arXiv:2510.21031v1 Announce Type: cross Abstract: The emergence of foundation models (FMs) has enabled the development of highly capable and autonomous agents, unlocking new application opportunities across a wide range of domains. Evaluating the architecture of agents is particularly important as the architectural decisions significantly impact the quality attributes of agents given their unique characteristics, including compound architecture, autonomous and non-deterministic behaviour, and continuous evolution. However, these traditional methods fall short in addressing the evaluation needs of agent architecture due to the unique characteristics of these agents. Therefore, in this paper, we present AgentArcEval, a novel agent architecture evaluation method designed specially to address the complexities of FM-based agent architecture and its evaluation. Moreover, we present a catalogue of agent-specific general scenarios, which serves as a guide for generating concrete scenarios to design and evaluate the agent architecture. We demonstrate the usefulness of AgentArcEval and the catalogue through a case study on the architecture evaluation of a real-world tax copilot, named Luna.

arXiv:2510.20774v1 Announce Type: cross Abstract: Large-scale and diverse datasets are vital for training robust robotic manipulation policies, yet existing data collection methods struggle to balance scale, diversity, and quality. Simulation offers scalability but suffers from sim-to-real gaps, while teleoperation yields high-quality demonstrations with limited diversity and high labor cost. We introduce FieldGen, a field-guided data generation framework that enables scalable, diverse, and high-quality real-world data collection with minimal human supervision. FieldGen decomposes manipulation into two stages: a pre-manipulation phase, allowing trajectory diversity, and a fine manipulation phase requiring expert precision. Human demonstrations capture key contact and pose information, after which an attraction field automatically generates diverse trajectories converging to successful configurations. This decoupled design combines scalable trajectory diversity with precise supervision. Moreover, FieldGen-Reward augments generated data with reward annotations to further enhance policy learning. Experiments demonstrate that policies trained with FieldGen achieve higher success rates and improved stability compared to teleoperation-based baselines, while significantly reducing human effort in long-term real-world data collection. Webpage is available at https://fieldgen.github.io/.

Nature, Published online: 03 July 2024; doi:10.1038/s41586-024-07620-9

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