arXiv subjects

Seungyeop Yi

Publications and source records attributed to Seungyeop Yi.

5 recordsLinked to original sources

arXiv2026

HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution

As robotic hardware and learning methods advance, humanoids need tools to perform tasks beyond their inherent physical limits. Successful tool use requires selecting a suitable tool and coordinating manipulation and, when needed, locomotion to complete the task. Existing benchmarks do not jointly evaluate these capabilities on a humanoid. We introduce HumanoidToolBench, an 18-task benchmark spanning three scenarios, three execution levels, and two tool-set modes, together with ToolBook, a dataset of 3.1k demonstrations collected in simulation and on a real Unitree G1. Evaluation of seven policies in simulation and three on the real robot reveals substantial gaps between selecting a suitable tool and completing the task. Focused GR00T N1.7 probes show reduced selection accuracy on unseen tools and continued task execution under unrelated instructions. Code and data are available at https://snu-pi.github.io/HumanoidToolBench/.

cs.RO↗

arXiv2026

ResearchMath-14K: Scaling Research-Level Mathematics via Agents

The frontier of mathematics is defined by problems whose solutions are not yet known. However, whether language models can meaningfully engage with such problems without human intervention remains unclear. A major obstacle is the lack of large-scale research-level math datasets. To this end, we introduce ResearchMath-14k, a set of $14{,}056$ problems curated from academic sources via a multi-agent pipeline. ResearchMath-14k spans 11 mathematical domains and ranks above existing math datasets on knowledge, novelty, and procedural difficulty. To our knowledge, it is the largest research-level mathematical problem set available for training. We additionally generate $220$K teacher trajectories through targeted prompting, followed by behavioral filtering. Notably, however, generating correct trajectories is nontrivial at this level, and two LLM judges label only $3.7\%$ and $4.3\%$ of sampled ResearchMath training trajectories as correct. Nevertheless, across three model families, full-parameter training on ResearchMath improves performance on graduate- and research-level mathematics benchmarks by $2.1$ points over the starting checkpoints. In comparison, training on existing datasets such as DASD and Nemotron-SFT-Math-v4 changes performance by $0.0$ and $-0.5$ points, respectively. Notably, mixing DASD with ResearchMath yields higher scores than token-matched DASD alone on benchmarks covering olympiad short-form ($+2.0$), graduate- and research-level short-form ($+0.8$), graduate- and research-level symbolic ($+2.6$), and proof evaluation ($+5.7$). Further analysis suggests that research-level mathematical content and greater reasoning diversity may help explain why ResearchMath provides complementary supervision to contemporary datasets. We make ResearchMath-14k publicly available for future works on research-level mathematical reasoning.

cs.CL↗

arXiv2026

ConlangBench: Exploring Language Knowledge and Learning in LLMs through Diverse Constructed Languages

Constructed languages (conlangs) are intentionally created human languages with a rich tradition of linguistic creativity. Despite their potential for studying language learning in large language models (LLMs), existing conlangs remain largely underexplored in LLM research. We present ConlangBench, the first large-scale benchmark for evaluating and training LLMs on 21 existing conlangs. We collect over 21M conlang-English parallel sentence pairs (including 430K pairs across the 20 non-Esperanto conlangs) and 321K vocabulary entries. In bidirectional translation experiments, we find that models perform better on a posteriori conlangs, whose vocabularies are derived from natural languages, reflecting the design characteristics of conlangs. Training on ConlangBench also shows that models can learn all eight conlangs for which sufficient parallel corpora are available, while their learning curves vary depending on how the conlangs were created. Our findings suggest that conlangs provide a unique testbed for investigating how LLMs acquire low-resource languages.

cs.CL↗

arXiv2026

CostNav: A Navigation Benchmark for Real-World Economic-Cost Evaluation of Physical AI Agents

Current navigation benchmarks focus on task success but do not capture the economic constraints essential for commercializing autonomous delivery systems. We introduce CostNav, an Economic Navigation Benchmark that evaluates physical AI agents on a cost-revenue and break-even analysis, pairing Isaac Sim's collision and cargo dynamics with industry-standard data such as Securities and Exchange Commission (SEC) filings and Abbreviated Injury Scale (AIS) injury reports. To our knowledge, CostNav is the first physics-grounded economic benchmark to use regulatory and financial data to quantify the gap between navigation metrics and commercial deployment, revealing that high task-success rates alone do not ensure economic viability. Evaluating seven baselines (two rule-based and five imitation-learning methods), we find no method economically viable: all yield negative contribution margins. CANVAS, using only an RGB camera and GPS, attains the highest task success and the least-negative margin among methods with non-zero Service-Level Agreement (SLA) compliance (-\$28.40/run), outperforming LiDAR-equipped Nav2 w/ GPS (-\$37.34/run). A sim-trained policy evaluated on a real delivery robot yields SLA compliance close to its simulation result, indicating that policy performance in CostNav's simulation transfers to real-world deployment. We challenge the community to achieve economic viability on CostNav, which scores methods by cost-revenue outcomes. All resources are available at https://github.com/worv-ai/CostNav.

cs.AI↗

arXiv2026

Soohak: A Mathematician-Curated Benchmark for Evaluating Research-level Math Capabilities of LLMs

Following the recent achievement of gold-medal performance on the IMO by frontier LLMs, the community is searching for the next meaningful and challenging target for measuring LLM reasoning. Whereas olympiad-style problems measure step-by-step reasoning alone, research-level problems use such reasoning to advance the frontier of mathematical knowledge itself, emerging as a compelling alternative. Yet research-level math benchmarks remain scarce because such problems are difficult to source (e.g., Riemann Bench and FrontierMath-Tier 4 contain 25 and 50 problems, respectively). To support reliable evaluation of next-generation frontier models, we introduce Soohak, a 439-problem benchmark newly authored from scratch by 64 mathematicians. Soohak comprises two subsets. On the Challenge subset, frontier models including Gemini-3-Pro, GPT-5, and Claude-Opus-4.5 reach 30.4%, 26.4%, and 10.4% respectively, leaving substantial headroom, while leading open-weight models such as Qwen3-235B, GPT-OSS-120B, and Kimi-2.5 remain below 15%. Notably, beyond standard problem solving, Soohak introduces a refusal subset that probes a capability intrinsic to research mathematics: recognizing ill-posed problems and pausing rather than producing confident but unjustified answers. On this subset, no model exceeds 50%, identifying refusal as a new optimization target that current models do not directly address. To prevent contamination, the dataset will be publicly released in late 2026, with model evaluations available upon request in the interim.

cs.CL↗