arXiv:2503.00785v2 Announce Type: replace-cross Abstract: How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting gravity. These competing demands create dynamic coupling effects during physical interactions. Furthermore, rotor-induced airflow disturbances critically undermine operational reliability. Although fully-actuated unmanned aerial vehicles (UAVs) alleviate dynamic coupling effects via six-degree-of-freedom (6-DoF) force-torque decoupling, existing implementations fail to address the aerodynamic interference between drones and environments. They also suffer from oversized designs, which compromise maneuverability and limit their applications in various operational scenarios. To address these limitations, we present FLOAT Drone (FuLly-actuated cOaxial Aerial roboT), a novel fully-actuated UAV featuring two key structural innovations. By integrating control surfaces into fully-actuated systems for the first time, we significantly suppress lateral airflow disturbances during operations. Furthermore, a coaxial dual-rotor configuration enables a compact size while maintaining high hovering efficiency. Through dynamic modeling, we have developed hierarchical position and attitude controllers that support both fully-actuated and underactuated modes. Experimental validation through comprehensive real-world experiments confirms the system's functional capabilities in close-proximity operations.

arXiv:2604.08988v3 Announce Type: replace Abstract: Current LLM-based agents demonstrate strong performance in episodic task execution but remain constrained by static toolsets and episodic amnesia, failing to accumulate experience across task boundaries. This paper formalizes the Self-Evolving Agent (SEA) from the perspective of digital embodiment and continuous cross-task evolution, introduces the Evolutionary Flywheel as its minimal sufficient architecture, and presents SEA-Eval -- the first benchmark designed specifically for evaluating SEAs. Grounded in Flywheel theory, SEA-Eval establishes SR and T as primary metrics and, through sequential task stream design, is designed to quantify evolutionary gain, evolutionary stability, and implicit alignment convergence. Empirical evaluation reveals that, under comparable success rates, token consumption differs by up to 31.2 times between frameworks on individual tasks, with divergent evolutionary trajectories emerging under sequential analysis -- demonstrating that success rate alone creates a capability illusion and that the sequential convergence of $T$ is the key criterion for distinguishing genuine evolution from pseudo-evolution.

arXiv:2605.22794v2 Announce Type: replace Abstract: Autonomous agentic systems are largely static after deployment: they do not learn from user interactions, and recurring failures persist until the next human-driven update ships a fix. Self-evolving agents have emerged in response, but all confine evolution to text-mutable artifacts -- skill files, prompt configurations, memory schemas, workflow graphs -- and leave the agent harness untouched. Since routing, hook ordering, state invariants, and dispatch live in code rather than in any text artifact, an entire class of structural failure is physically unreachable from the text layer. We argue that source-level adaptation is a fundamentally more general medium: it is Turing-complete, a strict superset of every text-mutable scope, takes effect deterministically rather than through base-model compliance, and does not erode under long-context drift. We present MOSS, a system that performs self-rewriting at the source level on production agentic substrates. Each evolution is anchored to an automatically curated batch of production-failure evidence and proceeds through a deterministic multi-stage pipeline; code modification is delegated to a pluggable external coding-agent CLI while MOSS retains stage ordering and verdicts. Candidates are verified by replaying the batch against the candidate image in ephemeral trial workers, then promoted via user-consent-gated, in-place container swap with health-probe-gated rollback. On OpenClaw, MOSS lifts a four-task mean grader score from 0.25 to 0.61 in a single cycle without human intervention.

arXiv:2602.04755v2 Announce Type: replace-cross Abstract: Large language models (LLMs) rarely admit uncertainty, often producing fluent but misleading answers, rather than abstaining (i.e., refusing to answer). This weakness is even evident in temporal question answering, where models frequently ignore time-sensitive evidence and conflate facts across different time-periods. In this paper, we present the first empirical study of training LLMs with an abstention ability while reasoning about temporal QA. Existing approaches such as calibration might be unreliable in capturing uncertainty in complex reasoning. We instead frame abstention as a teachable skill and introduce a pipeline that couples Chain-of-Thought (CoT) supervision with Reinforcement Learning (RL) guided by abstention-aware rewards. Our goal is to systematically analyze how different information types and training techniques affect temporal reasoning with abstention behavior in LLMs. Through extensive experiments studying various methods, we find that RL yields strong empirical gains on reasoning: a model initialized by Qwen2.5-1.5B-Instruct surpasses GPT-4o by $3.46\%$ and $5.80\%$ in Exact Match on TimeQA-Easy and Hard, respectively. Moreover, it improves the True Positive rate on unanswerable questions by $20\%$ over a pure supervised fine-tuned (SFT) variant. Beyond performance, our analysis shows that SFT induces overconfidence and harms reliability, while RL improves prediction accuracy but exhibits similar risks. Finally, by comparing implicit reasoning cues (e.g., original context, temporal sub-context, knowledge graphs) with explicit CoT supervision, we find that implicit information provides limited benefit for reasoning with abstention. Our study provides new insights into how abstention and reasoning can be jointly optimized, providing a foundation for building more reliable LLMs.