arXiv subjects

Haotian Lin

Publications and source records attributed to Haotian Lin.

At least 19 recordsLinked to original sources

arXiv2026

CrossSWE: Benchmarking Cross-Repository Joint Development for Coding Agents

As coding agents achieve increasingly high success rates on software engineering benchmarks, recent efforts have sought to increase task complexity through longer horizons and more extensive code modifications. However, real-world software development often spans multiple interdependent repositories, introducing additional challenges in dependency reasoning, change propagation, and interface consistency. Rather than further increasing complexity within individual repositories, we introduce CrossSWE, a benchmark for cross-repository joint development comprising 171 real-world instances spanning 165 repositories, 20 technical domains, and 13 programming languages. CrossSWE verifies the necessity of coordinated changes by testing whether partial repository modifications are insufficient to achieve the intended behavior. Our evaluation of five LLMs reveals substantial challenges, with the strongest model, GPT-6.1 Sol, achieving only 58.48% Pass@1. Furthermore, cross-repository inconsistencies emerge as the most prevalent failure mode (44.2%), highlighting the difficulty of maintaining consistency across interdependent repositories.

cs.SE↗

arXiv2026

ShredBench: Evaluating the Semantic Reasoning Capabilities of Multimodal LLMs in Document Reconstruction

Multimodal Large Language Models (MLLMs) have achieved remarkable performance in Visually Rich Document Understanding (VRDU) tasks, but their capabilities are mainly evaluated on pristine, well-structured document images. We consider content restoration from shredded fragments, a challenging VRDU setting that requires integrating visual pattern recognition with semantic reasoning under significant content discontinuities. To facilitate systematic evaluation of complex VRDU tasks, we introduce ShredBench, a benchmark supported by an automated generation pipeline that renders fragmented documents directly from Markdown. The proposed pipeline ensures evaluation validity by allowing the flexible integration of latest or unseen textual sources to prevent training data contamination. ShredBench assesses four scenarios (English, Chinese, Code, Table) with three fragmentation granularities (8, 12, 16 pieces). Empirical evaluations on state-of-the-art MLLMs reveal a significant performance gap: The method is effective on intact documents; however, once the document is shredded, restoration becomes a significant challenge, with NED dropping sharply as fragmentation increases. Our findings highlight that current MLLMs lack the fine-grained cross-modal reasoning required to bridge visual discontinuities, identifying a critical gap in robust VRDU research.

cs.CV↗

arXiv2026

ASPIRE: Agentic /Skills Discovery for Robotics

Traditional robot programming is notoriously challenging: it requires orchestrating multimodal perception, managing physical contact dynamics, and handling diverse environment configurations and execution failures. We introduce ASPIRE (Agentic Skill Programming through Iterative Robot Exploration), a continual learning system that autonomously writes and refines robot control programs in a code-as-policy paradigm while compounding experience into a reusable skill library. ASPIRE operates in an open-ended learning loop, consisting of three components: (1) a closed-loop robot execution engine that exposes fine-grained multimodal traces, enabling the agent to autonomously diagnose failures, synthesize repairs, and validate outcomes; (2) a continually expanding skill library that distills validated fixes into reusable, transferable robotic knowledge; and (3) an evolutionary search procedure that generates diverse programs, systematically debugging them to explore beyond single-trajectory refinement. ASPIRE surpasses prior methods by up to 77% on manipulation tasks under perturbation, 72% on Robosuite's bimanual handover task, and up to 32% on long-horizon household tasks. The accumulated skill library further enables zero-shot generalization: on representative unseen long-horizon tasks, ASPIRE achieves 31% success, outperforming the 4% success rate of prior methods. Performance scales with the capabilities of frontier models. With Claude Opus 5.5, ASPIRE nearly saturates these benchmarks, achieving 99% average success across all 80 LIBERO-Pro tasks and 100% success on representative Robosuite and BEHAVIOR-1K tasks. Beyond simulation, skills discovered in simulation reduce real-world robot programming effort across embodiments and robot APIs, while skills acquired through online interaction with physical robots enable ASPIRE to solve a Rubik's Cube with progressively improving efficiency.

cs.RO↗

arXiv2026

AutoAgent0: An Agentic Runtime for Safe Closed-Loop Driving

Safe autonomous driving requires more than accurate planning at a single frame: it demands reliable closed-loop execution in dynamic environments. Although end-to-end driving policies have advanced rapidly, the accumulated closed-loop errors, especially in unseen scenarios, can push vehicles into states from which the same policy struggles to recover. We address the challenge by treating closed-loop driving safety as a test-time execution problem. We introduce AutoAgent0, an agentic runtime and harness framework that augments existing driving experts with complementary detection skills, rule-based action verification, and feedback-driven recovery. To address inaccurate scene perception, an independent detection module constructs scene context using complementary perception skills, and a rule-based verifier checks proposed trajectories against this context before execution. When the nominal trajectories are unreliable, the orchestrator of the runtime activates Recovery Planning, where an agentic loop constructs alternative action proposals from action primitives and iteratively refines them using verification feedback. This design combines independent scene assessment with feasibility checks and online recovery, addressing both perception errors and the limited recovery capabilities of individual experts. Evaluations on Fail2Drive and NavSafe-$\infty$ demonstrate improved closed-loop robustness over single-expert execution in long-tail and safety-critical scenarios. These results demonstrate that runtime supervision can improve closed-loop robustness across multiple driving experts without retraining the underlying policies.

cs.RO↗

arXiv2026

GUIDE: Computationally Augmented Consensus for Trustworthy Clinical Practice Guidelines

Maintaining up-to-date clinical practice guidelines (CPGs) is essential for evidence-based medicine, but rapid evidence growth and complex expert consensus formation limit timely updates. We developed GUIDE, a multi-agent copilot system for human-AI collaborative guideline generation and updating. GUIDE delegates labor-intensive tasks to specialized AI agents while preserving expert judgment and final arbitration. In 12 NICE ophthalmology datasets, GUIDE achieved 88.85% literature recall, 86.06% alignment in certainty-of-evidence ratings, and 91.67% recommendation agreement, requiring 162.17 minutes per dataset on average (28.68% human intervention). Performance remained stable across 20 additional datasets from cardiology, endocrinology, gastroenterology, and respiratory medicine. Ablation analysis showed that removing expert intervention reduced performance in judgment-intensive steps such as Risk-of-Bias assessment. In six post-cutoff datasets, GUIDE maintained robust end-to-end performance on unseen evidence. Prospective real-world validation showed that GUIDE reduced expert workload and produced more clinically acceptable recommendations than the original decade-old guideline (mean score, 3.73 vs. 1.53; agreement, 66.7% vs. 13.3%), with outcomes comparable to human-only updating (P = 0.588) but substantially less time and effort. GUIDE offers a practical framework for timely, trustworthy, expert-centric guideline development and validates computationally augmented consensus.

cs.AI↗

arXiv2026

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

Achieving dexterous robotic manipulation in the real world heavily relies on human supervision and algorithm engineering, which becomes a central bottleneck in the pursuit of general physical intelligence. Although emerging coding agents can generate code to automate algorithm search, their successes remain largely confined in digital environments. We conjecture that the missing abstraction to automate robotics research is a repeatable feedback loop for real-world policy improvement: reset the scene, execute a policy, verify the outcome, and refine the next iteration. To bridge this gap, we introduce ENPIRE, a harness framework for coding agents that instantiates this physical feedback routine with four core modules: an Environment module (EN) for automatic reset and verification, a Policy Improvement module (PI) that launches policy refinement, a Rollout module (R) to evaluate policies with one or multiple physical robots operating in parallel, and an Evolution module (E) in which coding agents analyze logs, consult literature, improve training infrastructure and algorithm code to address failure modes. This closed-loop system transforms real-world manipulation learning into a controllable optimization procedure, minimizing human effort while allowing fair ablations across training recipe and agent variants. Powered by ENPIRE, frontier coding agents can autonomously train a policy to achieve a 99% success rate on challenging, dexterous manipulation tasks, such as organizing a pin box, fastening a zip tie, and tool use, a process that further accelerates when we dispatch an agent team on a robot fleet. Our results suggest a practical and scalable path toward deploying coding agents to autonomously advancing robotics in the physical world.

cs.AI↗

arXiv2026

ParaTempo: Efficient Parallel Reasoning via Temporal Confidence

Parallel reasoning improves the accuracy and robustness of large reasoning models by exploring multiple solution paths, but its computational cost grows with reasoning depth and branch count. Existing methods for managing these parallel paths typically rely on final-answer consensus, local token confidence, or isolated intermediate probes. However, these signals are often delayed, weakly tied to actual reasoning progress, or too noisy for dynamic, branch-level control. To address these limitations, we introduce ParaTempo, a training-free asynchronous parallel reasoning framework. ParaTempo is driven by temporal confidence, a branch-local measure of answer-space convergence. Each branch is periodically probed for a tentative answer probability distribution, and temporal confidence quantifies how sharply the recent intermediate probes concentrate on a dominant answer. Once sufficient evidence has accumulated, ParaTempo drives its entire control process from this single signal: low-confidence branches are pruned, branches that persistently commit to their dominant answer are retired early, freed computation is reallocated by forking new branches, and generation stops globally once the confidence-weighted vote concentrates. Without requiring synchronization among reasoning trajectories, ParaTempo adaptively allocates computation based on branch-level convergence. Experiments on challenging mathematical and scientific reasoning benchmarks show that ParaTempo reduces average latency by 21.8-32.2% and total token usage by 18.1-30.3% while maintaining competitive accuracy. Moreover, temporal confidence exhibits stronger temporal stability and predictive power for future branch convergence than token-level and instantaneous signals.

cs.AI↗

arXiv2026

Know Before Fix: QA-Driven Repository Knowledge Acquisition for Software Issue Resolution

LLM-based coding agents have significantly advanced automated software issue resolution, yet they remain highly prone to factual errors caused by insufficient repository understanding. Recent methods attempt to mitigate this limitation through pre-repair repository exploration; however, their fix-driven strategies explore repositories without identifying the agent's knowledge gaps, often yielding imprecise context that fails to bridge the underlying understanding deficit. In this paper, we propose ACQUIRE, a QA-driven framework for software issue resolution. Mirroring how experienced developers first comprehend unfamiliar code before attempting a fix, ACQUIRE explicitly acquires repository knowledge prior to repair. The framework decouples knowledge acquisition from patch generation through two stages: in the first stage, a Questioner and an Answerer collaborate to acquire structured repository knowledge, where the Questioner poses targeted questions and the Answerer produces evidence-grounded answers through autonomous exploration; in the second stage, the Resolver leverages the resulting QA knowledge to generate informed patches. By transforming implicit knowledge gaps into explicit, factually reliable understanding, ACQUIRE accelerates knowledge-intensive repair stages and enables more accurate resolution. Experiments on SWE-bench Verified demonstrate that ACQUIRE consistently outperforms representative pre-repair methods, raising Pass@1 by up to 4.4 percentage points with modest additional cost and time.

cs.SE↗

arXiv2026

Fixed-Gaussian Spectral Algorithms: Minimax Optimal Rates for Misspecified Learning and Transfer

The principal objective of this work is twofold within nonparametric regression settings: (1) to establish the minimax optimal convergence rates for fixed-bandwidth Gaussian kernel spectral algorithms when the true regression function resides in a Sobolev space, and (2) to apply Gaussian spectral algorithms for achieving robust and adaptive transfer learning under concept shift. While minimax optimality of misspecified spectral algorithms has been established, existing guarantees are typically restricted to the non-saturation regime. We demonstrate that the infinite smoothness of fixed-bandwidth Gaussian kernels provides universal robustness to model misspecification by showing that this kernel choice enables any spectral algorithm to attain minimax optimal rates, provided the regularization parameter decays exponentially. This result effectively decouples optimality from the algorithm's inherent qualification. Building on this, we then advocate Gaussian spectral algorithms as powerful components in a learning framework for robust and adaptive transfer. Specifically, we derive the adaptive convergence rate of the excess risk for this framework and show that the rates are optimal up to logarithmic factors. Our results also reveal the impact of the magnitude of the concept shift and the sample size on the generalization error.

stat.ML↗

arXiv2026

DADP: Domain Adaptive Diffusion Policy

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture domain-specific information, thus enabling domain-aware decision making. We analyze the process of learning domain representations through dynamical prediction and find that selecting contexts adjacent to the current step causes the learned representations to entangle static domain information with varying dynamical properties. Such mixture can confuse the conditioned policy, thereby constraining zero-shot adaptation. To tackle the challenge, we propose DADP (Domain Adaptive Diffusion Policy), which achieves robust adaptation through unsupervised disentanglement and domain-aware diffusion injection. First, we introduce Lagged Context Dynamical Prediction, a strategy that conditions future state estimation on a historical offset context; by increasing this temporal gap, we unsupervisedly disentangle static domain representations by filtering out transient properties. Second, we integrate the learned domain representations directly into the generative process by biasing the prior distribution and reformulating the diffusion target. Extensive experiments on challenging benchmarks across locomotion and manipulation demonstrate the superior performance, and the generalizability of DADP over prior methods. More visualization results are available on the https://outsider86.github.io/DomainAdaptiveDiffusionPolicy/.

cs.LG↗

arXiv2026

ReSkill: Reconciling Skill Creation with Policy Optimization in Agentic RL

Agentic reinforcement learning (RL) enables LLM agents to improve continuously from environment rewards, yet the resulting policies do not systematically accumulate reusable strategies that generalize across tasks. Modular skills can provide such reusable strategies, yet existing skill-augmented RL methods decouple skill creation from policy optimization, risking adopting skills that conflict with the evolving policy. Inspired by Anthropic's Skill Creator, we introduce ReSkill, an RL-in-the-loop skill creation framework that reconciles skill evolution with policy learning. ReSkill exploits the group-wise structure of GRPO to naturally embed three mechanisms with only marginal additional overhead: (1) an assertion-driven skill creator that diagnoses failures from past experience and proposes conditional, trigger-based skill revisions; (2) within-group rollout sampling that enables controlled comparison of skill versions, capturing which version best supports the policy's ongoing learning; and (3) Thompson Sampling with adaptive discounting to balance exploration and exploitation in skill version selection as the policy evolves. Across several domains, ReSkill consistently outperforms existing memory and skill-based RL methods, with the largest gains on unseen tasks. Analysis of the skill lifecycle shows skills being automatically created, tested, refined, and pruned as the policy improves, demonstrating reconciled skill-policy co-evolution.

cs.AI↗

arXiv2026

Accelerated Schrödinger-Föllmer samplers

Sampling is a fundamental algorithmic task in wide-ranging applications across multiple disciplines such as scientific computing, statistics and machine learning. In this paper, an efficient stochastic Runge-Kutta scheme is proposed to accelerate the Schrödinger-Föllmer sampler, designed for sampling from complex and high-dimensional multimodal distributions. The resulting stochastic Runge-Kutta Schrödinger-Föllmer sampler (SRKSFS) is proved to achieve a convergence rate of order $\mathcal{O} ( h^{3/2} |\ln h|)$ in the $L^2$-Wasserstein distance, considerably improving the order $\mathcal{O}(h)$ of the existing Euler type sampler. Obtaining the enhanced convergence rate is, however, not trivial, by noting that the drift of the diffusion process is not differentiable but only $\frac{1}{2}$-Hölder continuity with respect to the time variable. To address the difficulty, we rely on delicate error estimates to overcome the singularity due to time derivatives of the drift, at the expense of the logarithmic factor. Furthermore, the framework is extended to data-driven Schrödinger-Föllmer generation with empirical measures, enabling data-driven sampling without known density. A variety of numerical experiments are reported to validate the effectiveness of the proposed sampling algorithms.

math.ST↗

arXiv2026

VER: Vision Expert Transformer for Robot Learning via Foundation Distillation and Dynamic Routing

Pretrained vision foundation models (VFMs) advance robotic learning via rich visual representations, yet individual VFMs typically excel only in specific domains, limiting generality across tasks. Distilling multiple VFMs into a unified representation for policy can mitigate this limitation but often yields inflexible task-specific feature selection and requires costly full re-training to incorporate robot-domain knowledge. We propose VER, a Vision Expert transformer for Robot learning. During pretraining, VER distills multiple VFMs into a vision expert library. It then fine-tunes only a lightweight routing network (fewer than 0.4% of parameters) to dynamically select task-relevant experts from the pretrained library for downstream robot tasks. We further introduce Patchwise Expert Routing with Curriculum Top-K Annealing to improve both flexibility and precision of dynamic expert selection. Moreover, VER supports parameter-efficient finetuning for scalable expert utilization and adaptive robot-domain knowledge integration. Across 17 diverse robotic tasks and multiple policy heads, VER achieves state-of-the-art performance. We find that VER reduces large-norm outliers in task-irrelevant regions (e.g., background) and concentrates on task-critical regions. Visualizations and codes can be found in https://yixiaowang7.github.io/ver_page/.

cs.RO↗

arXiv2026

Pure Differential Privacy for Functional Summaries with a Laplace-like Process

Many existing mechanisms for achieving differential privacy (DP) on infinite-dimensional functional summaries typically involve embedding these functional summaries into finite-dimensional subspaces and applying traditional multivariate DP techniques. These mechanisms generally treat each dimension uniformly and struggle with complex, structured summaries. This work introduces a novel mechanism to achieve pure DP for functional summaries in a separable infinite-dimensional Hilbert space, named the Independent Component Laplace Process (ICLP) mechanism. This mechanism treats the summaries of interest as truly infinite-dimensional functional objects, thereby addressing several limitations of the existing mechanisms. Several statistical estimation problems are considered, and we demonstrate how one can enhance the utility of private summaries by oversmoothing the non-private counterparts. Numerical experiments on synthetic and real datasets demonstrate the effectiveness of the proposed mechanism.

stat.ML↗

arXiv2026

SenTSR-Bench: Thinking with Injected Knowledge for Time-Series Reasoning

Time-series diagnostic reasoning is essential for many applications, yet existing solutions face a persistent gap: general reasoning large language models (GRLMs) possess strong reasoning skills but lack the domain-specific knowledge to understand complex time-series patterns. Conversely, fine-tuned time-series LLMs (TSLMs) understand these patterns but lack the capacity to generalize reasoning for more complicated questions. To bridge this gap, we propose a hybrid knowledge-injection framework that injects TSLM-generated insights directly into GRLM's reasoning trace, thereby achieving strong time-series reasoning with in-domain knowledge. As collecting data for knowledge injection fine-tuning is costly, we further leverage a reinforcement learning-based approach with verifiable rewards (RLVR) to elicit knowledge-rich traces without human supervision, then transfer such an in-domain thinking trace into GRLM for efficient knowledge injection. We further release SenTSR-Bench, a multivariate time-series-based diagnostic reasoning benchmark collected from real-world industrial operations. Across SenTSR-Bench and other public datasets, our method consistently surpasses TSLMs by 9.1%-26.1% and GRLMs by 7.9%-22.4%, delivering robust, context-aware time-series diagnostic insights.

cs.LG↗

arXiv2026

Noise Reduction for Pufferfish Privacy: A Practical Noise Calibration Method

This paper introduces a relaxed noise calibration method to enhance data utility while attaining pufferfish privacy. This work builds on the existing $1$-Wasserstein (Kantorovich) mechanism by alleviating the existing overly strict condition that leads to excessive noise, and proposes a practical mechanism design algorithm as a general solution. We prove that a strict noise reduction by our approach always exists compared to $1$-Wasserstein mechanism for all privacy budgets $ε$ and prior beliefs, and the noise reduction (also represents improvement on data utility) gains increase significantly for low privacy budget situations--which are commonly seen in real-world deployments. We also analyze the variation and optimality of the noise reduction with different prior distributions. Moreover, all the properties of the noise reduction still exist in the worst-case $1$-Wasserstein mechanism we introduced, when the additive noise is largest. We further show that the worst-case $1$-Wasserstein mechanism is equivalent to the $\ell_1$-sensitivity method. Experimental results on three real-world datasets demonstrate $47\%$ to $87\%$ improvement in data utility.

cs.CR↗

arXiv2025

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

Supervised fine-tuning (SFT) has become the de facto post-training strategy for large vision-language-action (VLA) models, but its reliance on costly human demonstrations limits scalability and generalization. We propose Probe, Learn, Distill (PLD), a three-stage plug-and-play framework that improves VLAs through residual reinforcement learning (RL) and distribution-aware data collection. In Stage 1, we train lightweight residual actors to probe failure regions of the VLA generalist. In Stage 2, we use a hybrid rollout scheme that aligns collected trajectories with the generalist's deployment distribution while capturing recovery behaviors. In Stage 3, we distill the curated trajectories back into the generalist with standard SFT. PLD achieves near-saturated 99% task success on LIBERO, over 50% gains in SimplerEnv, and 100% success on real-world Franka and YAM arm manipulation tasks. Ablations show that residual probing and distribution-aware replay are key to collecting deployment-aligned data that improves both seen and unseen tasks, offering a scalable path toward self-improving VLA models.

cs.CV↗

arXiv2025

Controllable Traffic Simulation through LLM-Guided Hierarchical Reasoning and Refinement

Evaluating autonomous driving systems in complex and diverse traffic scenarios through controllable simulation is essential to ensure their safety and reliability. However, existing traffic simulation methods face challenges in their controllability. To address this, we propose a novel diffusion-based and LLM-enhanced traffic simulation framework. Our approach incorporates a high-level understanding module and a low-level refinement module, which systematically examines the hierarchical structure of traffic elements, guides LLMs to thoroughly analyze traffic scenario descriptions step by step, and refines the generation by self-reflection, enhancing their understanding of complex situations. Furthermore, we propose a Frenet-frame-based cost function framework that provides LLMs with geometrically meaningful quantities, improving their grasp of spatial relationships in a scenario and enabling more accurate cost function generation. Experiments on the Waymo Open Motion Dataset (WOMD) demonstrate that our method can handle more intricate descriptions and generate a broader range of scenarios in a controllable manner.

cs.RO↗