#01Oct 20, 2026
cs.RO
VLM-Guided Contact Retargeting and Generative Partner Modeling for Humanoid-Human Interaction
Yuto Shibata, Kotaro Amaya, Kashu Yamazaki and 4 more
Humanoid-human interaction requires robots to operate under severe partial observability: during close physical contact, the human partner is occluded, truncated, or outside the robot's field of view, causing pose estimation to fail and often necessitating external tracking or privileged human state. At the same time, heavy mutual occlusions introduce errors into the human-human motion-capture data used for learning. We present REACT, a framework for learning deployable humanoid-human interaction policies from human-human demonstrations. REACT treats semantic contact structure as the key supervisory signal connecting demonstration processing, interaction learning, and onboard control. First, a VLM-guided contact modeling and retargeting pipeline identifies semantically meaningful contacts and transfers them onto humanoid-human geometry while preserving interaction structure. Using these annotations, privileged interaction policies learn physically grounded behaviors through interaction-aware contact rewards and are then distilled into deployable egocentric depth policies trained entirely from onboard sensing using photorealistic human depth rendering. To address severe partial observability, we introduce generative partner-state modeling objectives that predict partner motion from occluded egocentric views. We evaluate REACT in simulation and on a real Unitree G1 humanoid across five contact-rich interactions. Semantic contact modeling substantially improves preservation of demonstrated interactions, while generative partner-state modeling improves contact recall on four of five interactions, most under heavy occlusion. On real hardware, REACT performs all five interactions using onboard sensing alone.
#02Oct 20, 2026
cs.CL
NarraSpace: Multimodal Scene-Grounded Evidence for Picture-Description Dementia Classification
Qingming Li, Ruiyan Sun, Satoshi Nakamura
Picture-description dementia classification uses a shared visual scene, but a transcript-level prediction alone does not identify the scene evidence underlying its inputs. NarraSpace links words and speech times to named picture elements and retrieves utterances for predefined scene events. Narrative-spatial descriptors summarize coverage and temporal organization. A frozen language model contrasts each event's text under examples from Alzheimer's disease and healthy-control training participants, alongside transcript surprisal and coverage measurements. Retained source records link event scores to their source utterances, speech intervals, and lexical matches. On the official 48-participant test set of the Alzheimer's Dementia Recognition through Spontaneous Speech benchmark, a fixed support vector classifier achieves $80.88\%\pm2.56\%$ mean accuracy over fifty seeds; averaged probabilities yield $81.25\%$ accuracy and $91.32\%$ area under the receiver operating characteristic curve. NarraSpace makes the construction of scene-linked classification inputs explicit and inspectable by connecting event-indexed language-model measurements to their source utterances, speech timing, and extraction records. Such source-linked measurements could support clinician review of picture descriptions by presenting quantitative summaries alongside the original speech evidence.
#03Oct 20, 2026
cs.AI
Sage-A1.5: From Long-Horizon Execution to Scientific Exploration with Capability Composition
Wenjie Lou, Tianshuo Peng, Shiyang Feng and 96 more
In this report, we introduce Sage-A1.5, a 35B Mixture-of-Experts agentic model that builds on A1 to advance long-horizon problem solving through adaptive capability composition. Compared with A1, Sage-A1.5 learns not only to solve individual tasks, but also to organize work and revise its approach during execution. Sage-A1.5 highlights three improvements: agentic orchestration, verification, and open scientific discovery. First, agentic orchestration extends single-agent execution through task delegation and parallel collaboration among subagents with isolated contexts, enabling complex tasks to be decomposed and addressed concurrently and supporting efficient execution while reducing interference across concurrent subagents. Second, agentic verification strengthens long-horizon reliability through progress checking, evidence validation, and reflective strategy revision, allowing the agent to recognize unproductive search paths and pursue alternative approaches. Third, open scientific discovery extends agentic capabilities beyond answering predefined questions to conducting exploratory research, connecting scientific inquiry with interactive analysis and inspectable research artifacts. We showcase these capabilities through complicated agentic tasks and multidisciplinary scientific applications. Besides, we hope Sage-A1.5 provides the community with an accessible foundation for open scientific discovery, offering a practical path from long-horizon task execution to collaborative, verifiable, and inspectable scientific exploration.
#04Oct 20, 2026
cs.AI
What Do RTL Repair Benchmarks Actually Measure?
Yeyin Eva Zhu, Rishabh Ranawat
RTL repair benchmarks should measure whether a model can fix broken RTL given a specification. To this end, we construct and hash-bind RTLRepairDataset, 5,784 (broken, fixed) training pairs; RTLRepairBench, 459 held-out cases with 374 syntactic and 85 behavioral mutations; and an evaluation harness supporting simulation and formal equivalence. We then use this infrastructure to identify two measurement confounds. First, simulation and formal scoring give opposite signs for the apparent effect of providing a specification in one evaluated cohort; reset-aware rescoring attributes almost all of the simulation-formal disagreement to reset and first-cycle comparison semantics. Second, on 274 mined model failures, the specification-only minus specification-conditioned recovery point estimate ranges from -8.5 to +18.3 percentage points across six models. Thus, a conventional repair score need not isolate whether the model used the faulty RTL. We translate these findings into evaluation controls: report initialization, reset, first-cycle, and unknown-value semantics; disclose oracle coverage and undecided cases; and include a specification-only baseline. Together, the resources and audit provide both a benchmark for behavioral repair and a protocol for diagnosing what contributes to its measured score. We release the benchmark, the training set, construction code, sanitized aggregate evidence, and reproduction materials at https://github.com/Evaaaz/RTLRepairBench.
#05Oct 20, 2026
cs.AI
Value-Rich, Differently Organized: Measuring Value Expression and Organization in AI-Generated Debates
Maoyuan Li, Haoyuan Li, Zhongsheng Wang and 1 more
Current evaluation of LLM-generated debate largely focuses on argumentative quality, leaving the value structure of generated arguments underexamined. We introduce a diagnostic metric framework for comparing how values are expressed and organized in human-reference and AI-generated debates. The framework separates value expression, the range of recognizable values a debate invokes, from value organization, how those values are distributed and sustained across turns. Grounded in Schwartz's Basic-10 value theory, it represents debates as multi-level value distributions over argumentative units, utterances, stances, and full debates, enabling metrics for value coverage, alignment, diffusion, and cross-turn dynamics. Across multiple generation systems, AI-generated debates are broadly value-expressive, often activating as many or more value dimensions than matched human references, but they organize these values differently. Their utterances are more locally value-diffuse, and source-blind judges distinguish value clarity from value focus. These findings show that debate evaluation should consider not only value presence, but also value organization. Code and supplementary materials are available at https://github.com/Maoyuan-li/Value-Expression-and-Organization.