We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a translator that transfers natural language commands given by a human operator into corresponding STL specifications or vice versa. An STL feasibility filter (SFF) is proposed to check the feasibility of the generated STL. The SFF first decomposes the complex and nested LLM translation into a set of simpler subformulas for parallelization and informative feedback generation. The reachability analysis method is then applied to verify if each subformula is feasible for a target dynamical system: if feasible, perform mission planning, otherwise, reject it. The proposed SFF can identify infeasible subformulas, more than simply providing the boolean verification results for the whole STL, thereby facilitating the feedback generation of LLM to request modification of the command to the human. Consequently, the proposed framework can allow more reliable HAT by enabling safe and informative communication between the human operator and the autonomous agent. Our experiments demonstrate that the proposed framework can successfully filter out infeasible subformulas and generate informative feedback based on such information.
Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-makers instead of end-to-end policies. Although effective, such systems often rely on iterative large-model queries at inference time, introducing latency and computational overhead that limit real-time deployment. To address this problem, we repurpose ray frontiers (R2F), a recently proposed frontier-based exploration paradigm, to develop an LLM-free framework for indoor open-vocabulary object navigation. While ray frontiers were originally used to bias exploration using semantic cues carried along rays, we reinterpret frontier regions as explicit, direction-conditioned semantic hypotheses that serve as navigation goals. Language-aligned features accumulated along out-of-range rays are stored sparsely at frontiers, where each region maintains multiple directional embeddings encoding plausible unseen content. In this way, navigation then reduces to embedding-based frontier scoring and goal tracking within a classical mapping and planning pipeline, eliminating iterative large-model reasoning. We further introduce R2F-VLN, a lightweight extension for free-form language instructions using syntactic parsing and relational verification without additional VLM or LLM components. Experiments in Habitat-sim and on a real robotic platform demonstrate competitive state-of-the-art zero-shot performance with real-time execution, achieving up to 6 times faster runtime than VLM-based alternatives.
Large language model (LLM)-based AI systems have shown promise for patient-facing diagnostic and management conversations in simulated settings. Translating these systems into clinical practice requires assessment in real-world workflows with rigorous safety oversight. We report a prospective, single-arm feasibility study of an LLM-based conversational AI, the Articulate Medical Intelligence Explorer (AMIE), conducting clinical history taking and presentation of potential diagnoses for patients to discuss with their provider at urgent care appointments at a leading academic medical center. 100 adult patients completed an AMIE text-chat interaction up to 5 days before their appointment. We sought to assess the conversational safety and quality, patient and clinician experience, and clinical reasoning capabilities compared to primary care providers (PCPs). Human safety supervisors monitored all patient-AMIE interactions in real time and did not need to intervene to stop any consultations based on pre-defined criteria. Patients reported high satisfaction and their attitudes towards AI improved after interacting with AMIE (p < 0.001). PCPs found AMIE's output useful with a positive impact on preparedness. AMIE's differential diagnosis (DDx) included the final diagnosis, per chart review 8 weeks post-encounter, in 90% of cases, with 75% top-3 accuracy. Blinded assessment of AMIE and PCP DDx and management (Mx) plans suggested similar overall DDx and Mx plan quality, without significant differences for DDx (p = 0.6) and appropriateness and safety of Mx (p = 0.1 and 1.0, respectively). PCPs outperformed AMIE in the practicality (p = 0.003) and cost effectiveness (p = 0.004) of Mx. While further research is needed, this study demonstrates the initial feasibility, safety, and user acceptance of conversational AI in a real-world setting, representing crucial steps towards clinical translation.
Large language models (LLMs) show significant potential for clinical decision support (CDS), yet their black-box nature -- characterized by untraceable reasoning and probabilistic hallucinations -- poses severe challenges in acupuncture, a field demanding rigorous interpretability and safety. To address this, we propose CORE-Acu, a neuro-symbolic framework for acupuncture clinical decision support that integrates Structured Chain-of-Thought (S-CoT) with knowledge graph (KG) safety verification. First, we construct the first acupuncture Structured Reasoning Trace dataset and a schema-constrained fine-tuning framework. By enforcing an explicit causal chain from pattern identification to treatment principles, treatment plans, and acupoint selection, we transform implicit Traditional Chinese Medicine (TCM) reasoning into interpretable generation constraints, mitigating the opacity of LLM-based CDS. Furthermore, we construct a TCM safety knowledge graph and establish a ``Generate--Verify--Revise'' closed-loop inference system based on a Symbolic Veto Mechanism, employing deterministic rules to intercept hallucinations and enforce hard safety boundaries. Finally, we introduce the Lexicon-Matched Entity-Reweighted Loss (LMERL), which corrects terminology drift caused by the frequency--importance mismatch in general optimization by adaptively amplifying gradient contributions of high-risk entities during fine-tuning. Experiments on 1,000 held-out cases demonstrate CORE-Acu's superior entity fidelity and reasoning quality. Crucially, CORE-Acu achieved 0/1,000 observed safety violations (95\% CI: 0--0.37\%), whereas GPT-4o exhibited an 8.5\% violation rate under identical rules. These results establish CORE-Acu as a robust neuro-symbolic framework for acupuncture clinical decision support, guaranteeing both reasoning auditability and strict safety compliance.
Large language models (LLMs) excel in open domains but struggle in specialized settings with limited data and evolving knowledge. Existing domain adaptation practices rely heavily on manual trial-and-error processes, incur significant hyperparameter complexity, and are highly sensitive to data and user preferences, all under the high cost of LLM training. Moreover, the interactions and transferability of hyperparameter choices across models/domains remain poorly understood, making adaptation gains uncertain even with substantial effort. To solve these challenges, we present AutoAdapt, a novel end-to-end automated framework for efficient and reliable LLM domain adaptation. AutoAdapt leverages curated knowledge bases from literature and open-source resources to reduce expert intervention. To narrow the search space, we design a novel multi-agent debating system in which proposal and critic agents iteratively interact to align user intent and incorporate data signals and best practices into the planning process. To optimize hyperparameters under tight budgets, we propose AutoRefine, a novel LLM-based surrogate that replaces costly black-box search. Across 10 tasks, AutoAdapt achieves a 25% average relative accuracy improvement over state-of-the-art Automated Machine Learning baselines with minimal overhead.
Recent advances in Vision-Language-Action (VLA) models have shown promising capabilities in autonomous driving by leveraging the understanding and reasoning strengths of Large Language Models(LLMs).However, our empirical analysis reveals that directly applying existing token-level MoE mechanisms--which are inherited from LLM architectures--to VLA models results in unstable performance and safety degradation in autonomous driving, highlighting a misalignment between token-based expert specialization and scene-level decision-making.To address this, we propose SAMoE-VLA, a scene-adaptive Vision-Language-Action framework that conditions expert selection on structured scene representations instead of token embeddings. Our key idea is to derive the MoE routing signal from bird's-eye-view (BEV) features that encapsulates traffic scene context, enabling scenario-dependent expert weighting and merging tailored to distinct driving conditions. Furthermore, to support temporally consistent reasoning across world-knowledge, perception, language, and action, we introduce a Conditional Cross-Modal Causal Attention mechanism that integrates world state, linguistic intent, and action history into a unified causal reasoning process. Extensive experiments on the nuScenes open loop planning dataset and LangAuto closed-loop benchmark demonstrate that SAMoE-VLA achieves state-of-the-art performance, outperforming prior VLA-based and world-model-based approaches with fewer parameters.Our code will be released soon.
Modern data architectures are fragmented across graph databases, vector stores, analytics engines, and optimization solvers, resulting in complex ETL pipelines and synchronization overhead. We present \textbf{Samyama}, a high-performance graph-vector database written in Rust that unifies these workloads into a single engine. Samyama combines a RocksDB-backed persistent store with a versioned-arena MVCC model, a vectorized query executor with 35 physical operators, a cost-based query planner with plan enumeration and predicate pushdown, a dedicated CSR-based analytics engine, and native RDF/SPARQL support. The system integrates 22 metaheuristic optimization solvers directly into its query language, implements HNSW vector indexing~\citep{malkov2020hnsw} with Graph RAG capabilities, and introduces ``Agentic Enrichment'' for autonomous graph expansion via LLMs. The \textbf{Enterprise Edition} adds GPU acceleration via wgpu, production-grade observability, point-in-time recovery, and hardened high availability with HTTP/2 Raft transport. Our evaluation on commodity hardware (Mac Mini M4, 16\,GB RAM) demonstrates: ingestion at 255K nodes/s (CPU) and 412K nodes/s (GPU-accelerated); 115K Cypher queries/sec at 1M nodes; 4.0--4.7$\times$ latency reduction from late materialization on multi-hop traversals; 8.2$\times$ GPU PageRank speedup at 1M nodes; and 100\% LDBC Graphalytics validation (28/28 tests). These results demonstrate that a unified graph-vector-optimization engine can achieve competitive performance on commodity hardware while maintaining Rust's memory safety guarantees.
As large language models (LLMs) evolve into autonomous agents capable of acting in open-ended environments, ensuring behavioral alignment with human values becomes a critical safety concern. Existing benchmarks, focused on static, single-turn prompts, fail to capture the interactive and multi-modal nature of real-world conflicts. We introduce ConflictBench, a benchmark for evaluating human-AI conflict through 150 multi-turn scenarios derived from prior alignment queries. ConflictBench integrates a text-based simulation engine with a visually grounded world model, enabling agents to perceive, plan, and act under dynamic conditions. Empirical results show that while agents often act safely when human harm is immediate, they frequently prioritize self-preservation or adopt deceptive strategies in delayed or low-risk settings. A regret test further reveals that aligned decisions are often reversed under escalating pressure, especially with visual input. These findings underscore the need for interaction-level, multi-modal evaluation to surface alignment failures that remain hidden in conventional benchmarks.
Enhancing the ability of large language models (LLMs) to follow complex instructions is critical for their deployment in real-world applications. However, existing evaluation methods often oversimplify instruction complexity as a mere additive combination of atomic constraints, failing to adequately capture the high-dimensional complexity arising from the intricate interplay of content and format, logical workflow control, and real-world applications. This leads to a significant gap between current evaluation practices and practical demands. To bridge this gap, we introduce CCR-Bench, a novel benchmark designed to assess LLMs' adherence to complex instructions. CCR-Bench is characterized by: (1) deep entanglement of content and formatting requirements in task specifications; (2) instructions that involve intricate task decomposition, conditional reasoning, and procedural planning; and (3) evaluation samples derived entirely from real-world industrial scenarios. Extensive experiments on CCR-Bench demonstrate that even state-of-the-art models exhibit substantial performance deficiencies, clearly quantifying the gap between current LLM capabilities and the demands of realworld instruction understanding. We believe that CCR-Bench offers a more rigorous and realistic evaluation framework, advancing the development of LLMs toward the next generation of models capable of understanding and executing complex tasks in industrial applications.
Human-AI joint planning in Unmanned Aerial Vehicles (UAVs) typically relies on control handover when facing environmental uncertainties, which is often inefficient and cognitively demanding for non-expert operators. To address this, we propose a novel framework that shifts the collaboration paradigm from control takeover to active information elicitation. We introduce the Minimal Information Neuro-Symbolic Tree (MINT), a reasoning mechanism that explicitly structures knowledge gaps regarding obstacles and goals into a queryable format. By leveraging large language models, our system formulates optimal binary queries to resolve specific ambiguities with minimal human interaction. We demonstrate the efficacy of this approach through a comprehensive workflow integrating a vision-language model for perception, voice interfaces, and a low-level UAV control module in both high-fidelity NVIDIA Isaac simulations and real-world deployments. Experimental results show that our method achieves a significant improvement in the success rate for complex search-and-rescue tasks while significantly reducing the frequency of human interaction compared to exhaustive querying baselines.
Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like teammates that can actively model teammate behaviors, reason about knowledge gaps, query, and elicit responses through communication to resolve uncertainties. To address these limitations, we propose a unified human-robot joint planning system designed to tackle dual sources of uncertainty: task-relevant knowledge gaps and latent human intent. Our system operates in two complementary modes. First, an uncertainty-mitigation joint planning module enables two-way conversations to resolve semantic ambiguity and object uncertainty. It utilizes an LLM-assisted active elicitation mechanism and a hypothesis-augmented A^* search, subsequently computing an optimal querying policy via dynamic programming to minimize interaction and verification costs. Second, a real-time intent-aware collaboration module maintains a probabilistic belief over the human's latent task intent via spatial and directional cues, enabling dynamic, coordination-aware task selection for agents without explicit communication. We validate the proposed system in both Gazebo simulations and real-world UAV deployments integrated with a Vision-Language Model (VLM)-based 3D semantic perception pipeline. Experimental results demonstrate that the system significantly cuts the interaction cost by 51.9% in uncertainty-mitigation planning and reduces the task execution time by 25.4% in intent-aware cooperation compared to the baselines.
Large language models (LLMs) such as GPT and Gemini have demonstrated remarkable capabilities in contextual understanding and reasoning. The strong performance of LLMs has sparked growing interest in leveraging them to automate tasks traditionally dependent on human expertise. Recently, LLMs have been integrated into intelligent agents capable of operating structural analysis software (e.g., OpenSees) to construct structural models and perform analyses. However, existing LLMs are limited in handling multi-step structural modeling due to frequent hallucinations and error accumulation during long-sequence operations. To this end, this study presents a novel multi-agent architecture to automate the structural modeling and analysis using OpenSeesPy. First, problem analysis and construction planning agents extract key parameters from user descriptions and formulate a stepwise modeling plan. Node and element agents then operate in parallel to assemble the frame geometry, followed by a load assignment agent. The resulting geometric and load information is translated into executable OpenSeesPy scripts by code translation agents. The proposed architecture is evaluated on a benchmark of 20 frame problems over ten repeated trials, achieving 100% accuracy in 18 cases and 90% in the remaining two. The architecture also significantly improves computational efficiency and demonstrates scalability to larger structural systems.
Table reasoning requires models to jointly perform semantic understanding and precise numerical operations. Most existing methods rely on a single-turn reasoning paradigm over tables which suffers from context overflow and weak numerical sensitivity. To address these limitations, we previously proposed TableMind as a tuning-based autonomous programmatic agent that simulates human-like interaction within a lightweight large language model (LLM). TableMind internalizes planning, action, and reflection through a two-stage training strategy involving supervised fine-tuning (SFT) on filtered high-quality data and reinforcement learning (RL) via a multi-perspective reward and the Rank-Aware Policy Optimization (RAPO) algorithm. While TableMind establishes a solid foundation for programmatic agents, the inherent stochasticity of LLMs remains a critical challenge that leads to hallucinations. In this paper, we extend this foundation to TableMind++ by introducing a novel uncertainty-aware inference framework to mitigate hallucinations. Specifically, we propose memory-guided plan pruning to retrieve historical trajectories for validating and filtering out logically flawed plans to address epistemic uncertainty. To ensure execution precision, we introduce confidence-based action refinement which monitors token-level probabilities to detect and self-correct syntactic noise for aleatoric uncertainty mitigation. Finally, we employ dual-weighted trajectory aggregation to synthesize a robust consensus from multiple reasoning paths. Extensive experiments on diverse benchmarks demonstrate that TableMind++ consistently outperforms previous baselines and proprietary models to validate the effectiveness of integrating autonomous training with uncertainty quantification. Our code is available.
Extracting actionable insights from structured databases in regulated industries, such as credit unions, is often hindered by complex schemas, legacy systems, and stringent data governance requirements. We present Tursio, a secure, on-premises, context-aware database search platform that enables business users to query enterprise databases using natural language. Tursio automatically infers a semantic knowledge graph from existing schemas, contextualizes user intent, and systematically generates accurate and compliant query plans by integrating Large Language Models (LLMs) throughout the query processing stack. We demonstrate Tursio's capabilities through realistic scenarios in the credit union domain, highlighting its effectiveness in bridging the gap between complex data structures and user intent.
Large language models (LLMs) now exhibit strong multi-step reasoning abilities, but existing inference-time scaling methods remain computationally expensive, often relying on extensive sampling or external evaluators. We propose a principled strategy that frames reasoning as uncertainty minimisation and operates at the level of individual thoughts rather than tokens. Our method selects, at each reasoning step, the continuation that maximizes the model's self-certainty, a metric computed from its internal predictive distribution. This approach achieves significant improvement with a small number of samples, relies exclusively on model-internal signals, and applies to open-ended questions as opposed to methods like majority voting. Experiments on MATH500 and GSM8K across multiple model sizes demonstrate that thought-level self-certainty maximization consistently outperforms greedy decoding and matches or exceeds self-consistency under comparable token budgets. Cross-linguistic evaluations further indicate that the method transfers robustly beyond high-resource languages. Furthermore, analysis of self-certainty dynamics reveals that correct reasoning trajectories converge early to stable paths, suggesting that early decisions, likely associated with the planning of the reasoning process, are predictive of final accuracy. Building on this result, we show that self-certainty maximisation applied to the early steps can explain most of the performance gain and provide a simple yet efficient inference-time scaling method.
Large language models (LLMs) can now translate a researcher's plain-language goal into executable computation, yet scientific workflows demand determinism, provenance, and governance that are difficult to guarantee when an LLM decides what runs. Semi-structured interviews with 18 experts across 10 industrial R&D stakeholders surface 2 competing requirements--deterministic, constrained execution and conversational flexibility without workflow rigidity--together with boundary properties (human-in-the-loop control and transparency) that any resolution must satisfy. We propose schema-gated orchestration as the resolving principle: the schema becomes a mandatory execution boundary at the composed-workflow level, so that nothing runs unless the complete action--including cross-step dependencies--validates against a machine-checkable specification. We operationalize the 2 requirements as execution determinism (ED) and conversational flexibility (CF), and use these axes to review 20 systems spanning 5 architectural groups along a validation-scope spectrum. Scores are assigned via a multi-model protocol--15 independent sessions across 3 LLM families--yielding substantial-to-near-perfect inter-model agreement (Krippendorff a=0.80 for ED and a=0.98 for CF), demonstrating that multi-model LLM scoring can serve as a reusable alternative to human expert panels for architectural assessment. The resulting landscape reveals an empirical Pareto front--no reviewed system achieves both high flexibility and high determinism--but a convergence zone emerges between the generative and workflow-centric extremes. We argue that a schema-gated architecture, separating conversational from execution authority, is positioned to decouple this trade-off, and distill 3 operational principles--clarification-before-execution, constrained plan-act orchestration, and tool-to-workflow-level gating--to guide adoption.
This study investigates the use of large language models (LLMs) for story point estimation. Story points are unitless, project-specific effort estimates that help developers on the scrum team forecast which product backlog items they plan to complete in a sprint. To facilitate this process, machine learning models, especially deep neural networks, have been applied to predict the story points based on the title and description of each item. However, such machine learning models require sufficient amounts of training data (with ground truth story points annotated by human developers) from the same software project to achieve decent prediction performance. This motivated us to explore whether LLMs are capable of (RQ1) predicting story points without training data or (RQ2) with only a few training data points. Our empirical results with four LLMs on 16 software projects show that, without any training data (zero-shot prompting), LLMs can predict story points better than supervised deep learning models trained on 80% of the data. The prediction performance of LLMs can be further improved with a few training examples (few-shot prompting). In addition, a recent study explored the use of comparative judgments (between a given pair of items which one requires more effort to implement) instead of directly annotating the story points to reduce the cognitive burden on developers. Therefore, this study also explores (RQ3) whether comparative judgments are easier to predict than story points for LLMs and (RQ4) whether comparative judgments can serve as few-shot examples for LLMs to improve their predictions of story points. Empirical results suggest that it is not easier for LLMs to predict comparative judgments than to directly estimate the story points, but comparative judgments can serve as few-shot examples to improve the LLMs' prediction performance as well as the human-annotated story points.
Reinforcement learning is a framework for learning to act sequentially in an unknown environment. We propose a natural approach for modeling policy structure in policy gradients. The key idea is to optimize for a subset of future rewards: smaller subsets represent simpler policies, which can be learned more reliably because their empirical gradient estimates are more accurate. Our approach allows for modeling and comparison of different policy classes, including full planning, greedy, K-step lookahead, and segment policies. We evaluate the policies empirically on multiple persona-alignment conversational problems. Different policies excel in different problems, reflecting their different characteristics and highlighting the importance of our studied policy class.
Task planning, the problem of sequencing actions to reach a goal from an initial state, is a core capability requirement for autonomous robotic systems. Whether large language models (LLMs) can serve as viable planners alongside classical symbolic methods remains an open question. We present PyPDDLEngine, an open-source Planning Domain Definition Language (PDDL) simulation engine that exposes planning operations as LLM tool calls through a Model Context Protocol (MCP) interface. Rather than committing to a complete action sequence upfront, the LLM acts as an interactive search policy that selects one action at a time, observes each resulting state, and can reset and retry. We evaluate four approaches on 102 International Planning Competition (IPC) Blocksworld instances under a uniform 180-second budget: Fast Downward lama-first and seq-sat-lama-2011 as classical baselines, direct LLM planning (Claude Haiku 4.5), and agentic LLM planning via PyPDDLEngine. Fast Downward achieves 85.3% success. The direct and agentic LLM approaches achieve 63.7% and 66.7%, respectively, a consistent but modest three-percentage-point advantage for the agentic approach at $5.7\times$ higher token cost per solution. Across most co-solved difficulty blocks, both LLM approaches produce shorter plans than seq-sat-lama-2011 despite its iterative quality improvement, a result consistent with training-data recall rather than generalisable planning. These results suggest that agentic gains depend on the nature of environmental feedback. Coding agents benefit from externally grounded signals such as compiler errors and test failures, whereas PDDL step feedback is self-assessed, leaving the agent to evaluate its own progress without external verification.
We describe an experiment in large-scale autoformalization of algebraic topology in an Interactive Theorem Proving (ITP) environment, where the workload is distributed among multiple LLM-based coding agents. Rather than relying on static central planning, we implement a simulated bounty-based marketplace in which agents dynamically propose new lemmas (formal statements), attach bounties to them, and compete to discharge these proof obligations and claim the bounties. The agents interact directly with the interactive proof system: they can invoke tactics, inspect proof states and goals, analyze tactic successes and failures, and iteratively refine their proof scripts. In addition to constructing proofs, agents may introduce new formal definitions and intermediate lemmas to structure the development. All accepted proofs are ultimately checked and verified by the underlying proof assistant. This setting explores collaborative, decentralized proof search and theory building, and the use of market-inspired mechanisms to scale autoformalization in ITP.
Large Language Models (LLMs) excel at multi-step reasoning, yet increasing the structural complexity of inference does not consistently improve system-level returns. Methods such as Tree of Thoughts (ToT), Graph of Thoughts (GoT), and Adaptive Graph of Thoughts (AGoT) can boost accuracy on some benchmarks, but often introduce substantial overhead in token consumption and latency, and their gains can be unstable across task distributions-sometimes underperforming simpler Chain-of-Thought (CoT) or direct input-output prompting (IO). We attribute this inefficiency to stage-wise and node-wise heterogeneity inside GoT-style reasoning pipelines: high-quality planning and final synthesis are globally coupled and typically benefit from strong models, whereas many intermediate subtasks are localized and can be solved accurately by lighter models with far fewer tokens. Motivated by these observations, we propose RouteGoT, a budget-controllable, node-adaptive routing framework for graph-structured reasoning. RouteGoT performs in-graph routing by prioritizing strong models for planning and synthesis, while dynamically allocating lightweight models and cost-effective strategies to leaf subtasks based on predicted difficulty. It further integrates explicit budget constraints into a global inference scheduler to control graph expansion under a user-specified token budget, enabling predictable performance-cost trade-offs. Experiments across reasoning, retrieval, and multi-hop QA benchmarks show that RouteGoT matching or improving accuracy while substantially reducing token usage; specifically, it achieves an average 8.1 percentage points accuracy improvement and 79.1\% output token reduction compared to AGoT. Furthermore, RouteGoT outperforms existing routing baselines by maintaining a superior cost-accuracy trade-off, demonstrating improved robustness under varying budget targets and tasks.
Recent advances in large language models (LLMs) have enabled agentic systems for sequential decision-making. Such agents must perceive their environment, reason across multiple time steps, and take actions that optimize long-term objectives. However, existing web agents struggle on complex, long-horizon tasks due to limited in-context memory for tracking history, weak planning abilities, and greedy behaviors that lead to premature termination. To address these challenges, we propose STRUCTUREDAGENT, a hierarchical planning framework with two core components: (1) an online hierarchical planner that uses dynamic AND/OR trees for efficient search and (2) a structured memory module that tracks and maintains candidate solutions to improve constraint satisfaction in information-seeking tasks. The framework also produces interpretable hierarchical plans, enabling easier debugging and facilitating human intervention when needed. Our results on WebVoyager, WebArena, and custom shopping benchmarks show that STRUCTUREDAGENT improves performance on long-horizon web-browsing tasks compared to standard LLM-based agents.
This demonstration presents U-Parking, a distributed Ultra-Wideband (UWB)-assisted autonomous parking system. By integrating Large Language Models (LLMs)-assisted planning with robust fusion localization and trajectory tracking, it enables reliable automated parking in challenging indoor environments, as validated through real-vehicle demonstrations.
Sequential LLM agents fail on long-horizon planning with hard constraints like budgets and diversity requirements. As planning progresses and context grows, these agents drift from global constraints. We propose HiMAP-Travel, a hierarchical multi-agent framework that splits planning into strategic coordination and parallel day-level execution. A Coordinator allocates resources across days, while Day Executors plan independently in parallel. Three key mechanisms enable this: a transactional monitor enforcing budget and uniqueness constraints across parallel agents, a bargaining protocol allowing agents to reject infeasible sub-goals and trigger re-planning, and a single policy trained with GRPO that powers all agents through role conditioning. On TravelPlanner, HiMAP-Travel with Qwen3-8B achieves 52.78% validation and 52.65% test Final Pass Rate (FPR). In a controlled comparison with identical model, training, and tools, it outperforms the sequential DeepTravel baseline by +8.67~pp. It also surpasses ATLAS by +17.65~pp and MTP by +10.0~pp. On FlexTravelBench multi-turn scenarios, it achieves 44.34% (2-turn) and 37.42% (3-turn) FPR while reducing latency 2.5x through parallelization.
Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration with simulation and learning frameworks in robotics research. Yet, generating bindings for large codebases is a tedious process that creates a heavy burden for a small group of maintainers. In this work, we investigate the use of Large Language Models (LLMs) to assist in generating nanobind wrappers, with human experts kept in the loop. Our workflow mirrors the structure of the C++ codebase, scaffolds empty wrapper files, and employs LLMs to fill in binding definitions. Experts then review and refine the generated code to ensure correctness, compatibility, and performance. Through a case study on a large C++ motion planning library, we document common failure modes, including mismanaging shared pointers, overloads, and trampolines, and show how in-context examples and careful prompt design improve reliability. Experiments demonstrate that the resulting bindings achieve runtime performance comparable to legacy solutions. Beyond this case study, our results provide general lessons for applying LLMs to binding generation in large-scale C++ projects.
Accurate channel estimation is essential for massive multiple-input multiple-output (MIMO) technologies in next-generation wireless communications. Recently, the radio radiance field (RRF) has emerged as a promising approach for wireless channel modeling, offering a comprehensive spatial representation of channels based on environmental geometry. State-of-the-art RRF reconstruction methods, such as RF-3DGS, can render channel parameters, including gain, angle of arrival, angle of departure, and delay, within milliseconds. However, creating the required 3D environment typically demands precise measurements and advanced computer vision techniques, limiting accessibility. This paper introduces a locally deployable tool that simplifies 3D environment creation for RRF reconstruction. The system combines finetuned language models, generative 3D modeling frameworks, and Blender integration to enable intuitive, chat-based scene design. Specifically, T5-mini is finetuned for parsing user commands, while all-MiniLM-L6-v2 supports semantic retrieval from a local object library. For model generation, LLaMA-Mesh provides fast mesh creation, and Shap-E delivers high-quality outputs. A custom Blender export plugin ensures compatibility with the RF-3DGS pipeline. We demonstrate the tool by constructing 3D models of the NIST lobby and the UW-Madison wireless lab, followed by corresponding RRF reconstructions. This approach significantly reduces modeling complexity, enhancing the usability of RRF for wireless research and spectrum planning.
Procedural planning aims to predict a sequence of actions that transforms an initial visual state into a desired goal, a fundamental ability for intelligent agents operating in complex environments. Existing approaches typically rely on large-scale models that learn procedural structures implicitly, resulting in limited sample-efficiency and high computational cost. In this work we introduce ViterbiPlanNet, a principled framework that explicitly integrates procedural knowledge into the learning process through a Differentiable Viterbi Layer (DVL). The DVL embeds a Procedural Knowledge Graph (PKG) directly with the Viterbi decoding algorithm, replacing non-differentiable operations with smooth relaxations that enable end-to-end optimization. This design allows the model to learn through graph-based decoding. Experiments on CrossTask, COIN, and NIV demonstrate that ViterbiPlanNet achieves state-of-the-art performance with an order of magnitude fewer parameters than diffusion- and LLM-based planners. Extensive ablations show that performance gains arise from our differentiable structure-aware training rather than post-hoc refinement, resulting in improved sample efficiency and robustness to shorter unseen horizons. We also address testing inconsistencies establishing a unified testing protocol with consistent splits and evaluation metrics. With this new protocol, we run experiments multiple times and report results using bootstrapping to assess statistical significance.
World models are essential for planning and evaluation in agentic systems, yet existing approaches lie at two extremes: hand-engineered simulators that offer consistency and reproducibility but are costly to adapt, and implicit neural models that are flexible but difficult to constrain, verify, and debug over long horizons. We seek a principled middle ground that combines the reliability of explicit simulators with the flexibility of learned models, allowing world models to be adapted during online execution. By targeting a broad class of environments whose dynamics are governed by the ordering, timing, and causality of discrete events, such as queueing and service operations, embodied task planning, and message-mediated multi-agent coordination, we advocate explicit, executable discrete-event world models synthesized directly from natural-language specifications. Our approach adopts the DEVS formalism and introduces a staged LLM-based generation pipeline that separates structural inference of component interactions from component-level event and timing logic. To evaluate generated models without a unique ground truth, simulators emit structured event traces that are validated against specification-derived temporal and semantic constraints, enabling reproducible verification and localized diagnostics. Together, these contributions produce world models that are consistent over long-horizon rollouts, verifiable from observable behavior, and efficient to synthesize on demand during online execution.
Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the execution of a computed plan, a robot may unexpectedly observe task-irrelevant objects, which are typically ignored by naive planners. In this work, we propose incorporating two types of common-sense knowledge: (1) certain objects are more likely to be found in specific locations; and (2) similar objects are likely to be co-located, while dissimilar objects are less likely to be found together. Manually engineering such knowledge is complex, so we explore leveraging the powerful common-sense reasoning capabilities of large language models (LLMs). Our planning and execution framework, CoCo-TAMP, introduces a hierarchical state estimation that uses LLM-guided information to shape the belief over task-relevant objects, enabling efficient solutions to long-horizon task and motion planning problems. In experiments, CoCo-TAMP achieves an average reduction of 62.7% in planning and execution time in simulation, and 72.6% in real-world demonstrations, compared to a baseline that does not incorporate either type of common-sense knowledge.
Automated design of chemical formulations is a cornerstone of materials science, yet it requires navigating a high-dimensional combinatorial space involving discrete compositional choices and continuous geometric constraints. Existing Large Language Model (LLM) agents face significant challenges in this setting, including context window limitations during long-horizon reasoning and path-dependent exploration that may lead to mode collapse. To address these issues, we introduce AI4S-SDS, a closed-loop neuro-symbolic framework that integrates multi-agent collaboration with a tailored Monte Carlo Tree Search (MCTS) engine. We propose a Sparse State Storage mechanism with Dynamic Path Reconstruction, which decouples reasoning history from context length and enables arbitrarily deep exploration under fixed token budgets. To reduce local convergence and improve coverage, we implement a Global--Local Search Strategy: a memory-driven planning module adaptively reconfigures the search root based on historical feedback, while a Sibling-Aware Expansion mechanism promotes orthogonal exploration at the node level. Furthermore, we bridge symbolic reasoning and physical feasibility through a Differentiable Physics Engine, employing a hybrid normalized loss with sparsity-inducing regularization to optimize continuous mixing ratios under thermodynamic constraints. Empirical results show that AI4S-SDS achieves full validity under the adopted HSP-based physical constraints and substantially improves exploration diversity compared to baseline agents. In preliminary lithography experiments, the framework identifies a novel photoresist developer formulation that demonstrates competitive or superior performance relative to a commercial benchmark, highlighting the potential of diversity-driven neuro-symbolic search for scientific discovery.