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Jiawei Lin, Shizhao Sun, Danqing Huang, Ting Liu, Ji Li, Jiang Bian

In this work, we investigate automatic design composition from multimodal graphic elements. Although recent studies have developed various generative models for graphic design, they usually face the following limitations: they only focus on certain subtasks and are far from achieving the design composition task; they do not consider the hierarchical information of graphic designs during the generation process. To tackle these issues, we introduce the layered design principle into Large Multimodal Models (LMMs) and propose a novel approach, called LaDeCo, to accomplish this challenging task. Specifically, LaDeCo first performs layer planning for a given element set, dividing the input elements into different semantic layers according to their contents. Based on the planning results, it subsequently predicts element attributes that control the design composition in a layer-wise manner, and includes the rendered image of previously generated layers into the context. With this insightful design, LaDeCo decomposes the difficult task into smaller manageable steps, making the generation process smoother and clearer. The experimental results demonstrate the effectiveness of LaDeCo in design composition. Furthermore, we show that LaDeCo enables some interesting applications in graphic design, such as resolution adjustment, design decoration, design variation, etc. In addition, it even outperforms the specialized models in some design subtasks without any task-specific training.

Yuhao Zhou, Yuxin Tian, Jindi Lv, Mingjia Shi, Yuanxi Li, Qing Ye, Shuhao Zhang, Jiancheng Lv

In the realm of high-frequency data streams, achieving real-time learning within varying memory constraints is paramount. This paper presents Ferret, a comprehensive framework designed to enhance online accuracy of Online Continual Learning (OCL) algorithms while dynamically adapting to varying memory budgets.Ferret employs a fine-grained pipeline parallelism strategy combined with an iterative gradient compensation algorithm, ensuring seamless handling of high-frequency data with minimal latency, and effectively counteracting the challenge of stale gradients in parallel training. To adapt to varying memory budgets, its automated model partitioning and pipeline planning optimizes performance regardless of memory limitations. Extensive experiments across 20 benchmarks and 5 integrated OCL algorithms show Ferret's remarkable efficiency, achieving up to 3.7x lower memory overhead to reach the same online accuracy compared to competing methods.Furthermore, Ferret consistently outperforms these methods across diverse memory budgets, underscoring its superior adaptability. These findings position Ferret as a premier solution for efficient and adaptive OCL framework in real-time environments.

Chenjie Hao, Weyl Lu, Yifan Xu, Yubei Chen

An embodied system must not only model the patterns of the external world but also understand its own motion dynamics. A motion dynamic model is essential for efficient skill acquisition and effective planning. In this work, we introduce the neural motion simulator (MoSim), a world model that predicts the future physical state of an embodied system based on current observations and actions. MoSim achieves state-of-the-art performance in physical state prediction and provides competitive performance across a range of downstream tasks. This works shows that when a world model is accurate enough and performs precise long-horizon predictions, it can facilitate efficient skill acquisition in imagined worlds and even enable zero-shot reinforcement learning. Furthermore, MoSim can transform any model-free reinforcement learning (RL) algorithm into a model-based approach, effectively decoupling physical environment modeling from RL algorithm development. This separation allows for independent advancements in RL algorithms and world modeling, significantly improving sample efficiency and enhancing generalization capabilities. Our findings highlight that world models for motion dynamics is a promising direction for developing more versatile and capable embodied systems.

Ziying Song, Caiyan Jia, Lin Liu, Hongyu Pan, Yongchang Zhang, Junming Wang, Xingyu Zhang, Shaoqing Xu, Lei Yang, Yadan Luo

End-to-end autonomous driving frameworks enable seamless integration of perception and planning but often rely on one-shot trajectory prediction, which may lead to unstable control and vulnerability to occlusions in single-frame perception. To address this, we propose the Momentum-Aware Driving (MomAD) framework, which introduces trajectory momentum and perception momentum to stabilize and refine trajectory predictions. MomAD comprises two core components: (1) Topological Trajectory Matching (TTM) employs Hausdorff Distance to select the optimal planning query that aligns with prior paths to ensure coherence; (2) Momentum Planning Interactor (MPI) cross-attends the selected planning query with historical queries to expand static and dynamic perception files. This enriched query, in turn, helps regenerate long-horizon trajectory and reduce collision risks. To mitigate noise arising from dynamic environments and detection errors, we introduce robust instance denoising during training, enabling the planning model to focus on critical signals and improve its robustness. We also propose a novel Trajectory Prediction Consistency (TPC) metric to quantitatively assess planning stability. Experiments on the nuScenes dataset demonstrate that MomAD achieves superior long-term consistency (>3s) compared to SOTA methods. Moreover, evaluations on the curated Turning-nuScenes shows that MomAD reduces the collision rate by 26% and improves TPC by 0.97m (33.45%) over a 6s prediction horizon, while closed-loop on Bench2Drive demonstrates an up to 16.3% improvement in success rate.

Weixi Feng, Chao Liu, Sifei Liu, William Yang Wang, Arash Vahdat, Weili Nie

Existing video generation models struggle to follow complex text prompts and synthesize multiple objects, raising the need for additional grounding input for improved controllability. In this work, we propose to decompose videos into visual primitives -- blob video representation, a general representation for controllable video generation. Based on blob conditions, we develop a blob-grounded video diffusion model named BlobGEN-Vid that allows users to control object motions and fine-grained object appearance. In particular, we introduce a masked 3D attention module that effectively improves regional consistency across frames. In addition, we introduce a learnable module to interpolate text embeddings so that users can control semantics in specific frames and obtain smooth object transitions. We show that our framework is model-agnostic and build BlobGEN-Vid based on both U-Net and DiT-based video diffusion models. Extensive experimental results show that BlobGEN-Vid achieves superior zero-shot video generation ability and state-of-the-art layout controllability on multiple benchmarks. When combined with a Large Language Model for layout planning, our framework even outperforms proprietary text-to-video generators regarding compositional accuracy.

Yuguang Li, Ivaylo Boyadzhiev, Zixuan Liu, Linda Shapiro, Alex Colburn

Reconstructing precise camera poses and floor plan layouts from wide-baseline RGB panoramas is a difficult and unsolved problem. We introduce BADGR, a novel diffusion model that jointly performs reconstruction and bundle adjustment (BA) to refine poses and layouts from a coarse state, using 1D floor boundary predictions from dozens of sparsely captured images. Unlike guided diffusion models, BADGR is conditioned on dense per-column outputs from a single-step Levenberg Marquardt (LM) optimizer and is trained to predict camera and wall positions, while minimizing reprojection errors for view consistency. The objective of layout generation from denoising diffusion process complements BA optimization by providing additional learned layout-structural constraints on top of the co-visible features across images. These constraints help BADGR make plausible guesses about spatial relationships, which constrain the pose graph, such as wall adjacency and collinearity, while also learning to mitigate errors from dense boundary observations using global context. BADGR trains exclusively on 2D floor plans, simplifying data acquisition, enabling robust augmentation, and supporting a variety of input densities. Our experiments validate our method, which significantly outperforms the state-of-the-art pose and floor plan layout reconstruction with different input densities.

Mohamed Aghzal, Xiang Yue, Erion Plaku, Ziyu Yao

Despite their promise to perform complex reasoning, large language models (LLMs) have been shown to have limited effectiveness in end-to-end planning. This has inspired an intriguing question: if these models cannot plan well, can they still contribute to the planning framework as a helpful plan evaluator? In this work, we generalize this question to consider LLMs augmented with visual understanding, i.e., Vision-Language Models (VLMs). We introduce **PathEval**, a novel benchmark evaluating VLMs as plan evaluators in complex path-planning scenarios. Succeeding in the benchmark requires a VLM to be able to abstract traits of optimal paths from the scenario description, demonstrate precise low-level perception on each path, and integrate this information to decide the better path. Our analysis of state-of-the-art VLMs reveals that these models face significant challenges on the benchmark. We observe that the VLMs can precisely abstract given scenarios to identify the desired traits and exhibit mixed performance in integrating the provided information. Yet, their vision component presents a critical bottleneck, with models struggling to perceive low-level details about a path. Our experimental results show that this issue cannot be trivially addressed via end-to-end fine-tuning; rather, task-specific discriminative adaptation of these vision encoders is needed for these VLMs to become effective path evaluators.

Beibei Yu, Tao Shen, Ling Chen

Reliable multi-image geological reasoning is essential for automating expert tasks in remote-sensing mineral exploration, yet remains challenging for multimodal large language models (MLLMs) due to the need for locating target areas, accurate cross-image referencing, and consistency over long reasoning chains. We propose STA-CoT, a Structured Target-centric Agentic Chain-of-Thought framework that orchestrates planning, execution, and verification agents to decompose, ground, and iteratively refine reasoning steps over geological and hyperspectral image sets. By aligning each reasoning step to specific image target areas and enforcing consistency through agentic verification and majority voting, STA-CoT robustly mitigates tool errors, long-chain inconsistencies, and error propagation. We rigorously evaluate STA-CoT on MineBench, a dedicated benchmark for multi-image mineral exploration, demonstrating substantial improvements over existing multimodal chain-of-thought and agentic baselines. Our results establish STA-CoT as a reliable and robust solution for consistent multi-image geological reasoning, advancing automated scientific discovery in mineral exploration.

Surgan Jandial, Yinong Oliver Wang, Andrea Bajcsy, Fernando De la Torre

Vision-Language Models (VLMs) have shown promise as web agents, yet their planning—the ability to devise strategies or action sequences to complete tasks—remains understudied. While prior works focus on VLM’s perception and overall success rates (i.e., goal completion), fine-grained investigation of their planning has been overlooked. To address this gap, we examine VLMs’ capability to (1) understand temporal relationships within web contexts, and (2) assess plans of actions across diverse scenarios. We design four simple yet effective tests to delve into these nuanced aspects around planning. Our results across nineteen VLMs reveal that these models exhibit limited performance in the aforementioned skills and are not reliable to function as web agents. To facilitate future work, we release our planning evaluations and data, providing a foundation for advancing the future research in this area.

Qingyu Lu, Liang Ding, Siyi Cao, Xuebo Liu, Kanjian Zhang, Jinxia Zhang, Dacheng Tao

Agents powered by large language models (LLMs) have demonstrated strong planning and decision-making capabilities in complex embodied environments. However, such agents often suffer from inefficiencies in multi-turn interactions, frequently trapped in repetitive loops or issuing ineffective commands, leading to redundant computational overhead. Instead of relying solely on learning from trajectories, we take a first step toward exploring the early-exit behavior for LLM-based agents. We propose two complementary approaches, 1. an **intrinsic** method that injects exit instructions during generation, and 2. an **extrinsic** method that verifies task completion to determine when to halt an agent’s trial. To evaluate early-exit mechanisms, we introduce two metrics: one measures the reduction of **redundant steps** as a positive effect, and the other evaluates **progress degradation** as a negative effect. Experiments with 4 different LLMs across 5 embodied environments show significant efficiency improvements, with only minor drops in agent performance. We also validate a practical strategy where a stronger agent assists after an early-exit agent, achieving better performance with the same total steps. We will release our code to support further research.

Xiaoxue Han, Pengfei Hu, Chang Lu, Jun-En Ding, Feng Liu, Yue Ning

Deep learning models trained on extensive Electronic Health Records (EHR) data have achieved high accuracy in diagnosis prediction, offering the potential to assist clinicians in decision-making and treatment planning. However, these models lack two crucial features that clinicians highly value: interpretability and interactivity. The “black-box” nature of these models makes it difficult for clinicians to understand the reasoning behind predictions, limiting their ability to make informed decisions. Additionally, the absence of interactive mechanisms prevents clinicians from incorporating their own knowledge and experience into the decision-making process. To address these limitations, we propose II-KEA, a knowledge-enhanced agent-driven causal discovery framework that integrates personalized knowledge databases and agentic LLMs. II-KEA enhances interpretability through explicit reasoning and causal analysis, while also improving interactivity by allowing clinicians to inject their knowledge and experience through customized knowledge bases and prompts. II-KEA is evaluated on both MIMIC-III and MIMIC-IV, demonstrating superior performance along with enhanced interpretability and interactivity, as evidenced by its strong results from extensive case studies.

Venkatesh Mishra, Amir Saeidi, Satyam Raj, Mutsumi Nakamura, Gaowen Liu, Ali Payani, Jayanth Srinivasa, Chitta Baral

Recent advances in reasoning and planning capabilities of large language models (LLMs) have enabled their potential as autonomous agents capable of tool use in dynamic environments. However, in multi-turn conversational environments like \tau‐bench, these agents often struggle with consistent reasoning, adherence to domain-specific policies, and extracting correct information over a long horizon of tool-calls and conversation. To capture and mitigate these failures, we conduct a comprehensive manual analysis of the common errors occurring in the conversation trajectories. We then experiment with reformulations of inputs to the tool-calling agent for improvement in agent decision making. Finally, we propose the Input-Reformulation Multi-Agent (IRMA) framework, which automatically reformulates user queries augmented with relevant domain rules and tool suggestions for the tool-calling agent to focus on. The results show that IRMA significantly outperforms ReAct, Function Calling, and Self-Reflection by 16.1%, 12.7%, and 19.1%, respectively, in overall pass^5 scores. These findings highlight the superior reliability and consistency of IRMA compared to other methods in dynamic environments.

Derin Ozer, Nicolas Gutowski, Benoit Da Mota, Thomas Cauchy, Sylvain Lamprier

Natural Language Processing (NLP) has catalyzed a paradigm shift in Computer-Aided Synthesis Planning (CASP), reframing chemical synthesis prediction as a sequence-to-sequence modeling problem over molecular string representations like SMILES. This framing has enabled the direct application of language models to chemistry, yielding impressive benchmark scores on the USPTO dataset, a large text corpus of reactions extracted from US patents. However, we show that USPTO’s patent-derived data are both industrially biased and incomplete. They omit many fundamental transformations essential for practical real-world synthesis. Consequently, models trained exclusively on USPTO perform poorly on simple, pharmaceutically relevant reactions despite high benchmark scores. Our findings highlight a broader concern in applying standard NLP pipelines to scientific domains without rethinking data and evaluation: models may learn dataset artifacts rather than domain reasoning. We argue for the development of chemically meaningful benchmarks, greater data diversity, and interdisciplinary dialogue between the NLP community and domain experts to ensure real-world applicability.

Ayan Banerjee, Sandeep Gupta

Design-time safety guarantees for human-centered autonomous systems (HCAS) often break down in open-world deployment due to uncertain human interaction. In practice, HCAS must follow a user-personalized safety plan, with the human providing external inputs to handle out-of-distribution events. Open-world safety planning for HCAS demands modeling dynamical systems, exploring novel actions, and rapid replanning when plans are invalidated or dynamics shift. No single state-of-the-art planner meets all these needs. We introduce an LLM-based architecture that automatically generates personalized safety plans. By itself, the LLM fares poorly at producing safe usage plans, but coupling it with a safety verifier—which evaluates plan safety over the planning horizon and feeds back quality scores—enables the discovery of safe plans. Moreover, fine-tuning the LLM on personalized models inferred from open-world data further enhances plan quality. We validate our approach by generating safe usage plans for artificial pancreas systems in automated insulin delivery for Type 1 Diabetes patients. Code: https://github.com/ImpactLabASU/LLMOpen

Chao Zhang, Xin Shi, Xueqiao Zhang, Yifan Zhu, Yi Yang, Yawei Luo

Recent advances in Emotional Support Conversation (ESC) have improved emotional support generation by fine-tuning Large Language Models (LLMs) via Supervised Fine-Tuning (SFT). However, common psychological errors still persist. While Direct Preference Optimization (DPO) shows promise in reducing such errors through pairwise preference learning, its effectiveness in ESC tasks is limited by two key challenges: (1) Entangled data structure: Existing ESC data inherently entangles psychological strategies and response content, making it difficult to construct high-quality preference pairs; and (2) Optimization ambiguity: Applying vanilla DPO to such entangled pairwise data leads to ambiguous training objectives. To address these issues, we introduce Inferential Preference Mining (IPM) to construct high-quality preference data, forming the IPM-PrefDial dataset. Building upon this data, we propose a Decoupled ESC framework inspired by Gross’s Extended Process Model of Emotion Regulation, which decomposes the ESC task into two sequential subtasks: strategy planning and empathic response generation. Each was trained via SFT and subsequently enhanced by DPO to align with the psychological preference. Extensive experiments demonstrate that our Decoupled ESC framework outperforms baselines, reducing preference bias and improving response quality.

Minghang Zhu, Zhengliang Shi, Zhiwei Xu, Shiguang Wu, Lingjie Wang, Pengjie Ren, Zhaochun Ren, Zhumin Chen

The advancement of large language models (LLMs) has enabled the construction of multi-agent systems to solve complex tasks by dividing responsibilities among specialized agents, such as a planning agent for subgoal generation and a grounding agent for executing tool-use actions. Most existing methods typically fine-tune these agents independently, leading to capability gaps among them with poor coordination. To address this, we propose MOAT, a Multi-Agent Joint Alignment Tuning framework that improves agents collaboration through iterative alignment. MOAT alternates between two key stages: (1) Planning Agent Alignment, which optimizes the planning agent to generate subgoal sequences that better guide the grounding agent; and (2) Grounding Agent Improving, which fine-tunes the grounding agent using diverse subgoal-action pairs generated by the agent itself to enhance its generalization capablity. Theoretical analysis proves that MOAT ensures a non-decreasing and progressively convergent training process. Experiments across six benchmarks demonstrate that MOAT outperforms state-of-the-art baselines, achieving average improvements of 3.1% on held-in tasks and 4.4% on held-out tasks.

Minsoo Kim, Seung-won Hwang

Planning in modern LLM agents relies on the utilization of LLM as an internal world model, acquired during pretraining. However, existing agent designs fail to effectively assimilate new observations into dynamic updates of the world model. This reliance on the LLM’s static internal world model is progressively prone to misalignment with the underlying true state of the world, leading to the generation of divergent and erroneous plans. We introduce a hierarchical agent architecture, CoEx, in which hierarchical state abstraction allows LLM planning to co-evolve with a dynamically updated model of the world. CoEx plans and interacts with the world by using LLM reasoning to orchestrate dynamic plans consisting of subgoals, and its learning mechanism continuously incorporates these subgoal experiences into a persistent world model in the form of a neurosymbolic belief state, comprising textual inferences and code-based symbolic memory. We evaluate our agent across a diverse set of agent scenarios involving rich environments and complex tasks including ALFWorld, PDDL, and Jericho. Our experiments show that CoEx outperforms existing agent paradigms in planning and exploration.

Namyoung Kim, Kai Tzu-iunn Ong, Yeonjun Hwang, Minseok Kang, Iiseo Jihn, Gayoung Kim, Minju Kim, Jinyoung Yeo

Dialogue agents based on large language models (LLMs) have shown promising performance in proactive dialogue, which requires effective strategy planning. However, existing approaches to strategy planning for proactive dialogue face several limitations: limited strategy coverage, preference bias in planning, and reliance on costly additional training. To address these, we propose PRINCIPLES: a synthetic strategy memory for proactive dialogue agents. PRINCIPLES is derived through offline self-play simulations and serves as reusable knowledge that guides strategy planning during inference, eliminating the need for additional training and data annotation. We evaluate PRINCIPLES in both emotional support and persuasion domains, demonstrating consistent improvements over strong baselines. Furthermore, PRINCIPLES maintains its robustness across extended and more diverse evaluation settings. See our project page at https://huggingface.co/spaces/kimnamssya/Principles.

Trishna Chakraborty, Udita Ghosh, Xiaopan Zhang, Fahim Faisal Niloy, Yue Dong, Jiachen Li, Amit Roy-Chowdhury, Chengyu Song

Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to navigation errors, such as searching for a refrigerator that does not exist. In this paper, we present the first systematic study of hallucinations in LLM-based embodied agents performing long-horizon tasks under scene–task inconsistencies. Our goal is to understand to what extent hallucinations occur, what types of inconsistencies trigger them, and how current models respond. To achieve these goals, we construct a hallucination probing set by building on an existing benchmark, capable of inducing hallucination rates up to 40\times higher than base prompts. Evaluating 12 models across two simulation environments, we find that while models exhibit reasoning, they fail to resolve scene-task inconsistencies — highlighting fundamental limitations in handling infeasible tasks. We also provide actionable insights on ideal model behavior for each scenario, offering guidance for developing more robust and reliable planning strategies.

Shuhui Qu, Jie Wang, Kincho Law

We introduce a Neural-Symbolic Task Planning framework integrating Large Language Model (LLM) decomposition with category-theoretic verification for resource-aware, temporally consistent planning. Our approach represents states as objects and valid operations as morphisms in a categorical framework, ensuring constraint satisfaction through mathematical pullbacks. We employ bidirectional search that simultaneously expands from initial and goal states, guided by a learned planning distance function that efficiently prunes infeasible paths. Empirical evaluations across three planning domains demonstrate that our method improves completion rates by up to 6.6% and action accuracy by 9.1%, while eliminating resource violations compared to the existing baselines. These results highlight the synergy between LLM-based operator generation and category-theoretic verification for reliable planning in domains requiring both resource-awareness and temporal consistency.