arXiv AI
State Representation Shapes Long-Horizon Agent Learning and Transfer: An Empirical Study
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arXiv Machine Learning
Sep 1
The Intervention Gap in Latent World Models
The paper introduces the concept of intervention fidelity in latent world models, measuring whether a model’s open‑loop transitions align with actual environment interventions. Experiments on TD‑MPC2, Cheetah, and DreamerV3 show that high reward fit does not guarantee fidelity, and that self‑supervised models can outperform task‑anchored ones in preserving intervention effects. The authors propose a capture‑gated audit to localize failures and argue that fidelity must be directly audited on the model’s native interface.
arXiv AI
5d ago
Long-Horizon-Terminal-Bench 2.0: Automating Diverse Task Construction and Measuring Sustained Agent Progress
arXiv:2610.14146v1 Announce Type: new Abstract: Long-horizon terminal benchmarks measure whether an agent can sustain progress through extended workflows with process rewards, not only whether its fi...
arXiv Machine Learning
Oct 9
Diagnosing and Recovering from Observation-Space Shift at Long-Horizon Skill Seams
The paper investigates Observation‑Space Shift (OSS), a failure mode in long‑horizon robotic manipulation where downstream skills start from states altered by preceding skills. By diagnosing that displaced scene elements—not robot joints or target objects—cause most OSS, the authors develop a detect‑restore‑resume system that monitors task progress, restores the scene, and fine‑tunes the skill to resume. On the BOSS‑44 benchmark, this approach raises full‑chain success from 7.6 % to 26.5 %, outperforming several baselines and demonstrating the value of scene restoration before policy resumption.
arXiv AI
Sep 30
Beyond a single latent space: a dual-latent world model for long-horizon planning
The paper introduces the Dual-Latent World Model (Dual-WM), which separates local execution and long-range planning into distinct latent spaces and dynamics models. A new learning method, Long-Horizon Representation Learning with Weighted Rollout (LoRe), supervises predictions at both levels using exponential horizon weights. Experiments on five goal-conditioned visual control tasks show that Dual-WM improves success rates over strong baselines, especially at longer horizons.
arXiv AI
Sep 2
Explore More, Drift Less: Outcome-Only Reinforcement Learning Can Suffice for Long-Horizon Interactive Agents
The paper proposes CANOPY, a minimalist reinforcement learning protocol that addresses two common pitfalls—signal starvation and policy drift—in outcome‑only RL for long‑horizon interactive tasks. By scaling same‑task exploration, keeping updates on‑policy, and anchoring updates with KL divergence, CANOPY enables a Qwen3‑14B agent to achieve top leaderboard results on the AppWorld coding benchmark without auxiliary supervision or elaborate scaffolding. The approach also improves performance on SWE‑bench for a Qwen3.5‑9B model.
arXiv Machine Learning
Sep 11
T1: Terminal Agent Reinforcement Learning for Long-Horizon Tasks
The paper introduces T1, a 122‑billion‑parameter Mixture‑of‑Experts model trained with reinforcement learning to perform long‑horizon terminal tasks such as coding and scientific discovery. T1 operates a real shell in a cloud sandbox, making over 300 tool‑call turns per task and receiving rewards from task‑specific verifiers. The authors detail a training recipe that includes aggressive warm‑starting, TITO construction with drift repair, and rollout‑routing replay, achieving significant performance gains on Terminal‑Bench 2.1 and surpassing GPT‑5.4 and GLM‑5.1 on the Long‑Horizon Terminal Bench.