arXiv:2604.04373v1 Announce Type: new Abstract: There is growing interest in improving LLMs without updating model parameters. One well-established direction is test-time scaling, where increased inference-time computation (e.g., longer reasoning, sampling, or search) is used to improve performance. However, for complex reasoning and agentic tasks, naively scaling test-time compute can substantially increase cost and still lead to wasted budget on suboptimal exploration. In this paper, we explore \emph{context} as a complementary scaling axis for improving LLM performance, and systematically study how to construct better inputs that guide reasoning through \emph{experience}. We show that effective context construction critically depends on \emph{decocted experience}. We present a detailed analysis of experience-augmented agents, studying how to derive context from experience, how performance scales with accumulated experience, what characterizes good context, and which data structures best support context construction. We identify \emph{decocted experience} as a key mechanism for effective context construction: extracting essence from experience, organizing it coherently, and retrieving salient information to build effective context. We validate our findings across reasoning and agentic tasks, including math reasoning, web browsing, and software engineering.

arXiv:2604.03497v1 Announce Type: cross Abstract: Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations and simulator-coupled action semantics that are unavailable on physical platforms. This paper presents Sim2Real-AD, a modular framework for zero-shot sim-to-real transfer of CARLA-trained VLM-guided RL policies to full-scale vehicles without any real-world RL training data. The framework decomposes the transfer problem into four components: a Geometric Observation Bridge (GOB) that converts monocular front-view images into simulator-compatible bird's-eye-view (BEV) observations, a Physics-Aware Action Mapping (PAM) that translates policy outputs into platform-agnostic physical commands, a Two-Phase Progressive Training (TPT) strategy that stabilizes adaptation by separating action-space and observation-space transfer, and a Real-time Deployment Pipeline (RDP) that integrates perception, policy inference, control conversion, and safety monitoring for closed-loop execution. Simulation experiments show that the framework preserves the relative performance ordering of representative RL algorithms across different reward paradigms and validate the contribution of each module. Zero-shot deployment on a full-scale Ford E-Transit achieves success rates of 90%, 80%, and 75% in car-following, obstacle avoidance, and stop-sign interaction scenarios, respectively. To the best of our knowledge, this study is among the first to demonstrate zero-shot closed-loop deployment of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle without any real-world RL training data. The demo video and code are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.