arXiv:2609.09925v1 Announce Type: new Abstract: Modern vision-language-action (VLA) policies predict a whole chunk of actions: one to two seconds of coordinated motion emitted in a single forward pass. Yet an action chunk is essentially a short multivariate trajectory, but inside these models it is a sequence of generic per-timestep hidden tokens decoded by a linear head. This under-serves two motion structures. First, frequency: a chunk superimposes a smooth global trend and fine corrective motion across time scales, and a single token entangles them. Second, cross-phase geometry: motions of different phases (reach, contact, grasp adjustment, settling) unfold along very different, near-orthogonal directions in representation space, yet are tightly related for the task and arise across the time axis. Dot-product attention scores alignment by an inner product, so it favors aligned tokens and is least sensitive near orthogonality, leaving such relationships for the network to recover through a detour. We introduce Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots. TFGCA uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attention that fuses the dot product (similarity) with the wedge-product magnitude (sensitive to near-orthogonality) through a learnable weight. A zero-initialized residual reproduces the base behavior at initialization, so it can be dropped onto a pretrained VLA and fine-tuned jointly. Relative to the same-source base, TFGCA improves in-distribution LIBERO by +1.5 on average, the OOD LIBERO-Plus by +6.3, the randomized average under RoboTwin domain randomization by +28.5, and the overall success rate on three real-robot AgiBot A2 tasks by +11.67 points, with larger gains out of distribution.

arXiv:2609.09212v1 Announce Type: cross Abstract: This paper presents an end-to-end evaluation framework for image-triggered command injection against computer-use agents (CUAs). The goal is to test whether a local visual patch can induce verifiable environmental consequences along the full chain of screenshot input, VLM generation, action parsing, and environment execution. We train and deploy patches on author-controlled GitHub Pages pages and a locally deployed CSDN clone, and evaluate them in real environments across five open-source or publicly available GUI-agent or vision-language-model (VLM) backends. Our experiment aggregates 600 instance-level online cases, with T-ASR, TAPR, and E2E-ASR reaching 84.5%, 47.0%, and 20.3%, respectively. Trajectory analysis further shows that in some successful cases the agent first executes a malicious terminal command and then continues the original benign task. These results indicate that optimized local visual signals can affect not only VLM outputs but also propagate through the execution pipeline of open CUAs and create real environmental risk.

arXiv:2609.09213v1 Announce Type: cross Abstract: We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial tasks and evaluated over three seeds and 540 held-out rollouts. Conditioning recurrent decay gates on geometric increments yields 28.9% success, compared with 36.7% when those increments are shuffled during training and 24.4% without explicit object/goal geometry. Both geometry policies receive correct inputs at evaluation. A token adapter using the same increments scores 27.8%; differences vary across seeds and remain inconclusive. Token-clock conditioning scores 11.1%, including one seed that fails to converge. In separate robustness tests, a state-only relative-coordinate policy retains 7/10 success under frame relabeling, whereas all four tested visual policies fall to at most 3/20 after a 5 cm object displacement. These results show no reliable advantage from training-time geometric alignment under this recipe and illustrate the gap between coordinate invariance and physical-layout generalization. Episode records, seed-level analyses, and figure-generation code accompany the paper.

arXiv:2609.04298v2 Announce Type: replace Abstract: Evaluating agents on the growing number of agentic benchmarks is challenging because they often require complex environments and agent integrations. We introduce Harbor Adapters, a unified evaluation infrastructure for agentic benchmarks. Our work makes three contributions. First, we develop benchmark adapters that port more than 80 benchmarks to evaluate arbitrary agents, and validate them through rigorous code review and parity experiments. Second, we conduct a large-scale evaluation of 8 models spanning capability tiers across 54 benchmarks; every model is run with Terminus-2 and with one of 3 native harnesses. This enables a broader analysis of agent capabilities and failure modes than was previously possible. Third, we introduce Harbor-Index, a curated set of 82 difficult, diverse, and high-quality tasks spanning 29 benchmarks, refined from the adapted suite through difficulty filtering, AI and human audit, and an audit-and-fix loop. Harbor-Index preserves the challenge and breadth of large-scale agentic evaluations while being affordable to run; no evaluated model-harness configuration exceeds 30% pass rate, and the strongest (GPT-5.5 with Codex) reaches 28.0%. We release the adapters, evaluation results, in-depth analysis, and Harbor-Index as open-source artifacts to support more reliable and comprehensive evaluation of language-model agents.

arXiv:2606.08653v2 Announce Type: replace-cross Abstract: Action-supervised fine-tuning of vision-language-action (VLA) policies fits demonstrations effectively but constrains only the directions that change predicted actions, leaving visual structure consistent across action-equivalent states free to collapse. We formalize this as residual visual collapse along local action fibers and propose FiberTune, a training-time objective that preserves teacher-structured visual residuals without adding inference-time overhead. FiberTune uses an online action probe to estimate action-predictive feature directions, filters them from intermediate visual-token representations, and aligns the resulting probe-filtered residuals to a frozen visual teacher while regularizing their effective rank. Under identical training conditions, FiberTune improves over task-loss-only fine-tuning in every one of six controlled simulation settings spanning two benchmarks and two architectures (pi_0.5 and OpenVLA-OFT), as well as on physical SO-101 pick-place; representative gains include +10.7 percentage points SR(5) on long-horizon CALVIN ABC-to-D and physical SO-101 task success rising from 72.7% to 78.1%. Residual diagnostics show that these gains coincide with increased probe-filtered residual teacher alignment and effective rank, consistent with the action-fiber motivation.

arXiv:2608.30935v2 Announce Type: replace-cross Abstract: Embodied navigation requires agents to translate heterogeneous goals and visual observations into actions across tasks, environments, and robot embodiments. Modern vision-language models (VLMs) already encode spatial priors for visual grounding, spatial reasoning, and pointing, but these capabilities are rarely elicited directly for robot control. Existing navigation systems instead rely on task- or embodiment-specific components, fragmenting perception, reasoning, and action while offering limited generalization. Here we present LightNav-0, a compact generalist embodied navigation model that elicits the spatial intelligence of a pretrained VLM and aligns it with navigation, without task-specific prediction heads. LightNav-0 represents diverse navigation tasks through a unified token interface: dual-channel pointing expresses task-, scene-, and embodiment-agnostic spatial intent, while a residual vector-quantized action tokenizer maps this intent to precise, embodiment-specific trajectories. Together with temporally aware visual history compression, ER mid-training, supervised fine-tuning, and reinforcement learning, this formulation supports instruction following, open-vocabulary object navigation, and visual tracking within a single model. The navigation training corpus spans 2K+ scenes and 4K+ hours of embodied navigation data. LightNav-ER, the embodied-reasoning checkpoint used to initialize LightNav-0, attains the highest complete-set average across 8 embodied-reasoning benchmarks, while LightNav-0 achieves state-of-the-art monocular success rates across all 10 public navigation simulation settings. Real-world evaluations further demonstrate zero-shot generalization across robot embodiments, diverse scenes, and static and dynamic targets. These results establish compact VLMs as a unified and transferable backbone for generalist embodied navigation.