If, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation

Vision-language navigation agents are often evaluated on their ability to follow route-like instructions toward a fixed goal. Yet, real navigation instructions often depend on observed states of the environment: if a condition holds, then follow one path, otherwise take another. Such instructions require an agent to evaluate scene evidence, select the correct logical branch, and execute the corresponding navigation behavior. Existing evaluations provide limited control over conditional branch execution, making it difficult to determine whether agents fail because of perception, grounding, navigation, or logical decision-making. We introduce CondVLN, a scene-graph-grounded benchmark for diagnosing conditional branching in vision-language navigation. CondVLN programmatically generates instructions whose branch conditions are grounded in verifiable 3D scene-graph predicates, with controlled variation in branch depth, dependency chain length, spatial composition, evidence observability, and instruction horizon. CondVLN contains over 11,500 generated conditional instructions across AI2-THOR, Matterport3D, Gibson, and ReplicaCAD, and evaluates agents using standard VLN metrics and branch-specific diagnostics: Branch Selection Accuracy and Conditional Success Rate. Evaluating four state-of-the-art VLN agents (VLN-Zero, NaVid, NaVILA, and Open-Nav) shows that conditional branching exposes failures that are not captured by standard success rate or path length alone: agents can navigate plausibly while committing to a branch inconsistent with the observed scene condition. We also present a lightweight neurosymbolic branch-selection model that separates condition grounding from navigation execution, improving performance by 2x. CondVLN provides a reusable testbed for measuring whether embodied agents can not only follow instructions, but follow the right instruction under the right condition.

Regime-Conditional Verification: Correctness Estimation for Adapting and Monitoring Safety Classifiers

Safety classifiers deployed with large language models often fail for two reasons: their decisions reflect the policy learned during training rather than the deployer's desired policy, and their performance degrades as deployment traffic evolves. We present Regime-Conditional Verification (RCV), a lightweight wrapper that adapts an off-the-shelf safety classifier without retraining it. RCV estimates, from the classifier's internal representations, the probability that each prediction disagrees with the deployer's policy, and selectively corrects predictions likely to be wrong. The same correctness estimates also provide a label-free signal for detecting distribution shift, enabling a maintenance loop that updates the correctness estimation layer and resorts to classifier fine-tuning only when necessary. Across three off-the-shelf safety classifiers and two benchmark datasets, RCV improves adherence to the deployer's policy in every classifier-dataset combination, catching up to 0.81 of previously missed unsafe content without modifying the underlying classifier. In a deployment study with ten attack campaigns, each a harm category held out of RCV's training, RCV detects every campaign in a dedicated injection panel; in the maintenance census most drift episodes are repaired without updating the classifier, and the fine-tune is reserved for the residual episodes that repair does not restore.

Learning to Persuade Privately Informed Receivers

Bayesian persuasion studies how an informed sender can influence the behavior of a receiver through strategic information disclosure. Standard models assume the sender is the receiver's only source of information, yet in many applications receivers also consult external sources the sender can neither observe nor control. We study an online Bayesian persuasion problem in which a binary-action receiver has access to a fixed signaling scheme that is unknown to the sender. Over $T$ rounds, the sender commits to a signaling scheme and sends a signal; the receiver combines it with its private signal and acts, while the sender observes only the action. We design a learning algorithm that achieves regret $\widetilde{O}(T^{3/4})$ relative to the optimal scheme of a sender who knows the private signaling scheme of the receiver, with polynomial dependence on the sizes of the state space and the receiver's signal alphabet. Our key insight is reducing the problem of learning the exponentially large belief-space partitioning induced by the private scheme to a one-dimensional change-point detection problem.

ViewMind3D: Modular View-Aware Inference for Training-Free 3D-QA

Recent advances in large language models (LLMs) and vision-language models (VLMs) have enabled new possibilities for 3D question answering (3D-QA), a key capability for embodied AI and robotic perception. However, most existing methods rely on 3D-specific training or fine-tuning with costly annotations, limiting their scalability and real-world applicability. We present \textbf{ViewMind3D}, a fully training-free and modular framework for 3D spatial reasoning over multi-view observations of a scene without requiring complete 3D reconstruction. The framework decomposes the 3D-QA task into four interpretable components: (1) question-driven multi-view selection, (2) guided visual grounding with language-conditioned object cues, (3) spatial context encoding via a bird's-eye-view (BEV) viewpoint indicator, and (4) structured answer generation through role-based reasoning. This design enables structured, robust, and interpretable reasoning without requiring model tuning. Experimental results on ScanQA and SQA3D show that ViewMind3D achieves competitive performance compared to prior training-free and fine-tuned 3D-LLMs. In particular, our method improves performance on spatially grounded question types, such as ``What'' questions in SQA3D, while maintaining strong overall accuracy (50.8\%) and achieving 73.4 CIDEr on ScanQA. These results demonstrate that effective 3D reasoning can be achieved through modular orchestration of general-purpose LLMs and VLMs for robotic perception in real-world environments.

Computing on the Fly: Navigating a Vision for the Future of Drone Computing

The report envisions a decade in which drones move goods, medical supplies, and information at a scale comparable to national infrastructure investments like highways and the electric grid. Potential applications include natural disaster detection drones that spot wildfire sources within minutes, medical supply chains that bypass ground congestion to reach rural hospitals, and nationwide fleets that continuously inspect bridges and power lines. Realizing this future, however, requires closing what report authors call a "capability gap," where hardware and aspirations are outpacing the software and systems needed to operate safely at scale. The report identifies twelve technical challenges that must be addressed to realize the transformative potential of drone technology: Scaling to millions of drones; AI intelligence and assurance; Edge-cloud continuum and real-time coordination; AI autonomy and agentic systems; Data, training, and validation infrastructure; Critical infrastructure protection; Building reliable fleets from non-deterministic agents; Trust, security, and distributed authentication; Next-generation drone networks; Human-AI partnership and scalable insight; Standards, certification, and regulation; and Workforce development and education. These twelve challenges and proposed approaches to them form the basis of the report, laying out a multifaceted path forward for the evolution of done technology.

VEGAS: Human-Aligned Video Caption Evaluation via Gaze

Vision-language models excel at video captioning, yet typically generate descriptions that fail to capture individual viewers' attention. We propose VEGAS (Video caption Evaluation via GAze Score), a training-free metric that leverages test-time gaze to sample personalized, attention-aligned text. It is a cross-modal, information-theoretic metric that quantifies how well a candidate caption matches a viewer's focus. To evaluate VEGAS, we curate a dataset of egocentric activities and instructional slides paired with synchronized gaze and reference annotations. We then select captions based on VEGAS via rejection sampling without model retraining. Experiments show that VEGAS-selected captions align significantly better with human focus and improve downstream caption-to-video retrieval, demonstrating the practical utility of incorporating viewer attention during inference.

Path Planning in Physically Viable World Models

Robots deployed in unstructured outdoor environments often plan from scene reconstructions collected before deployment because operators cannot remap large or remote sites before every mission. As a result, robots must make long-horizon planning decisions using stale maps that assume the terrain remains unchanged, even though physical changes to the environment may render previously feasible routes unsafe or unreachable at execution time. We present a physically viable world model for evaluating what-if queries for robot navigation under future terrain change. The system augments reconstructed 3D Gaussian splat scenes with physics-based simulation to generate physically modified versions of the same environment without recollecting sensor data or rebuilding the map. We then implement a terrain-aware planner that accounts for physical events, obstacles, and deformations that are simulated by the world model. This allows robots and human operators to evaluate whether planned routes remain feasible before committing to a planned route, particularly in constrained environments where retreat or recovery may become impossible once conditions change. We evaluate the system on a real outdoor field site in Central Texas using simulated flooding across multiple severity levels. We measure route and mission feasibility as terrain conditions deteriorate under physically simulated interventions. Our results show that physically viable world models expose long-horizon route failures and rerouting behavior that are not apparent when planning only on the original reconstructed environment, allowing robots to evaluate how future terrain changes may affect route feasibility before deployment.

What We are Missing in Multimodal LLM Evaluation?

Multimodal large language models (MLLMs) can process diverse inputs, e.g., text, images, audio, and video, and generate textual responses. While their capabilities have advanced rapidly, evaluation of such models has not kept pace. Most existing evaluation benchmarks are limited to isolated tasks and reveal little about whether a model integrates information across modalities. We examine current means for evaluating MLLMs and review the existing benchmark taxonomy to identify gaps, including temporal-spatial coherence, physical world understanding, multimodal consistency, and selective attention. Addressing these gaps is essential for measuring real progress in multimodal intelligence and exposing capability boundaries.

Co-GLANCE: Uncertainty-Aware Active Perception for Heterogeneous Robot Teaming

Perceptual uncertainty is a central challenge for heterogeneous robot teams operating in unstructured outdoor environments, where no single viewpoint affords reliable scene understanding. Perceptual uncertainty, arising from sources such as occlusions, manifests differently across robot viewpoints depending on scene structure. Detecting and resolving sources of perceptual uncertainty requires both scene-based contextual reasoning and capability-aware robot allocation. While vision-language models provide strong semantic priors for both, they are computationally prohibitive for onboard inference and lack calibrated uncertainty quantification. We introduce Co-GLANCE, a real-time onboard perception and decision-making system for uncertainty resolution in heterogeneous robot teams. Co-GLANCE distills the semantic reasoning capabilities of a vision-language model into an end-to-end model for occlusion segmentation and robot allocation, eliminating the need for cloud-based inference. To quantify perceptual uncertainty, Co-GLANCE combines conformal prediction with selective abstention to provide statistically valid coverage guarantees for segmentation, robot allocation, and detection outputs. These calibrated uncertainty estimates directly trigger active perception, dispatching the most appropriate robot to acquire informative viewpoints and resolve uncertainty. Across real-world scenarios, Co-GLANCE outperforms cloud-based vision-language model baselines in occlusion segmentation and robot allocation accuracy by 25% and 36%, respectively, while reducing per-frame inference latency 350x. We also release an air-ground dataset for future research. Code, videos, and dataset available at https://co-glance.github.io/ .

What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning

Existing robot planning systems rely on appearance-based reasoning, where visual observations are encoded into latent spaces organized around object appearances (e.g., recognizing a "cart" based on how it looks). However, planning requires reasoning about task-relevant functionalities of objects (e.g., whether an object is "movable"), which appearance-based latent spaces do not capture. As a result, existing approaches struggle to generalize to novel robot-object interactions. We address this limited generalizability through affordance reasoning, enabling planning based on task-relevant object functionalities instead of appearance alone. We introduce A4D, which maps visual observations into a shared latent space structured around affordances (e.g., "movable"). By projecting visual observations into this functional latent space and measuring their proximity to affordances, A4D infers functionalities relevant to the observed object. Furthermore, we introduce an affordance discovery mechanism that expands the latent space to handle unseen scenarios where existing affordances are insufficient. A4D uses proximity in the functional latent space to quantify uncertainty in affordance inference and selectively triggers affordance discovery. We evaluate A4D across several planning tasks involving diverse and unseen affordances. A4D achieves 94% inference accuracy on existing affordances outperforming state-of-the-art approaches by over 15% points, improves new-affordance inference accuracy from 70% to over 90% with fewer than 10% of the original training data, and enables 100x faster inference. Code, videos, and data available at: https://A4Dance-reasoning.github.io.