Noticias de IA - ítems

arXiv:2606.19111v2 Announce Type: replace-cross Abstract: Team science holds that leadership is contingent: it helps only under specific conditions. We ask the same question of multi-agent LLM teams: under what measurable conditions does process-level coordination control add value, and do those conditions match what team science predicts? This takes measurement, not just accuracy: we use behavioral signatures (majority lock-in, exploration, recovery from an incorrect round-0 consensus) and per-action ablations, clean because each controller is an explicit action set. We operationalize three classical leadership styles (transactional, transformational, situational) as controllers over a shared action vocabulary (explore, revise, accept, synthesize). A matched controller with the same actions but an arbitrary rule recovers no better than majority voting. Across four task regimes and three open-weight model families, no controller dominates by accuracy. Transactional control matches a shared round-0 vote on all 12 combinations to within 1.3pp, and accuracy gains appear only on the single llama-4-scout social combination, where the round-0 majority is unreliable. Against the stronger flat baseline, only situational still gains (+8pp). A recovery-advantage account, tested with four boundary probes, says a controller beats plain interaction only where the round-0 majority is unreliable, the task is recoverable, and undirected interaction does not already repair it. Because these conditions map onto contingency theory (leadership substitutes, path-goal redundancy, the readiness gap), a largely null accuracy result is what the theory predicts, not a failure of the controllers. We advance this readiness-gap boundary as an explanatory hypothesis rather than an established general principle. Its null side is corroborated across every other combination, including under held-out prediction, while its positive side is observed in a single combination.

arXiv:2606.18785v2 Announce Type: replace-cross Abstract: Identifying Pareto optimal solutions is critical to support multi-objective decision-making. In this work, we present Top-Two Pareto Front Thompson Sampling (TTPFTS), the first anytime algorithm for Pareto Set Identification in Multi-Objective Multi-Armed Bandits (MOMABs), taking a Bayesian approach. We benchmark TTPFTS against state-of-the-art fixed-confidence and fixed-budget Pareto Set Identification algorithms on synthetic environments. Next, we demonstrate its practical utility in a challenging real-world multi-objective multi-agent molecular discovery setting by efficiently exploring an ultra-large synthesis-on-demand molecular library, outperforming industry-standard and state-of-the-art baselines. Furthermore, we introduce a novel uncertainty quantification metric that estimates our algorithm's confidence in the predicted Pareto set. We demonstrate that this metric effectively proxies true performance, yielding a robust methodology for monitoring learning progress in complex settings. Finally, we complement these empirical findings with the first finite-time theoretical analysis of an anytime MOMAB Pareto Set Identification algorithm.

arXiv:2606.15768v2 Announce Type: replace-cross Abstract: Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene. World-Action Models (WAMs) address this limitation by conditioning policies on predicted futures, yet existing approaches typically rely on computationally expensive video generation with substantial pixel-level redundancy. We present LaWAM, a Latent World Action Model that exposes predictive dynamics to robot policies through compact latent visual subgoals instead of reconstructed future video. At the core of LaWAM is a latent-action-conditioned Latent World Model (LaWM). We obtain LaWM by training a latent action model in the latent space of a pretrained vision foundation model and repurposing its forward decoder to predict future observation features for scene evolution. LaWAM then conditions action generation on these predicted latent visual subgoals to enable dynamics-aware robot control. LaWAM achieves state-of-the-art or competitive success rates (SRs) across LIBERO (98.6% SR), RoboTwin (91.22% SR), and real-world manipulation tasks while retaining low-latency inference. LaWAM runs in 187 ms per action-chunk prediction and achieves up to 24x lower wall-clock latency than pixel-space WAMs.

arXiv:2606.13894v4 Announce Type: replace-cross Abstract: AdamW is a default optimizer for deep learning, but its moment states add two parameter-sized buffers to training memory, increasing the cost of large-scale pretraining. We propose Gefen, a memory-efficient optimizer that automatically shares second-moment estimates across parameter blocks and quantizes the first moment using a learned codebook. Gefen reduces AdamW's optimizer memory footprint by up to 8x while maintaining performance, saving 6.5 GiB per billion parameters. Prior work shares second moments across parameters grouped along the Hessian's block-diagonal structure, but relies on hand-specified architectural rules and leaves unexplained why such grouping works. We prove that large mixed Hessian entries constrain the ratio of squared gradients toward one, explaining why shared second moments are accurate when the squared gradients they pool are similar. The Hessian need not be computed: its block structure is inherited by squared gradients, allowing blocks to be found directly. Gefen therefore infers block structure from initial squared gradients, requiring no architecture-specific metadata or user-tuned hyperparameters beyond AdamW defaults. Gefen learns an exact histogram-based dynamic-programming quantization codebook and reuses the blocks for first-moment scaling. Across diverse pretraining experiments, Gefen achieves the lowest peak optimizer memory among compared methods that maintain AdamW-level performance. In single-machine and distributed training, the reduced footprint enables larger microbatches and substantially improves throughput over AdamW, making Gefen a drop-in replacement that can train larger models or use larger global batch sizes. We provide the complete Python implementation, including fused CUDA kernels at https://github.com/ndvbd/Gefen

arXiv:2606.07974v2 Announce Type: replace-cross Abstract: Latent world models learn representations that enable them to predict how actions change the environment - a capability we call physical intuition. We find that these same representations also support action intuition: a lightweight head can learn a goal-conditioned action prior directly from the frozen encoder's features. We introduce PRISM to investigate how action intuition can be extracted from frozen world-model representations and used to guide goal-conditioned planning. The prior's mean and predicted uncertainty guide the search for useful actions, while the world model evaluates their consequences against the goal. Experiments on four simulated control tasks and two real-robot platforms show that a lightweight action head improves planning performance, and that the same fusion interface accepts a diffusion prior over the same frozen features without modification. These results demonstrate the potential of reusing world-model representations to both predict action consequences and guide action selection.

arXiv:2606.05646v2 Announce Type: replace-cross Abstract: Large language models (LLMs) have enabled powerful software engineering (SE) agents capable of navigating complex codebases and resolving real-world issues. However, these agents remain fundamentally episodic: they fail to retain, refine, and reuse experiences across tasks, repeatedly reconstructing context from scratch and reproducing similar mistakes. Even with memory support, they offer no remedy for the absence of a principled, task-agnostic \textit{memory utility}, making them difficult to evaluate rigorously or generalize across agents and settings. To tackle these limitations, we introduce MemOp, a closed-loop framework for memory augmentation in SE agents. MemOp grounds memory utility in \textit{validated downstream impact}, establishing utility as both a task-agnostic \textbf{evaluation benchmark} and an annotation-free \textbf{optimization signal}. Evaluating MemOp across four benchmarks, three programming languages, and two SE agents, under complementary \textit{single-episode} and \textit{cross-episode} memory augmentation, results demonstrate the \textbf{effectiveness} of MemOp, achieving absolute gains of up to $\uparrow5.25\%$ in success rate and $\uparrow4.63\%$ in resolve efficiency, while notably reducing deployment cost by $\geq10.33\%$. MemOp further exhibits \textbf{generalizability} across SE agents, memory backbones, and optimization algorithms, together with \textbf{transferability} of MemOp-trained memory model to unseen programming languages and SE activities. Our project page: https://xhguo7.github.io/MemOp/.

arXiv:2606.02552v2 Announce Type: replace-cross Abstract: Despite advances in depth estimation, flying points remain a persistent failure mode: near object boundaries, depth estimators often predict spurious 3D points in the empty space between foreground and background surfaces. We trace this artifact to a standard modeling choice: assigning each pixel a single depth hypothesis. At boundaries, a pixel can straddle a foreground and a background surface, so its true depth is ambiguous between the two. A model that predicts a single depth cannot keep both possibilities, so training instead pulls the prediction toward an intermediate depth that lies on neither surface. We address this with MDA, a mixture-density representation that lets the model predict multiple depth hypotheses and their associated probabilities for each pixel. Near boundaries, different hypotheses can align with different surfaces, and the decoded depth is selected from one of these hypotheses rather than placed in the empty space between them. Across different architectures, MDA substantially improves boundary reconstruction over each base model and largely removes flying-point artifacts even under severe input blur, while adding negligible runtime overhead. The same mixture-density framework naturally extends to transparent objects, where it predicts multiple depth layers at transparent pixels, and to sky regions, where a dedicated component separates the unbounded sky from finite-depth regions, producing flying-point-free skylines.

arXiv:2606.01478v3 Announce Type: replace-cross Abstract: High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing robots' capabilities. While aerial robotics simulators have evolved to support specialized needs such as fidelity, differentiability, and swarms independently, a unified platform that synthesizes data across all these domains is missing. In this work, we propose Crazyflow, a simulator designed to push the frontier of aerial robotics algorithm development, supporting model-based and data-driven methods, gradient-based and sampling-based approaches, single- and multi-agent systems, and state- and vision-based policy learning. Crazyflow combines high-fidelity dynamics with JAX for speed and differentiability, scaling to millions of environments or thousands of swarms with thousands of drones on single CPUs and GPUs, and beyond on clusters. Real-world experiments show Crazyflow supports both analytical-gradient-based policy learning, achieving high-accuracy tracking without domain randomization, and sampling-based obstacle avoidance at speeds exceeding half a billion steps per second. Breaking the traditional train-then-deploy paradigm, Crazyflow's performance enables in-flight reinforcement learning; we demonstrate this by throwing a physical drone into the air and training a recovery policy from scratch in 0.37 seconds, catching it before it hits the ground. By pushing accuracy, speed, and differentiability simultaneously, Crazyflow serves as an open-source resource for synthetic data generation, with emerging capabilities for large-scale parallelization for online, in-execution learning and optimization, opening the door to novel algorithm development.

arXiv:2605.30913v2 Announce Type: replace-cross Abstract: Large language models (LLMs) are increasingly deployed in conversational settings where user phrasing ranges from polite to casual to toxic, yet less is known about whether such lexical variation in otherwise semantically equivalent prompts can degrade factual reliability. We study how lexical and tone-based prompt perturbations affect the factual reliability of LLMs. Using controlled prompt variations spanning polite, random, and increasingly toxic levels, we evaluate seven LLMs on ARC-Easy, GSM8K, and MMLU. We find that lexical perturbations reduce factual accuracy and increase predictive uncertainty in most models. Interestingly, increasing toxicity results in decreasing accuracy. To examine whether these answer inconsistencies correspond to internal changes, we conduct attribution-graph analyses of model activations and influences. We find that perturbations amplify perturbation-sensitive variant nodes relative to core reasoning nodes. We also observed a monotonic trend with increasing toxicity score and increasing activation and influence in Variant nodes. These findings position prompt wording and tone as a critical dimension of LLM reliability and provide behavioral and mechanistic evidence that surface-level lexical variation can alter factual outputs and internal computation.

arXiv:2605.26893v2 Announce Type: replace-cross Abstract: Chain-of-Thought (CoT) reasoning has significantly enhanced the reasoning capabilities of large language models (LLMs). However, existing reinforcement learning methods primarily optimize outcome-level rewards, providing limited supervision over the reasoning process. As a result, models may produce shortcut-prone or unstable reasoning trajectories even when the final answer is correct. We propose GeoFaith, a spatio-temporal latent dynamics framework for learning faithful reasoning processes without process reward models. GeoFaith combines final-state latent uncertainty, which measures whether a completed trajectory lies in a well-supported manifold region, with predictive-entropy dynamics, which penalize abnormal uncertainty patterns such as premature collapse, oscillation, and prolonged uncertainty. These signals are incorporated as process regularization into GRPO, jointly optimizing answer correctness and reasoning quality without step-level process annotations. Experiments show that GeoFaith consistently improves reasoning accuracy, produces more efficient reasoning trajectories, and outperforms both outcome-only reinforcement learning and process-supervision baselines.