#01Oct 15, 2026
cs.CL
OmniVerifier-C1: Decomposed Graded Verifier for Rule-Governed Generative World Modeling
Bowei Liu, Xinchen Zhang, Xuhuan Li and 10 more
Generative visual verifiers play a crucial role in advancing multimodal intelligence. To enhance the robustness of visual verifiers in complex multimodal scenarios involving compositional requirements, we move beyond conventional binary verifiers that produce only True/False discrete judgments and introduce a verifier that automatically decomposes complex prompts or environmental rules into fine-grained components and assigns pointwise scores to provide a continuous and more informative critique signal. Our experiments further demonstrate that these structured and interpretable outputs improve the verifier's generalization to out-of-domain multimodal critic tasks. To train this verifier, we introduce a Decoupled RL training strategy that jointly optimizes sub-question-level binary judgment and global alignment scoring, using precise local feedback to develop fine-grained verification capabilities that provide a foundation for reliable continuous scoring at the global level. Under a general reinforcement learning framework, we first empirically demonstrate that the proposed pointwise graded verifier significantly outperforms binary verifiers in traditional text-to-image scenarios. We then extend our investigation to rule-governed generative world modeling where generative models are leveraged for world simulation and world reasoning under explicit rules. From a theoretical standpoint, we further show that a pairwise verification paradigm yields more accurate critiques than the pointwise formulation when ground-truth images are available, with empirical results on diverse structured world-modeling tasks such as Maze and Sudoku further validating the effectiveness of our approach. Overall, our findings suggest a key insight: the transition from generative models to structured world-modeling agents critically hinges on the availability of accurate pairwise graded visual verifiers.
#02Oct 15, 2026
cs.RO
CoDA: Co-Evolution of Data Engines and Action Policies
Tianjiao Yu, Zhilin Ou, Yifan Shen and 5 more
Generative simulation can automate robot environment construction, but physically valid environments are not necessarily useful for training. The challenge is to identify environments that address a policy's failures and supervision that helps it overcome them. We introduce CoDA, a framework in which a simulation data engine and an action policy co-evolve through a shared heterogeneous memory of environment construction, policy failures, and learning progress. The memory compiles validated diagnoses from a vision-language critic into generation programs that recreate difficulties and training programs that help the policy overcome them. We further propose Text2potential to convert these diagnoses into staged potentials for action-chunk value learning, providing dense supervision for policy updates while preserving the task's optimal policy under standard shaping assumptions. Measured learning progress guides further generation and program refinement. Across four manipulation task families, CoDA improves out-of-distribution success from 5.3% after supervised fine-tuning to 27.6%, exceeding the strongest closed-loop baseline by 9.5 percentage points with the same generation budget. On LIBERO-Pro, 15 rounds of generation and training raise success from 25% to 84% under position perturbations and from 1% to 76% under instruction perturbations.
#03Oct 15, 2026
cs.CV
Which Tokens to Merge? Diffusion Dynamics for Efficient Image Generation
SeungJu Cha, Ye-Chan Kim, HyunGee Kim and 2 more
Token merging has emerged as an effective training-free strategy for accelerating diffusion models by reducing redundant token computation while minimizing generation degradation. A key challenge is determining which tokens can be safely merged and which should be preserved for subsequent computation. Existing method addresses this by preserving prompt-aligned foreground regions, thereby protecting semantically relevant structures. However, this text-relevance criterion overlooks background objects, local details that are not explicitly mentioned in the prompt, leading to degraded structural coherence. In this work, we propose Dynamics-aware Token Merging (DaTMe), a training-free framework that grounds token merging in the underlying diffusion dynamics. Our key insight is that token importance should reflect whether a token remains unresolved during denoising and whether it carries structural information. To this end, DaTMe constructs a dynamics- aware importance map from the Tweedie denoised estimate. The map combines a temporal signal, measuring inter-step changes in the predicted clean image, with a structural signal, capturing local high-frequency content such as boundaries and fine details. Using this map, DaTMe adaptively assigns tokens into merging roles under a given compression ratio: important tokens are preserved as anchors, while tokens that are both temporally stabilized and structurally homogeneous are selected as safe merge candidates. Experiments on PixArt-a and FLUX demonstrate that DaTMe maintains visual fidelity across the entire image, highlighting diffusion dynamics as an effective token-level merging decision in efficient generation. Our code is available at https://github.com/SeungJuCha/DaTMe.
#04Oct 15, 2026
cs.MA
Learning Self-Orchestration in Decentralized Agent Swarms
Guowei Xu, Zhenting Qi, Amani Kiruga and 2 more
The capabilities of an agent swarm depend on both its individual members and how they coordinate. Yet existing multi-agent systems often train agents within fixed orchestration structures, separating the learning of individual capabilities from the organization of collective behavior. We introduce market-based post-training (MPT), a framework for jointly learning action policies and self-orchestration in decentralized agent swarms. Agents express their willingness to participate through bids, which determine who acts and how collective outcomes provide local training credit. Learning both action and bidding behavior allows individual capabilities and patterns of participation to adapt together without a central coordinating agent. We evaluate MPT on embodied crafting, robot navigation, and deep research. Results show gains over monolithic post-training and confirm that agent participation indeed evolves with learning. With the same post-trained action policies, learned self-orchestration outperforms alternative coordination strategies. Ablations show that both action and bidding benefit from learning, and that learned bids provide more effective action-training signals. Beyond the original training objectives, trained swarms adapt faster to related tasks and achieve better performance with larger populations at inference time. Larger populations also suffer smaller performance losses under agent dropout, demonstrating that learned self-orchestration supports reuse, scaling, and robustness in decentralized agent swarms. Code and trained models are available at https://github.com/Embodied-Minds-Lab/MPT.
#05Oct 15, 2026
cs.AI
Evaluation Awareness Beyond English: Do LLMs Act Differently When Tested in Indic Languages?
Trizal Garg, Sibayan Mitra, Arya Karanjkar and 6 more
Large language models (LLMs) can often tell when they are being tested. This ability, known as evaluation awareness, can lead models to act more cautiously during safety evaluations than in real use. Existing work has studied evaluation awareness almost entirely in English, although models serve users in many languages. Indic languages are spoken by over a billion people, yet evaluation awareness remains almost entirely unstudied in them. We test four instruction-tuned models from three families in five Indic languages alongside English. A set of cues varies whether the model is told that it is monitored and whether the monitoring is a safety test. Models refuse harmful requests more often when they are told that they are being tested. This increase appears in all four models and all six languages. In Indic languages, refusal of harmful requests rises by 14.4 percentage points on average. The test cue also brings Indic refusal of harmful requests level with English, but raises refusal of benign Indic requests from 6.9% to 11.3%. We release all 47,880 judged responses to support further work. These results suggest that safety evaluations in Indic languages may not reflect how models treat their everyday users.