Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular, they are primarily trained via supervised fine-tuning or training-time reinforcement learning, requiring explicit fine-tuning phases, human interventions, or controlled data collection. Consequently, existing methods remain unsuitable for challenging simulated- or physical-world deployments, where robots must respond autonomously and flexibly to evolving environments. To address this limitation, we introduce a Test-Time Reinforcement Learning for VLAs (TT-VLA), a framework that enables on-the-fly policy adaptation during inference. TT-VLA formulates a dense reward mechanism that leverages step-by-step task-progress signals to refine action policies during test time while preserving the SFT/RL-trained priors, making it an effective supplement to current VLA models. Empirical results show that our approach enhances overall adaptability, stability, and task success in dynamic, previously unseen scenarios under simulated and real-world settings. We believe TT-VLA offers a principled step toward self-improving, deployment-ready VLAs.
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True general intelligence requires not only a model of the physical world but also a social world model: the capacity to infer how individual mental states interact and crystallize into group-level outcomes. Despite notable progress in individual-level Theory of Mind (ToM) reasoning, existing multimodal large language models systematically fail at this: collective behavior emerges non-linearly from social tensions, conformity dynamics, and structural constraints, and cannot be recovered by summing individual intentions. We present ***GroupToM-Bench***, the first multimodal benchmark for group-level ToM, built around a causal chain spanning micro-level BDI states (belief, desire, intention), meso-level group tension and structural constraints, and macro-level outcome prediction and mechanistic attribution. To probe this full arc, we develop a seven-level cognitive audit framework. Experiments reveal that frontier models perform significantly below human levels, exposing fundamental blind spots in modeling social structures and nonlinear collective behavior.
Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic generation paradigm, directly mapping visual-linguistic features to high-frequency motor commands in a flat, non-hierarchical fashion. This strategy overlooks the inherent hierarchy of robotic manipulation, where complex actions can be naturally modeled in a Hybrid Action Space, decomposing into discrete macro-directional reaching and continuous micro-pose alignment, severely widening the semantic-actuation gap and imposing a heavy representational burden on grounding high-level semantics to continuous actions. To address this, we introduce Libra-VLA, a novel Coarse-to-Fine Dual-System VLA architecture. We explicitly decouple the learning complexity into a coarse-to-fine hierarchy to strike a training equilibrium, while simultaneously leveraging this structural modularity to implement an asynchronous execution strategy. The Semantic Planner predicts discrete action tokens capturing macro-directional intent, while the Action Refiner conditions on coarse intent to generate high-frequency continuous actions for precise alignment. Crucially, our empirical analysis reveals that performance follows an inverted-U curve relative to action decomposition granularity, peaking exactly when the learning difficulty is balanced between the two sub-systems. With the asynchronous design, our approach offers a scalable, robust, and responsive solution for open-world manipulation.
Discrepancies between scientific papers and their code undermine reproducibility, a concern that grows as automated research agents scale scientific output beyond human review capacity. Whether LLMs can reliably detect such discrepancies has not been systematically measured. To this end, we present SciCoQA, a dataset of 635 paper-code discrepancies (92 real, 543 synthetic) for this cross-modal verification task. Across 22 evaluated models, even the best-performing LLMs, Gemini 3.1 Pro and GPT-5 Mini, detect only 46.7% of real-world discrepancies, revealing a critical gap in automated scientific quality assurance. We construct SciCoQA from GitHub issues and reproducibility papers, and propose a synthetic generation pipeline to scale beyond AI to Physics, Quantitative Biology, and other computational sciences. We further introduce a taxonomy of discrepancy types and categories to characterize the occurring mismatches. Our analysis shows that models particularly struggle with omitted paper details, long-context inputs, and papers outside their pre-training corpus.
Cross-Tokenizer Knowledge Distillation (CTKD) enables knowledge transfer between a large language model and a smaller student, even when they employ different tokenizers. While existing approaches mainly focus on token-level alignment strategies, which are often brittle and sensitive to discrepancies between tokenizers, we argue that the method of aggregating tokens into more robust representations before distillation is of equal importance. In this paper, we introduce SRA (Span Representation Alignment for Large Language Model Distillation), a novel framework that reframes CTKD through the physical lens of Multi-Particle Dynamical Systems. SRA shifts the fundamental unit of alignment from tokens to robust, tokenizer-agnostic spans. We model each span as a cluster of particles and represent its state by its Center of Mass (CoM) - an attention-weighted average that captures rich semantic information. We leverage the concept of span centers of mass with attention-derived weighting to prioritize the most salient spans. In addition, we employ a geometric regularizer to preserve the structural integrity of the representation space and introduce aligned span logit distillation to enhance knowledge transfer across models. In challenging cross-architecture distillation experiments, SRA consistently and significantly outperforms state-of-the-art CTKD baselines, validating our physically-grounded approach.
Text-to-video (T2V) generation models have made rapid progress in producing visually high-quality and temporally coherent videos. However, existing benchmarks primarily focus on perceptual quality, text–video alignment, or physical plausibility, leaving a critical aspect of action understanding largely unexplored: object state change (OSC) explicitly specified in the text prompt. OSC refers to the transformation of an object’s state induced by an action, such as peeling a potato or slicing a lemon. In this paper, we introduce OSCBench, a benchmark specifically designed to assess OSC performance in T2V models. OSCBench is constructed from instructional cooking data and systematically organizes action–object interactions into regular, novel, and compositional scenarios to probe both in-distribution performance and generalization. We evaluate six representative open-source and proprietary T2V models using both human user study and multimodal large language model (MLLM)–based automatic evaluation. Our results show that, despite strong performance on semantic and scene alignment, current T2V models consistently struggle with accurate and temporally consistent object state changes, especially in novel and compositional settings. These findings position OSC as a key bottleneck in text-to-video generation and establish OSCBench as a diagnostic benchmark for advancing state-aware video generation models. Project page: https://hanxjing.github.io/OSCBench.
QuantumQA: Enhancing Scientific Reasoning via Physics-Consistent Dataset and Verification-Aware Reinforcement Learning
PDF ↗Large language models (LLMs) show strong capabilities in general reasoning but typically lack reliability in scientific domains like quantum mechanics, which demand strict adherence to physical constraints. This limitation arises from the scarcity of verifiable training resources and the inadequacy of coarse feedback signals in standard alignment paradigms. To address the data challenge, we introduce QuantumQA, a large-scale dataset constructed via a task-adaptive strategy and a hybrid verification protocol that combines deterministic solvers with semantic auditing to guarantee scientific rigor. Building on this foundation, we propose the verification-aware reward model (VRM) tailored for Reinforcement Learning with Verifiable Rewards (RLVR), which employs an adaptive reward fusion (ARF) mechanism to dynamically integrate deterministic signals from a scientific execution suite (SES) with multidimensional semantic evaluations for precise supervision. Experimental results demonstrate that our method consistently outperforms baselines and general-purpose preference models. Notably, our optimized 8B model achieves performance competitive with proprietary models, validating that incorporating verifiable, rule-based feedback into the reinforcement learning loop offers a parameter-efficient alternative to pure scaling.
Multimodal Large Language Models typically assume linguistic context invariably enhances visual understanding. We study this assumption in semantic adversarial scenarios, specifically magic tricks, where narration deliberately diverges from physical reality. We introduce MagicBench, a diagnostic benchmark of 402 videos for evaluating MLLMs under hierarchical linguistic interference, together with a Physical Constraint Set (PCS) protocol for assessing adherence to physical laws. Evaluation uncovers a Semantic Dependency Paradox: (1) Semantic anchoring: Entity nouns act as anchors aiding localization, paradoxically boosting performance despite false predicates. (2) Visual Agency Loss: In semantic vacuums, multimodal performance collapses 12.4% (p < 0.01) below the vision-only "capability probe". This gap persists under symmetric prompting, suggesting a form of functional perception suppression in which autonomous visual search may be under-utilized in multimodal settings without linguistic triggers. Causal interventions via spatial prompting and signal magnification provide evidence that internal reasoning remains functional, supporting the interpretation of a perceptual access bottleneck. Our findings suggest MLLMs function as "language-guided passive observers", advocating for perceptually-independent architectures that decouple sensory agency from linguistic dominance. Code and dataset are available at https://github.com/Ink-Dawn/MagicBench
Multimodal foundation models that integrate audio, vision, and language achieve strong performance on reasoning and generation tasks, yet their robustness to adversarial manipulation remains poorly understood. We study a realistic and underexplored threat model: **untargeted, audio-only adversarial attacks** on trimodal audio–video–language models. We analyze six complementary attack objectives that target different stages of multimodal processing, including audio encoder representations, cross-modal attention, hidden states, and output likelihoods. Across four state-of-the-art models and multiple benchmarks, we show that audio-only perturbations can induce severe multimodal failures, achieving up to **96% attack success rate.** We further show that attacks can be successful at low perceptual distortions (LPIPS \leq 0.08, SI-SNR \geq 0 dB) and benefit more from extended optimization than increased data scale. We evaluate the feasibility of these attacks under physically realistic conditions by incorporating room impulse response (RIR) modeling, showing that audio-only perturbations remain effective under environmental transformations and thus highlight the practical risk of single-modality attacks in real-world multimodal systems. Transferability across models and encoders remains limited, while speech recognition systems such as Whisper primarily respond to perturbation magnitude, achieving **>97% attack success** under severe distortion. These results expose a previously overlooked single-modality attack surface in multimodal systems and motivate defenses that enforce cross-modal consistency. Our project website is available at https://aafiya-h.github.io/soundbreak/.
Large Language Models (LLMs) have achieved impressive performance on reasoning-intensive tasks, yet optimizing their reasoning efficiency remains an open challenge. While Test-Time Scaling (TTS) improves reasoning quality, it often leads to overthinking—wasting tokens on redundant computations. This work investigates how to efficiently and adaptively guide LLM TTS without additional training. Inspired by the concept of momentum in physics, we propose Momentum Uncertainty-guided Reasoning (MUR), which dynamically allocates thinking budgets to critical reasoning steps by tracking and aggregating step-wise uncertainty over time. To support flexible inference-time control, we introduce -control, a simple mechanism that tunes the reasoning budget via a single hyperparameter. We provide in-depth theoretical proof to support the superiority of MUR in terms of stability and biases. MUR is comprehensively evaluated against various TTS methods across four challenging benchmarks (MATH-500, AIME24, AIME25, and GPQA-diamond) using different sizes of recent Qwen3 models (1.7B, 4B, and 8B). Results demonstrate that MUR reduces computation by over 45% on average while improving accuracy by 0.33–3.46%.
FormalScience: Scalable Human-in-the-Loop Autoformalisation of Science with Agentic Code Generation in Lean
PDF ↗Formalising informal mathematical reasoning into formally verifiable code is a significant challenge for large language models. In scientific fields such as physics, domain-specific machinery (e.g. Dirac notation, vector calculus) imposes additional formalisation challenges that modern LLMs and agentic approaches have yet to tackle. To aid autoformalisation in scientific domains, we present FormalScience; a domain-agnostic human-in-the-loop agentic pipeline that enables a single domain expert (without deep formal language experience) to produce syntactically correct and semantically aligned formal proofs of informal reasoning for low economic cost. Applying FormalScience to physics, we construct FormalPhysics, a dataset of 200 university-level (LaTeX) physics problems and solutions (primarily quantum mechanics and electromagnetism), along with their Lean4 formal representations. Compared to existing formal math benchmarks, FormalPhysics achieves perfect formal validity and exhibits greater statement complexity. We evaluate open-source models and proprietary systems on a statement autoformalisation task on our dataset via zero-shot prompting, self-refinement with error feedback, and a novel multi-stage agentic approach, and explore autoformalisation limitations in modern LLM-based approaches. We provide the first systematic characterisation of semantic drift in physics autoformalisation in terms of concepts such as notational collapse and abstraction elevation which reveals what formal language verifies when full semantic preservation is unattainable. We release the codebase together with an interactive UI-based FormalScience system which facilitates autoformalisation and theorem proving in scientific domains beyond physics.[<https://github.com/jmeadows17/formal-science>]
VLA models have emerged as a powerful paradigm for transferring semantic knowledge from web-scale data to physical robotic control. However, current single-frame architectures suffer from intrinsic limitations: temporal myopia that discards historical dynamics, reasoning gaps between high-level instructions and low-level motor commands, and inference inefficiency due to autoregressive scalar decoding. In this work, we propose MIRTH, a unified framework designed to address these challenges. MIRTH augments a pretrained VLA backbone with three key innovations: (1) dual-scale temporal memory hubs that compress long-term scene evolution and short-term motion trends into compact embeddings; (2) latent reasoning tokens optimized via a mutual-information objective carving out a semantic plan space to align multimodal context with action trajectories; and (3) a parallel action decoding scheme that replaces autoregressive generation with vector-wise prediction to maximize control throughput. Extensive evaluations on the LIBERO simulation benchmark and a real-world LeRobot platform demonstrate that MIRTH achieves state-of-the-art performance and exhibiting emergent error recovery capabilities. We will release our code and collected datasets to facilitate reproducible research in embodied AI upon publication.
Recent breakthroughs in video generation have demonstrated an emerging capability termed Chain-of-Frames (CoF) reasoning, where models resolve complex tasks through the generation of continuous frames. While these models show promise for Generative Video Reasoning (GVR), existing evaluation frameworks often rely on single-frame assessments, which can lead to outcome-hacking, where a model reaches a correct conclusion through an erroneous process. To address this, we propose a process-aware evaluation paradigm. We introduce VIPER, a comprehensive benchmark spanning 16 tasks across temporal, structural, symbolic, spatial, physics, and planning reasoning. Furthermore, we propose Process-outcome Consistency (POC@r), a new metric that utilizes VLM-as-Judge with a hierarchical rubric to evaluate both the validity of the intermediate steps and the final result. Our experiments reveal that state-of-the-art video models achieve POC@1.0 only about 20% and exhibit a significant outcome-hacking. We further explore the impact of test-time scaling and sampling robustness, highlighting a substantial gap between current video generation and true generalized visual reasoning. Our benchmark are released at https://github.com/RUCAIBox/VIPER.
The Paradox of Outcome Optimization: A Causal Information-Theoretic Bound on Reasoning Shortcuts in LLMs
PDF ↗Large Language Models (LLMs) aligned via outcome-based Reinforcement Learning (RL) frequently exhibit a critical failure mode: they achieve high performance on in-distribution benchmarks while demonstrating brittle reasoning capabilities on out-of-distribution (OOD) tasks. We term this phenomenon Reward-Induced Manifold Collapse. We establish a theoretical framework bridging Structural Causal Models (SCM) and the Information Bottleneck (IB) principle to explain this paradox. We define reasoning as a high-complexity causal process and shortcut learning as the exploitation of low-complexity spurious correlations. Under the implicit inductive bias of Stochastic Gradient Descent (SGD), models optimized for outcome rewards are biased toward shortcut solutions whenever the training distribution allows for a “Markovian Screening” of the true causal mechanism. We derive a new generalization bound based on Semantic Coverage Measure (\eta) rather than sample size, showing why data scaling on homogeneous distributions may fail to correct reasoning flaws. We also show that Process Reward Models (PRMs) function as Topological Filters, enforcing step-wise mutual information constraints that render the low-complexity shortcut manifold inadmissible. These results provide a mathematical grounding for the role of process supervision beyond simple credit assignment.
Symbolic logical reasoning is a critical yet underexplored capability of large language models (LLMs), providing reliable and verifiable decision-making in high-stakes domains such as mathematical reasoning and legal judgment. In this study, we present a systematic analysis of logical reasoning under controlled increases in logical complexity, and reveal a previously unrecognized phenomenon, which we term **Logical Phase Transitions**: rather than degrading smoothly, logical reasoning performance remains stable within a regime but collapses abruptly beyond a critical logical depth, mirroring physical phase transitions such as water freezing beyond a critical temperature threshold. Building on this insight, we propose **Neuro-Symbolic Curriculum Tuning**, a principled framework that adaptively aligns natural language with logical symbols to establish a shared representation, and reshapes training dynamics around phase-transition boundaries to progressively strengthen reasoning at increasing logical depths. Experiments on five benchmarks show that our approach effectively mitigates logical reasoning collapse at high complexity, yielding average accuracy gains of +1.26 in naive prompting and +3.95 in CoT, while improving generalization to unseen logical compositions.
CADMate: Generating CAD Assembly Plan with Geometric Chain-of-Thought and Spatial Physical Rewards
PDF ↗Computer-aided design (CAD) is crucial in prototyping complex 3D objects through precise geometric modeling. In practical design workflows, designers manually define assembly sequences for individual CAD parts, a process that is both time-consuming and expertise-intensive. To address this challenge, we formulate CAD assembly as a parametric action prediction task: given a reference design image and disassembled parts, the model predicts 6-DoF transformations (, actions) to progressively assemble each part. This paradigm enables multimodal large language models (MLLMs) to solve the task through autoregressive action generation. While recent MLLMs demonstrate promising spatial reasoning, they struggle with fine-grained geometric structure understanding and physical collision avoidance during assembly. In this paper, we propose CADMate, an MLLM-based framework for sequential CAD assembly action generation. Our training strategy comprises three stages: (i) CAD domain adaptation for spatial geometry and position understanding, (ii) supervised fine-tuning with geometric chain-of-thought (CoT) reasoning for action generation, and (iii) reinforcement learning with spatial-physical rewards jointly optimize spatial accuracy and collision avoidance. Additionally, we also construct CADBuilder dataset, comprising over 45K CAD assemblies with annotated action sequences. Our experiments demonstrate that CADMate significantly outperforms existing prominent MLLMs (, GPT-5), showing great potential in design applications.
SpiderFlow: Efficient Topology-Aware Scheduling for LLM Training Across Decentralized GPU Clusters
PDF ↗In response to the increasing demand for largescale machine learning training jobs, many organizations have deployed GPU clusters across geographically distributed regions. However, existing ILP- or genetic-based cross-cluster training approaches largely overlook the topology of decentralized clusters, lacking both topologyaware task scheduling mechanisms and automated model parallelization strategies. As a result, naively applying these optimization-based methods in cross-cluster settings leads to prohibitive scheduling overhead, due to the drastically enlarged search space induced by complex inter-cluster topologies. To address these challenges, we propose SpiderFlow, a topologyaware scheduling system specifically designed for decentralized GPU clusters. We formulate cross-cluster task scheduling as a graph optimization problem and introduce SpinSearch, a low-overhead topology-aware scheduling algorithm. In addition, for automated model parallelization, we propose TPA, a two-level scheduling framework that combines heuristic methods at the inter-cluster level with ILP-based optimization within clusters, effectively reducing the search space while maintaining high training throughput with substantially lower scheduling overhead. We evaluate SpiderFlow on a physical platform comprising 8 decentralized clusters, as well as on a simulation platform with up to 64 decentralized clusters. Experimental results demonstrate that SpiderFlow reduces job completion time (JCT) by 1.2-1.3×, improves throughput by 1.12-1.25×, and reduces scheduling overhead by 20-90× on average compared to state-of-the-art scheduling systems.
Large Language Models (LLMs) achieve strong performance on many reasoning benchmarks, yet these evaluations typically focus on isolated tasks that differ from real-world usage in task-oriented dialogue (TOD). In this setting, LLMs must perform reasoning inherently while generating text and adhering to instructions on role, format, and style. This mismatch raises concerns about whether benchmark performance accurately reflects models’ reasoning robustness in TOD setting.We investigate how framing reasoning tasks within TOD affects LLM performance by introducing a new dynamic benchmark covering eight travel-related tasks that require arithmetic, spatial, temporal, and commonsense reasoning. Each problem is presented in both isolated and dialogue-based variants, enabling controlled comparison while mitigating data contamination. Experiments on nine LLMs reveal a substantial and consistent performance gap between isolated and dialogue settings. Through ablations and qualitative analysis, we show that this gap is largely driven by the multi-turn nature of dialogue, with additional effects from role conditioning and tool-use requirements. Our results highlight the need to evaluate LLM reasoning in realistic interactive scenarios.
Chain-of-thought (CoT) reasoning has emerged as a crucial paradigm for enhancing large language model (LLM) performance on multi-step reasoning tasks.However, the internal mechanisms by which LLMs invoke knowledge and propagate information across different steps of the CoT are poorly understood.To fill this gap, we propose a multi-stage probing framework that enforces structured reasoning with three explicit stages: keyword extraction, theorem generation, and computation execution.The framework integrates attention knockout to trace cross-layer information flow and theorem probing to examine how specific contents are encoded within representations.To enable controlled and stage-aligned analysis, we construct a structured CoT dataset that covers the mathematics and physics domains. Experiments on four instruction-tuned LLMs reveal distinct stage-specific patterns.First, keyword information is progressively aggregated into the final token in later layers.Second, theorem semantics are encoded in the mid-to-late layers and undergo two stages of propagation.Finally, parameter substitution is achieved through joint extraction by the final token and other tokens.The first parameter predominantly relies on the final token, whereas later parameters increasingly depend on information extracted by other tokens.Overall, our findings shed light on the neural implementation of CoT reasoning and provide actionable insights for developing more interpretable and reasoning-capable LLMs.We further evaluate a free-form prompting setting without labeled fields and observe consistent qualitative trends.
Two Streams, One Sarcasm: Orthogonal Expert Tuning for Holistic Multimodal Sarcasm Understanding
PDF ↗Multimodal Sarcasm Understanding (MSU) comprises multiple subtasks, demanding both incongruity perception and intent reasoning. However, this progress is impeded by two bottlenecks. First, the lack of a unified benchmark for holistic satirical cognition hinders comprehensive evaluation of MSU. Second, jointly modeling these heterogeneous subtasks often leads to feature entanglement. Specifically, while subtasks share a dependence on incongruity, they diverge in granular focus, causing specific execution patterns to erode the fundamental perception capability. To address these challenges, we make two contributions. First, we introduce DocMSU-PLUS, a comprehensive benchmark covering five cognitive dimensions of MSU. All tasks are reformulated into multiple-choice questions (MCQs), enabling a unified accuracy-based evaluation. Second, we propose the Dual Orthogonal Stream Experts (DOSE) framework. DOSE structurally decouples experts into orthogonal shared perception and private execution streams to physically block gradient interference between tasks. Experiments demonstrate that DOSE achieves superior performance on DocMSU-PLUS, effectively balancing general perception with task-specific adaptation.