25.85 MiB first load). Runtime protobuf tail surgery exposes the shared representation in $< 2$ ms, while dynamic positional synthesis, MatMul pointwise convolutions, and post-quantization QInt8 head calibration preserve sub-30 MB accuracy. Across $N = 480$ held-out and $N = 1,280$ open public test clips (FLEURS, LibriSpeech, GLOBE, AMI, wild Sanskrit), Swanada achieves 5.43% held-out and 8.87% 12-language open CER on Studio (18.56% and 19.23% on Mobile) at $0.0097\times$-$0.0264\times$ RTF, with 30.6 ms median TTFT and 0.00% committed-prefix churn.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13814
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Ninada: Sub-Clause Split-Graph VITS Streaming and Capability-Routed 24 kHz Speech Synthesis Across Twelve Scripts
Abstract
End-to-end VITS text-to-speech models synthesize natural speech in a single forward pass, yet standard ONNX exports execute monolithically over an entire clause, delaying Time-To-First-Audio (TTFA) to several seconds and spiking activation memory. Client-side deployment across Indic scripts faces four further bottlenecks: 138.8 MB float32 checkpoints per language strain browser caches, mobile WebGPU stalls for 6-14 s compiling convolution shaders while still running slower than real time ($1.44\times$ RTF), small WebAssembly pthread pools stall at barriers on big-LITTLE mobile CPUs, and mobile Web Audio pipelines drop frames or mute output under AudioWorklet contention and iOS WKWebView rules. We present Ninada, an open-source 24 kHz TTS system covering English, Classical Sanskrit, and ten Indian languages (sa, en, hi, kn, mr, bn, ta, te, ml, gu, pa, or) across a capability-routed 48-checkpoint fleet: 24 studio HiFi-GAN v1 specialists (27.9 MB W8A32+FP16 ONNX) for desktop/WebGPU and 24 distilled c8c8_384 iSTFTNet specialists (21.7 MB ONNX, $2.64\times$ fewer vocoder MACs via an exact NOLA dual-window ConvTranspose1d inverse STFT with zero complex ops) for mobile WASM, plus a 0.0 MB zero-dependency Klatt fallback. At runtime, Ninada splits a single ONNX file in memory in $< 15$ ms into prior, flow, and windowed vocoder sub-sessions streaming 12-frame halos with raised-cosine crossfades. On $N = 480$ held-out 24 kHz studio utterances, Ninada achieves 3.22 dB 0-8 kHz MCD (3.09 dB mobile iSTFTNet; 1.33 dB 24-voice distillation MCD, vs. 5.17 dB for the 1,526.8 MB 16 kHz Meta MMS fleet) and 6.07 dB 8-12 kHz error, delivering 89-155 ms audible startup on desktop WebGPU and 538-649 ms zero-underrun streaming at 0.75-0.76x RTF on a physical Google Pixel 10 Pro XL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.10035
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MAGAR: Multimodal Agents for GUI-Based 3D Mechanical Assembly and Minimal Rework
2026-11-10 09:01:56Jingxuan Wei, Jiahao Fu, Fuqiang Wang, Xiaoming Wu, Yuwen Liu, Kaiwen Wei, Ming Yang, Junnan ZhuAbstract
A GUI command can be correct at the interface level yet still produce an incorrect assembly. An agent must identify the relevant components, respect their structural relationships, and determine which parts should move during recovery. We introduce MAGAR-Bench, a benchmark of 4,000 multimodal samples from 26 assembly families that separates Assembly Decision, Atomic Action, and Minimal Rework. For rework, the objective counts distinct moved parts within the validated recovery candidate set for each state, rather than the number of actions. We also introduce MAGAR, a selective correction framework built on a frozen policy obtained by supervised fine-tuning. Its key design matches correction granularity to output dependencies. Structured candidates revise assembly fields and rework scope, while complete action candidates keep native GUI primitives coupled with their parameters. A learned selector retains the original prediction unless a candidate passes a task-specific intervention threshold. On recorded states from held-out assembly families, MAGAR improves Overall, the task-balanced aggregate, from 37.50 to 41.39, with gains on all three tasks. Across 209 interventions, 70 correct an error and 22 introduce one. These results support task-specific correction while highlighting the remaining tradeoff between fixing errors and preserving reliable predictions.
Abstract (translated)
URL
https://arxiv.org/abs/2611.02472
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Bridging the Evidence-to-Execution Gap:A Reflective Agent for Multi-Objective Peptide Design
2026-11-10 08:57:01Haosen Zhang, Yang YangAbstract
Large language models can reason over scientific literature, but textual plans do not reliably produce biological sequences with the intended properties. Sequence generators capture sequence patterns, yet they do not interpret evidence, choose interventions, or reflect on outcomes. This separation creates an evidence-to-execution gap between scientific reasoning and sequence-level control. We introduce EASER, a reflective agent that connects the two through a learned property interface. The interface consists of property-specific low-rank directions trained offline and fixed during search; an LLM controller (the controller) composes them to steer a frozen diffusion generator. From retrieved evidence, sequence context, and prior outcomes, it proposes intervention hypotheses that specify anchors, editable positions, and coefficients. Probe-and-Steer tests these hypotheses and allocates further samples from their joint predicted responses; reflection updates the agent's memory. On computational antimicrobial peptide design, EASER balances activity, non-hemolysis, and non-toxicity. Explicit hypothesis formulation yields larger multi-objective gains than direct action generation, and ablations support evidence retrieval, episodic history, reflection, and Probe-and-Steer. EASER achieves the highest mean hypervolume and lowest mean IGD+ among the evaluated search policies and generators on screened candidates. These results show that a learned property interface can make literature-grounded reasoning executable at the sequence level.
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URL
https://arxiv.org/abs/2610.06190
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CIALLO: Learning Shared Intent Representations for Cross-Embodiment Manipulation
2026-11-10 08:35:27Choo Sin Wai, Dake Zhong, Jingye Zhang, Zhifang Liu, Siyao Xiao, Zirong Ding, Yuhong Zhang, Kangjie Chen, Dongbin Zhang, Guorui Song, Guocun Wang, Peng Jiao, Haoqian WangAbstract
Robot demonstrations contain reusable manipulation knowledge, but transferring this knowledge across embodiments requires representations that bridge differences in control interfaces. Action reconstruction alone does not ensure that similar behaviors across robots share a representation. To address this gap, we introduce CIALLO, an action codec that aligns actions, visual changes, and observation-grounded language in a shared space of short-horizon behavioral intent. An embodiment-conditioned decoder maps this intent back to robot-specific actions, allowing a shared representation to support different control interfaces. After pretraining on eight embodiments, CIALLO adapts to a new robot from one recording of at most 10 seconds by updating only its embodiment embeddings. The calibrated codec then remains frozen while a policy learns to predict intent from observations and instructions. We instantiate this policy with Qwen3.5-4B to form Qwen-CIALLO, whose backbone requires no large-scale robot-action pretraining before policy finetuning. With 20 demonstrations per task, Qwen-CIALLO achieves 76.7\% average success across real SO-101 and single-arm Piper robots, compared with 70.0\% for fully finetuned $\pi_0$. In simulation, we additionally finetune the action decoder, achieving 97.3\% success on LIBERO and 52.7\% on RoboTwin 2.0. The LIBERO policy also achieves 80.8\% on LIBERO-Plus without further finetuning. Together, these results support a shared action codec as a transferable control interface that separates embodiment calibration from task learning.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13732
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SeqFold: Timestamp-Addressable Compressed States for User Action Sequence Backbones
2026-11-10 07:55:16Mianwei Zhou, Duo Zhang, Henry Tsai, Yuqi Zheng, Jian Li, Juexin Lin, Sujay Khandagale, Vijay Rajaram, Dong Jiao, Tao ChengAbstract
Existing sequential user modeling methods mainly focus on improving the backbone encoder or learning task-specific user representations for a single prediction objective. We instead study how to export the multi-layer user states of a frozen long-history backbone as compact, timestamp-addressable representations for downstream training backfill and serving. In this setting, the user state at a given timestamp summarizes the user's actions before that time, so downstream systems need only the state aligned to each target timestamp rather than the full hidden-state timeline. To this end, we present \texttt{SeqFold}, a compressed-state interface that combines learned multi-channel fusion, channel-specific temporal decay, and Lookup-Free Quantization (LFQ) to produce compact discrete codes from frozen backbone states. Task-specific decoders then map these shared codes into flexible embedding spaces for downstream models. To make timestamp-addressable export practical at scale, we further develop a fused streaming implementation that updates the fusion recurrence after every action while materializing states only at target timestamps. On large-scale proprietary datasets, SeqFold reduces per-state representation storage by $3{,}400\times$ while preserving most of the downstream ranking performance of the uncompressed model, showing that SeqFold is an effective interface for reusing long-history sequence backbones in downstream models.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13704
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Agentic discrete-event simulation for manufacturing system design: an open 3D simulator, a benchmark and an industrial case
2026-11-10 07:53:28Javier Pernas-\'Alvarez, Diego Crespo-PereiraAbstract
The design of manufacturing systems relies on discrete-event simulation (DES) models that experts still build in tool-specific interfaces. AI agents can now write simulation code, but every model they write from scratch is new, unverified software. We present SimuLean, an open-source 3D DES simulator on the Unity engine designed to be programmed by AI agents: its modelling semantics are verified once, in the platform, and the agent builds and studies one model through domain-level commands, in the 3D scene or headless; physically simulated durations are calibrated for fast headless studies. We evaluated it on 18 manufacturing modelling tasks, from single machines to published production lines. A frontier agent built valid models in 93 of 108 attempts (86%), in about two minutes each; on the benchmark's interface version, two frontier agents built 105 of 108 models through domain commands alone, so that each comes with a record of how it was built. Every residual failure was silent - a model that builds and runs but answers wrongly - and only comparison with reference models revealed them all. In an industrial case, one agent working alone rebuilt, verified and studied a robotised welding workshop from a published study, in SimuLean and in SimPy. Comparing them with the published, expert-built model exposed an error in it; against the corrected model, the agent-built models agree within 1%. One agent can already build complete, realistic and traceable models for the design of manufacturing systems; independent reference models are what make them trustworthy.
Abstract (translated)
URL
https://arxiv.org/abs/2611.10602
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DrugCoding: A Scientific Programming Agent for Drug Discovery
2026-11-10 06:47:15Junwei Hu, Zhuohao Lin, Kun Li, Hengnan ZhangAbstract
Drug discovery involves multiple interconnected research stages, including molecular design, property prediction, and virtual screening. These processes are characterized by complex workflows, interdependent computational tasks, and diverse specialized tools, placing substantial demands on the coordination of scientific models and computational resources. However, existing large language model (LLM)-based scientific agents still face challenges in autonomous planning of complex tasks, adaptive selection of specialized models, and reliable execution of multi-stage scientific computations, limiting their effectiveness in automating complex drug discovery workflows. To address these challenges, we propose DrugCoding, a scientific programming agent system that integrates scientific task planning, adaptive model routing, multi-agent collaboration, and programmatic tool execution. DrugCoding enables autonomous task planning and dynamic model adaptation for complex research objectives. It can flexibly invoke specialized scientific models, autonomously generate and execute code according to task requirements, and leverage multi-agent collaboration to support efficient execution and reliable validation of complex scientific tasks. To evaluate DrugCoding's performance in scientific tool invocation and multi-stage task execution, we conduct multi-turn tool-calling experiments across diverse language models and scientific tool interfaces. Experimental results demonstrate that DrugCoding achieves an average session-level Pass@1 of 97.35% on the full benchmark, outperforming the strongest baseline, Codex, by 9.24%. On the challenging subset, DrugCoding achieves 97.92%, exceeding the strongest baseline.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13651
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DepthGS: Depth-Guided Gaussian Splatting with Adaptive Regularization for High-Quality Surface Reconstruction
2026-11-10 06:16:16Xiao Ren, Yu Liu, Ning An, Jian Cheng, Xin Qiao, You-Fu Li, He KongAbstract
Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient representation for novel view synthesis, offering fast differentiable rendering and high visual fidelity, and has increasingly been extended to surface reconstruction. However, the relationship between depth information and reconstruction error remains insufficiently explored, limiting the principled design of geometric optimization strategies. To fill the above gap, we propose DepthGS, a depth-guided Gaussian splatting framework. We derive theoretical relations between depth discrepancies and reconstruction error under single-view and multi-view settings, and rigorously establish corresponding upper bounds on reconstruction error. The above analysis informs the design of adaptive regularization strategies in both single-view and multi-view optimization. More specifically, for single-view optimization, we propose a depth-difference-guided adaptive normal regularization strategy that modulates the normal constraint strength using a geometric reliability weight computed from local depth differences. For multi-view optimization, we introduce a cross-view depth consistency regularization strategy that promotes consistency between neighboring-view depth maps and the corresponding depth predictions obtained by transforming the current view's depth predictions into those neighboring views. Extensive experiments on DTU, Mip-NeRF360, and Tanks and Temples demonstrate that DepthGS achieves competitive performance in both surface reconstruction and novel view synthesis.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13628
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PUMA: Probability-Constrained Sequential Interaction for Forensic Localization
Abstract
Image manipulation localization must jointly exploit semantic structure and noise-sensitive forensic evidence. However, the effects of spatial correspondence, matching quality, and interaction order are often conflated. Existing semantic-forensic fusion methods provide complementary representations, but do not explicitly preserve quality-mismatch information during spatial correspondence or adaptively select the order in which information is propagated across branches. We propose PUMA (Probability-constrained Unbalanced Matching and Aggregation), which combines spatially constrained unbalanced optimal transport with position-wise convex selection between two sequential operators through a shared positional interface. Before normalization, PUMA retains signed transport-mass residuals, constructs row-stochastic cross-branch and within-noise-branch operators, and updates noise features through a gated residual path. PUMA achieves strong localization results on four test sets, with scores on COVERAGE and NIST16 exceeding the published results of the representative methods listed in our comparison. The experiments support the utility of local matching states and adaptive sequential interaction for cross-source localization and several post-processing conditions.
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URL
https://arxiv.org/abs/2611.13621
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Synapse-Control: Making Agent Experience Actionable with Lightweight Runtime Control
2026-11-10 05:50:12Zhiyuan Huang, Shengan Zheng, Chenghu Yang, Song Zhang, Lingyun Li, Chen Yu, Weiquan Huang, Linpeng HuangAbstract
Large language model agents reuse execution experience to improve reliability on complex tool-based tasks. Systems such as Sentry call large models to generate failure diagnoses before retrieving advice, adding inference cost to experience reuse. We present Synapse-Control, an agent runtime whose lightweight control plane selects advice and determines when to send it to the task-executing model. Rules shortlist relevant advice, and a lightweight 1.7B classifier fine-tuned on teacher-labeled state-suggestion pairs scores those candidates instead of generating a diagnosis. Micro-contracts encode reusable interface checks, such as required arguments or valid options, without prescribing complete task programs. A Prompt Value Table records earlier guidance and feedback to limit repeated suggestions through cooldown and token-budget checks. Across 1,308 attempts per method in AppWorld and WebShop, Synapse-Control achieves 270 successes (29.8% more than Base), replaces 4,987 generative diagnosis calls, and reduces auxiliary control time relative to Sentry by 50.2% and 51.0%, respectively.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13615
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Megrez: A Knowledge-Guided Agent for Formal Mathematics over MK Set Theory
2026-11-10 05:42:16Tiancheng Xu, Wensheng YuAbstract
General-purpose coding agents equipped with proof-assistant tools have shown strong performance on standalone competition problems, yet cumulative textbook formalization inside a low-resource mathematical library still faces three obstacles: aligning textbook concepts with library declarations, keeping long-horizon search synchronized with live proof states, and integrating locally verified proofs reliably into a growing codebase. We present Megrez, a knowledge-guided formalization agent for Rocq libraries built on Morse--Kelley (MK) set theory. Megrez coordinates a general coding agent through three mechanisms: (1) a source-rebuildable knowledge graph merging formal declarations, compiler references, and curated metadata to support retrieval via Chinese aliases, concept clusters, proof dependencies, and multi-lane full-text ranking; (2) a feedback-driven 1--5 tactic short-burst proving loop paired with a goal-local branch ledger and exponential-interval structured reflection; and (3) a three-check acceptance pipeline (statement fidelity, axiom auditing, and full builds) coupled with a multi-corpus Provider stack and a candidate-bound recoverable batch state machine. Deployment and evaluation on a point-set topology corpus demonstrate effective cross-chapter formalization and scalable premise retrieval.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13613
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Earth Embeddings in Environmental Remote Sensing
2026-11-10 05:42:10Yuchi Ma, Jiaqi Yang, Mengyu Liang, Ivan Higuera-Mendieta, Caleb Robinson, Anthony Ortiz, Min Chen, David B. Lobell, Inbal Becker-Reshef, Juan M. Lavista FerresAbstract
Earth observations from satellite platforms have profoundly transformed research and applications across numerous domains. However, uneven observation coverage and frequent data gaps continue to limit their ability to capture Earth's surface dynamics. Moreover, processing multi-modal Earth observations requires substantial computational resources and sophisticated data harmonization frameworks, which may not be readily accessible to many remote sensing practitioners. Earth embeddings have emerged as promising solutions to these challenges. As general-purpose representations converted from multi-source Earth observations, Earth embeddings can support a wide range of downstream tasks with no requirement of task-specific feature design and preprocessing. In this study, we first introduce the theoretical foundations of Earth embeddings. Then, we review several representative Earth embedding products. We next examine the applications of Earth embeddings across six major domains of environmental remote sensing. Finally, we systematically assess the performance of Earth embeddings in four downstream tasks, including hyperspectral image classification, individual tree crown segmentation, crop yield prediction, and aboveground biomass mapping. Our review and case studies suggest that, despite several advantages over conventional Earth observation data, current Earth embeddings do not always outperform remote sensing imagery or hand-crafted features. Earth embeddings should not be viewed as a direct replacement for conventional EO data, but rather as representations that provide stable information across space and time. Remote sensing practitioners may consider evaluating Earth embeddings' suitability for specific tasks and using them strategically, rather than assuming superior performance by default.
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URL
https://arxiv.org/abs/2611.13612
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Darmok: Championship Cryptic Crossword Solving via Constraint Tightening and Resilient Orchestration
2026-11-10 04:21:44Siddhartha Chatterjee (The University of Texas at Austin)Abstract
We present Darmok, the first automated system to reach superhuman performance on British cryptic crosswords. Unlike American-style crosswords, cryptic clues disguise an unmarked definition and compositional wordplay beneath a misleading surface reading, sparse grids leave nearly half of each word's letters unchecked, and tournament rules rank a grid with even a single wrong or blank square behind all error-free solutions regardless of speed. Competing alongside an elite human field at the 55th Times Crossword Championship in London, Darmok solved all seven championship puzzles error-free and finished faster than every human competitor in every round. It solved the Final puzzle in 6m 52s, a full 3m 13s ahead of the human champion. Today's frontier AI models can on average solve a whole puzzle in a single try with comparable accuracy and speed. However, cloud API calls still stall, time out, trigger safety refusals, or get stuck in reasoning loops. To simultaneously achieve tournament-grade accuracy, speed, and reliability, Darmok cross-checks clues across three independent models in rounds; uses verified crossing letters to unlock harder clues; and uses a whole-puzzle model and dictionary lookups to fill any remaining gaps without overwriting confirmed words. This design maintained near-zero-error performance across a five-month daily evaluation period. Under normal benchmark conditions, removing backup models, fallback steps, or elaborate prompt instructions barely changes accuracy, making the architecture appear over-engineered. Yet during both the worst days of daily operation and a severe slowdown of our primary model in the live Championship Final, the backup paths carried the solve, showing that as foundation models master the average case, the central challenge in building complex AI systems shifts to resilience in the worst case.
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URL
https://arxiv.org/abs/2611.13557
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TMAL: Topology-preserving Multi-offset Affinity Learning for Curvilinear Structure Segmentation
2026-11-10 03:38:07Suho Han, Soungsill Park, Kanghyun Ryu, Yoseob HanAbstract
Curvilinear structures such as retinal vessels and surface cracks need both pixel-level accuracy and structural continuity. Pixel-wise supervision does not model the connections between pixels, and topology-based losses still produce ordinary masks. Connectivity-based methods predict these connections directly, but they use binary connectivity targets over a fixed local range. Such labels give the same value to thin segments and to thick regions, and they cannot describe connections at larger offsets. To address these limitations, we propose Topology-preserving Multi-offset Affinity Learning (TMAL). TMAL uses soft affinities that emphasize thin regions near the boundary, and it predicts directional affinities at several offsets to reach further. It then combines these affinities with weights that come from the decoder features, so local continuity and wider context are used together. An auxiliary segmentation branch adds region-level supervision and keeps the overlap accuracy high. On the retinal vessel dataset DRIVE and the crack inspection dataset DeepCrack, TMAL reaches the highest Dice, IoU, and clDice scores, and it greatly reduces the connected-component error $\Delta\beta_0$. Code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13511
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SciFigure2Code: An AI-Reconstructed Benchmark for Scientific Figure-to-Code
2026-11-10 03:25:51Wentao Li, Yibo Wu, Yizhe Chen, Ruixuan Chen, Jiangjie Qiu, Yijun Li, Zhao Leyi, Xiaonan WangAbstract
Scientific figures are the interface through which research claims are inspected and reused, but final published panels rarely expose the data or plotting code that produced them. Recovering this hidden provenance from pixels is therefore underdetermined. We introduce SciFigure2Code, an AI-reconstructed benchmark that evaluates presentation recovery: generating editable Python programs that preserve how a scientific panel is arranged and read. Role-specialized Codex agents generate, execute, visually refine, and audit silver-standard presentation programs that capture geometry, visual hierarchy, encodings, annotations, and typography. This reconstruction-and-audit protocol turns final published panels into auditable reference packages; the resulting resource contains 6,740 reviewed panels and SciFigureBench, a balanced 337-panel test set across 31 chart subtypes, five domains, and three complexity levels. Across 14 zero-shot models, execution and structural fidelity remain weak; a 328-panel full-figure study further exposes failures to locate and isolate requested panels. Claude Opus 4.7 leads image-only reconstruction, Claude Opus 4.6 leads caption-assisted reconstruction, and plan-then-code prompting improves all four tested models. SciFigure2Code provides an auditable testbed for constructing editable, visually faithful scientific figure presentations.
Abstract (translated)
URL
https://arxiv.org/abs/2609.08155
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Discrete Model-Based Diffusion for Combinatorial Optimization in Multi-Robot Task Allocation
2026-11-09 23:59:47Haejoon Lee, Thomas Marshall Vielmetti, Xinyi Wang, Dimitra PanagouAbstract
Decision making in multi-agent and multi-robot systems often involves discrete decision variables, leading to NP-hard combinatorial optimization problems that must be solved within seconds for near real-time implementation. Denoising diffusion has emerged as a powerful tool for such problems, but existing approaches face a trade-off: Model-Based Diffusion (MBD) incorporates diffusion in sampling-based optimization (SBO) without training but only over continuous spaces, while existing diffusion-based combinatorial solvers operate over discrete spaces but require offline training. To this end, we propose Discrete Model-Based Diffusion (Discrete MBD), a training-free SBO method that directly optimizes discrete variables by approximating categorical reverse transition distributions through Monte Carlo sampling. We establish a finite-step lower bound on the probability of finding a global minimizer and show that this bound converges to one as the number of denoising steps increases. Extensive experiments on generic integer programs and heterogeneous multi-robot coalition formation and scheduling demonstrate that Discrete MBD outperforms SBO baselines in nearly all settings while achieving solution quality competitive with that of mixed-integer programming and reinforcement learning methods at a fraction of their computational cost.
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URL
https://arxiv.org/abs/2611.13382
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PegasusAI Studio: Legible Cyberinfrastructure and Accountable AI Agents for Scientific Workflows
2026-11-09 22:22:25Komal Thareja, Mats Rynge, Berent Aldikacti, Angelina Ju, Ian Lumsden, Anirban Mandal, Rajiv Mayani, Kin Wai Ng, Hamza Safri, Michael Stealey, Sai Swaminathan, Michela Taufer, Karan Vahi, Michael Zink, Ewa DeelmanAbstract
AI coding agents can now construct scientific workflows, but operating them on shared cyberinfrastructure (CI) raises problems that code generation does not solve. Agents need current knowledge of the workflow system and its execution sites and access to the runtime state of distributed executions, while facilities need to attribute every agent action to a user and bound it by that user's privileges. We present PegasusAI Studio, an AI-assisted science gateway built on the Pegasus and HTCondor stack. Studio makes CI legible to agents by projecting one facility-curated knowledge base into the native configuration of several coding agents, by introspecting workflow interfaces and execution sites, and by grounding diagnosis in workflow and scheduler telemetry. Agent actions operate within a trust envelope that combines federated authentication, per-user execution environments and scheduler credentials, provider-neutral model access, observability, and approval controls for state-changing actions. The same application runs as a JupyterHub-based gateway on a research cloud and as an Open OnDemand application on HPC systems. We evaluate Studio through case studies of legacy CASA weather workflow modernization, a gravitational-wave reanalysis, an EEG analysis built with an open-weight model, and an Event Horizon Telescope (EHT) M87 image reconstruction that recovered from two failed runs to a zero-failure execution. The evaluation establishes that these mechanisms operate as designed.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13309
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Large Language Model Explainability for Planning Lunar Rover Trajectories under Uncertainty
2026-11-09 22:01:15Michelle Ho, Maximilian Adang, Zachary Booth, David E. Astle, Margaret Hansen, Edward Balaban, Mykel J. KochenderferAbstract
Planning planetary rover trajectories under probabilistic uncertainty is a multi-objective optimization problem that science teams currently iteratively solve and verify by hand. This process becomes impractical when timelines and constraints frequently shift throughout the mission planning phase. Sampling-based planners such as Monte Carlo tree search can speed up this process, but their outputs do not preserve traceability to the science objectives that justify each plan, which the science team needs to verify. We propose an interactive assistant based on a large language model (LLM) that can explain planner trajectories using domain vocabulary and re-run the planner under user-specified conditions to compare alternatives. Previous work has used LLMs inside planner decision-making loops, but we explore using them for post-planning explanation, where they are more likely to be trusted since they do not directly influence planner decisions. Our framework pairs a simulator inspired by the NASA Volatiles Investigating Polar Exploration Rover (VIPER) mission with a ReAct queryable interface that calls curated action tools and retrieval functions. We evaluate the assistant on a query bank consisting of plan comparisons, feasibility, and lookup queries. Experiments show that 90.9% of the assistant's responses are faithful to the planner's outputs, a nearly 65% improvement over zero-shot prompting of the same LLM without tool access, demonstrating the potential for trustworthy explainability of uncertainty-aware traverses with an LLM-based system.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13292
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ExpertCrowd-SWE: Measuring Frontier Coding Agents on Expert-Authored Engineering Tasks in Unfamiliar Codebases
2026-11-09 21:20:57Josip Vrdoljak, Akash Singh, Bas Steunebrink, Alex Yarotsky, John Lorenzo, Achille Nicoletti, Sam PigottAbstract
ExpertCrowd-SWE (EC-SWE) is a benchmark of 100 expert-authored, multi-file software engineering tasks for evaluating autonomous coding agents in large, unfamiliar codebases. Each task is a change request written by a practising engineer against a pinned commit of a real repository, paired with a sealed reference solution and a task-specific grader whose weighted, mostly executable criteria award partial credit; must-pass blockers and pass/fail gates encode what a maintainer would refuse to merge. The tasks span 87 open-source projects and 11 languages. The median ticket is 148 words, while the median reference solution changes 471 lines. Every task image is calibrated before release so that the reference solution scores 1.0 and both the untouched repository and an inert change score 0; nearly half of the tasks also ship alternative, lazy and adversarial control patches that the grader must classify correctly. The final 100 tasks were selected for difficulty against current frontier models. We evaluate seven frontier models, five runs each (3,495 scored runs), in a single platform harness that gives each model its provider-native tool interface. Claude Opus 5.5 (67.3%) and GPT-6 Astra (63.7%) lead without a statistically significant gap, followed by Claude Fable 5.1 (46.5%), Gemini 3.8 Flash (40.0%), and a statistically indistinguishable group of Qwen 3.8 Max, DeepSeek V4.1 Flash and Grok 4.6 (32-34%). No task is fully solved by every model, and on 80 tasks no model earns full credit on all five runs. Scores span 35 points. Depending on the model, agents take a median of 33 to 166 steps per run, with little relation to score. We release 24 tasks with their environments, graders and results, and hold out 76 to limit contamination.
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URL
https://arxiv.org/abs/2611.13246
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