VERDI is proposed, a continual framework for evidence-licensed world model optimization that characterizes each world model through shared inference-time probes to construct an Optimization Fin- gerprint, retrieves relevant prior experience as ranked hypotheses, and validates every candidate under a frozen target-side verifier before admitting it as reusable evidence.
Abstract
Foundation world models have made remarkable progress in planning, simulation, and embodied intelligence. However, optimizing a pretrained world model toward a user-specified objective remains difficult: each campaign typically rediscovers optimization strategies from scratch, and the resulting knowledge rarely transfers to the next model. Existing research agents automate the optimization loop but treat successful strategies as directly reusable recipes, without principled safeguards for when transfer is appropriate. We argue instead that retrieval is not transfer: a strategy validated on one model is at best an optimization hypothesis for another, and becomes transferable knowledge only after target-side experimental valida- tion. Guided by this principle, we propose VERDI , a continual framework for evidence-licensed world model optimization. VERDI characterizes each world model through shared inference-time probes to construct an Optimization Fin- gerprint, retrieves relevant prior experience as ranked hypotheses, and validates every candidate under a frozen target-side verifier before admitting it as reusable evidence; contradictions among nearby fingerprints further trigger probe evolution, continually refining the diagnostic representation itself. Experiments on Ctrl-World, the Cosmos family, and RoboCoin show that VERDI reduces search cost by 68%, GPU cost by 69%, and negative transfer from 0.34 to 0.06, while predicting transfer outcomes with 83% sign accuracy.
Video world models are increasingly used as simulators for planning and embodied decision making, yet improving them at inference time introduces a subtle evaluation problem: prompts, samplers, verifiers, and selectors may evolve together, making it difficult to attribute gains or prevent held-out feedback from shaping the final policy. We introduce \scope (\emph{\scopefullname}), a framework for auditable inference-time adaptation of frozen video world models. \scope represents external controls as a typed state, updates this state only through bounded changes supported by development evidence, and freezes the resulting policy before held-out evaluation. On Physics-IQ benchmark, \scope improves over the exact frozen base by $+14.24$ (95\% CI $[+8.10,+21.23]$). Controlled ablations further identify gains from scene specification, sampling, and learned selection, while the margin over the strongest matched agentic baseline remains unresolved. Cross-backbone and prospective evaluations reveal a complementary result: useful inference-time updates exist, but their benefits do not transfer uniformly across models and settings. Together, these findings suggest that reliable inference-time adaptation requires not only better proposals, but also a principled mechanism for deciding which updates should become part of the deployed system. Code is available at https://github.com/YuhuaJiang2002/SCOPE.
Yuhua Jiang, Jiaming Wang, Qing-Bin Liu et al.· 0 citations
Existing long-video agents acquire evidence through one uniform behavior, ignoring whether the required evidence is concentrated, requires broad occurrence coverage, or must discriminate competing hypotheses---which can cause failure before substantive reasoning begins. Prescribing a fine-grained solution procedure for every question is not a satisfactory remedy, as it restricts autonomous exploration. We propose VESTA, a training-free long-video agent organized as a route-conditioned acquire--verify--consolidate loop. Before exploration, an intent router infers an evidence-acquisition policy---focused, recall, or contrastive retrieval over a shared visual--speech scene index---together with an evidence-accounting policy that configures the evidence view maintained during exploration. Policy-steered retrieval yields provisional references that multimodal evidence operations convert into observations, while the Reasoner remains free to verify them, re-query using intermediate findings, or inspect regions outside the retrieved set. A temporal evidence ledger consolidates observations into an adaptive, compressed view of temporal location, provenance, coverage, conflicts, verification outcomes, and hypothesis support, exposing missing and unresolved evidence to guide subsequent acquisition; finalization prioritizes verified observations. On Video-MME-v2, VESTA improves average accuracy by 2.7 points over VideoARM and gains across all six reported metrics. On LongVideoBench, EgoSchema, and LVBench under shared query-time models, it improves by 6.9 points on the LongVideoBench long subset and 1.5 on LVBench, and matches VideoARM on EgoSchema.
Can-Can Zhang, Bao-Feng Zhang, Xiao-Tian Han et al.· 0 citations
This work introduces MemeMind, which uses an offline reference answer to recover missing experience in Anime, Comic, and Game meme interpretation and shows that constructing successful tool use for failed groups provides the largest component gain and produces more effective evidence acquisition at inference time.
Run Yang, Weihang Wang, Boheng Sheng et al.· 1 citation
Retrieval can identify a past trajectory that may matter, yet it does not specify how an acting agent should use that trajectory after users, entities, constraints, or environment state have changed. We identify this post-retrieval reuse step as a distinct bottleneck for long-horizon trajectory memory and formulate an evaluation framework that holds candidate retrieval, target state, model, decoding, and tool budget fixed while varying the support delivered to the agent. We instantiate the framework with query-conditioned reuse (QCR), a deliberately simple target-bound note that records a reusable procedure, bindings to recover, applicability conditions, and verification requirements. QCR serves to test the reuse hypothesis rather than to claim a universally preferred memory format. Across 2,391 target instances in WebArena, WorkArena, and AppWorld, QCR reaches 62.3% average Success, 10.7 points above Full Trajectory, while using 48.9% fewer online tokens. Summary reranking selects a reusable memory for 94.8% of targets, placing end-task Success within 1.8 points of an oracle reusable selector. Analyses by trajectory length and source--target binding shift show that direct trajectory injection loses much of its utility as traces grow longer or source-specific values change, whereas target-bound support preserves a larger share of the measured gain. The resulting framework separates retrieval quality from the problem of turning retrieved experience into safe, useful support for a new task.
Yifei Li, Heng Wang, Lingling Zhang et al.· 0 citations
Skill retrieval has recently emerged as a promising paradigm for identifying the desirable execution guidelines from the skill gallery, thus equipping large language model (LLM) agents with the procedural knowledge to accomplish the specified task. To this end, most existing methods customize the retrieval model or reconfigure the retrieval pipeline to prioritize skills that are most semantically relevant to the task query. However, we empirically reveal that task queries and skills are naturally formulated from different perspectives, namely, objective-oriented and procedural-oriented, leading to an under-explored problem termed Query--Skill Misalignment (QSM). Clearly, it is daunting and even impossible to associate the desirable skills in the context of QSM, thus hindering the agent from correctly executing the task. As a remedy, inspired by human prospective cognition, we propose SkillDreamer, a novel framework to alleviate the negative impact of QSM problem. In brief, SkillDreamer first infers the capabilities necessary for task execution, then imagines how to realize these capabilities by generating pseudo skills, and finally leverages such prospective information to bridge the gap between objective-oriented task queries and execution-oriented skills. Extensive experiments on SkillRet and SkillUsage not only verify the effectiveness of SkillDreamer in both skill retrieval and end-to-end task execution, but also demonstrate its generalizability across diverse retrieval models and pipelines. The code will be released upon acceptance.
Shuo Liu, Yu-Tong Yang, Haonan Xiao et al.· 0 citations
Language-guided human following is an important capability for embodied agents, but existing benchmarks typically assume that the target person is visible at the start of an episode. This setting simplifies the problem and overlooks a more realistic requirement: an agent often needs to first find a language-described target and then persistently follow that target in a dynamic environment. While recent work has started to study human search, existing settings are typically evaluated in task-specific scenarios and often rely on stronger prior knowledge of the environment. Moreover, they usually treat searching and following as separate tasks and still lack a unified benchmark for systematic evaluation. To address these limitations, we introduce the Unified Embodied Seeking and Following Benchmark (UESF-Bench), a large-scale and diverse benchmark for embodied human seeking and following. The benchmark requires agents to handle semantic-guided exploration, reliable behavior switching and recovery, and delayed identity grounding. To this end, we propose SeekFollow-VLA, a vision-language-action framework with a task-driven routing mechanism for latent phase inference and transition modeling between seeking and following. Experimental results show that SeekFollow-VLA achieves clear improvements over both single-head and dual-head baselines across single-person and multi-person environments, establishing a baseline for unified embodied seek-and-follow.
Kun Yu, Jianhua Yang, Yixiang Chen et al.· arXiv.org· 0 citations
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