- AgentHER: Hindsight Experience Replay for LLM Agent Trajectory Relabeling
Liang Ding · Mar 22, 2026 · Citations: 0
Demonstrations Human EvalLlm As Judge Long Horizon
LLM agents fail on the majority of real-world tasks -- GPT-4o succeeds on fewer than 15% of WebArena navigation tasks and below 55% pass@1 on ToolBench (Zhou et al., 2024; Qin et al., 2024) -- yet every failed trajectory is routinely…
- Let's Think in Two Steps: Mitigating Agreement Bias in MLLMs with Self-Grounded Verification
Moises Andrade, Joonhyuk Cha, Brandon Ho, Vriksha Srihari, Karmesh Yadav · Jul 15, 2025 · Citations: 0
Pairwise Preference Automatic MetricsSimulation Env Long Horizon
We evaluate MLLM verifiers across web navigation, computer use, and robotics, spanning 13+ models, 28+ designs, and thousands of trajectories from diverse agents.
- CounselReflect: A Toolkit for Auditing Mental-Health Dialogues
Yahan Li, Chaohao Du, Zeyang Li, Christopher Chun Kuizon, Shupeng Cheng · Mar 31, 2026 · Citations: 0
Rubric RatingExpert Verification Human Eval Web Browsing
The system integrates two families of evaluation signals: (i) 12 model-based metrics produced by task-specific predictors, and (ii) rubric-based metrics that extend coverage via a literature-derived library (69 metrics) and user-defined…
- \$OneMillion-Bench: How Far are Language Agents from Human Experts?
Qianyu Yang, Yang Liu, Jiaqi Li, Jun Bai, Hao Chen · Mar 9, 2026 · Citations: 0
Rubric Rating Automatic Metrics Tool Use
To this end, we introduce \OneMillion-Bench \OneMillion-Bench, a benchmark of 400 expert-curated tasks spanning Law, Finance, Industry, Healthcare, and Natural Science, built to evaluate agents across economically consequential scenarios.
- Vision-DeepResearch Benchmark: Rethinking Visual and Textual Search for Multimodal Large Language Models
Yu Zeng, Wenxuan Huang, Zhen Fang, Shuang Chen, Yufan Shen · Feb 2, 2026 · Citations: 0
Expert Verification Automatic Metrics Web Browsing
However, evaluating these visual and textual search abilities is still difficult, and existing benchmarks have two major limitations.
- SODIUM: From Open Web Data to Queryable Databases
Chuxuan Hu, Philip Li, Maxwell Yang, Daniel Kang · Mar 19, 2026 · Citations: 0
Expert Verification Automatic Metrics Multi Agent
Existing systems struggle with SODIUM tasks: we evaluate 6 advanced AI agents on SODIUM-Bench, with the strongest baseline achieving only 46.5% accuracy.
- Measuring AI Ability to Complete Long Software Tasks
Thomas Kwa, Ben West, Joel Becker, Amy Deng, Katharyn Garcia · Mar 18, 2025 · Citations: 0
Expert Verification Automatic Metrics Tool Use
Despite rapid progress on AI benchmarks, the real-world meaning of benchmark performance remains unclear.
- When Users Change Their Mind: Evaluating Interruptible Agents in Long-Horizon Web Navigation
Henry Peng Zou, Chunyu Miao, Wei-Chieh Huang, Yankai Chen, Yue Zhou · Apr 1, 2026 · Citations: 0
Critique Edit Simulation Env Long Horizon
As LLM agents transition from short, static problem solving to executing complex, long-horizon tasks in dynamic environments, the ability to handle user interruptions, such as adding requirement or revising goals, during mid-task execution…
- VehicleMemBench: An Executable Benchmark for Multi-User Long-Term Memory in In-Vehicle Agents
Yuhao Chen, Yi Xu, Xinyun Ding, Xiang Fang, Shuochen Liu · Mar 25, 2026 · Citations: 0
Pairwise Preference Simulation Env Tool Use
With the growing demand for intelligent in-vehicle experiences, vehicle-based agents are evolving from simple assistants to long-term companions.
- Meanings and Measurements: Multi-Agent Probabilistic Grounding for Vision-Language Navigation
Swagat Padhan, Lakshya Jain, Bhavya Minesh Shah, Omkar Patil, Thao Nguyen · Mar 19, 2026 · Citations: 0
Demonstrations Simulation Env Multi Agent
To address this limitation, we propose MAPG (Multi-Agent Probabilistic Grounding), an agentic framework that decomposes language queries into structured subcomponents and queries a VLM to ground each component.
- Step 3.5 Flash: Open Frontier-Level Intelligence with 11B Active Parameters
Ailin Huang, Ang Li, Aobo Kong, Bin Wang, Binxing Jiao · Feb 11, 2026 · Citations: 0
Pairwise Preference Tool Use
We introduce Step 3.5 Flash, a sparse Mixture-of-Experts (MoE) model that bridges frontier-level agentic intelligence and computational efficiency.
- MemoryArena: Benchmarking Agent Memory in Interdependent Multi-Session Agentic Tasks
Zexue He, Yu Wang, Churan Zhi, Yuanzhe Hu, Tzu-Ping Chen · Feb 18, 2026 · Citations: 0
Pairwise Preference Automatic Metrics Web Browsing
Existing evaluations of agents with memory typically assess memorization and action in isolation.
- RedTeamCUA: Realistic Adversarial Testing of Computer-Use Agents in Hybrid Web-OS Environments
Zeyi Liao, Jaylen Jones, Linxi Jiang, Yuting Ning, Eric Fosler-Lussier · May 28, 2025 · Citations: 0
Red Team Automatic Metrics Web Browsing
Using RedTeamCUA, we develop RTC-Bench, a comprehensive benchmark with 864 examples that investigate realistic, hybrid web-OS attack scenarios and fundamental security vulnerabilities.
- Mock Worlds, Real Skills: Building Small Agentic Language Models with Synthetic Tasks, Simulated Environments, and Rubric-Based Rewards
Yuanjie Lyu, Chengyu Wang, Lei Shen, Jun Huang, Tong Xu · Jan 30, 2026 · Citations: 0
Rubric Rating Simulation Env Tool Use
Small LLMs often struggle to match the agentic capabilities of large, costly models.
- InnoEval: On Research Idea Evaluation as a Knowledge-Grounded, Multi-Perspective Reasoning Problem
Shuofei Qiao, Yunxiang Wei, Xuehai Wang, Bin Wu, Boyang Xue · Feb 16, 2026 · Citations: 0
Llm As Judge Web Browsing
The rapid evolution of Large Language Models has catalyzed a surge in scientific idea production, yet this leap has not been accompanied by a matching advance in idea evaluation.
- Vibe Code Bench: Evaluating AI Models on End-to-End Web Application Development
Hung Tran, Langston Nashold, Rayan Krishnan, Antoine Bigeard, Alex Gu · Mar 4, 2026 · Citations: 0
Pairwise Preference Automatic Metrics Web Browsing
We introduce Vibe Code Bench, a benchmark of 100 web application specifications (50 public validation, 50 held-out test) with 964 browser-based workflows comprising 10,131 substeps, evaluated against deployed applications by an autonomous…
- Role-Augmented Intent-Driven Generative Search Engine Optimization
Xiaolu Chen, Haojie Wu, Jie Bao, Zhen Chen, Yong Liao · Aug 15, 2025 · Citations: 0
Rubric Rating Automatic Metrics Web Browsing
To better evaluate the method under realistic settings, we address the benchmarking limitations of prior work by: (1) extending the GEO dataset with diversified query variations reflecting real-world search scenarios and (2) introducing…
- Go-Browse: Training Web Agents with Structured Exploration
Apurva Gandhi, Graham Neubig · Jun 4, 2025 · Citations: 0
Simulation Env Web Browsing
To address this, we propose Go-Browse, a method for automatically collecting diverse and realistic web agent data at scale through structured exploration of web environments.
- BrowseComp-$V^3$: A Visual, Vertical, and Verifiable Benchmark for Multimodal Browsing Agents
Huanyao Zhang, Jiepeng Zhou, Bo Li, Bowen Zhou, Yanzhe Shan · Feb 13, 2026 · Citations: 0
Automatic MetricsSimulation Env Web Browsing
Multimodal large language models (MLLMs), equipped with increasingly advanced planning and tool-use capabilities, are evolving into autonomous agents capable of performing multimodal web browsing and deep search in open-world environments.
- MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation
Chengshu Li, Mengdi Xu, Arpit Bahety, Hang Yin, Yunfan Jiang · Oct 21, 2025 · Citations: 0
Demonstrations Simulation Env Long Horizon
Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming.
- Sabiá-4 Technical Report
Thiago Laitz, Thales Sales Almeida, Hugo Abonizio, Roseval Malaquias Junior, Giovana Kerche Bonás · Mar 10, 2026 · Citations: 0
Pairwise Preference Automatic Metrics Tool Use
The models were developed through a four-stage training pipeline: continued pre-training on Portuguese and Brazilian legal corpora, long-context extension to 128K tokens, supervised fine-tuning on instruction data spanning chat, code, legal…
- BEACON: Language-Conditioned Navigation Affordance Prediction under Occlusion
Xinyu Gao, Gang Chen, Javier Alonso-Mora · Mar 10, 2026 · Citations: 0
Automatic MetricsSimulation Env Web Browsing
As a result, they struggle to infer target locations in occluded regions, typically caused by furniture or moving humans.
- MUSE: A Run-Centric Platform for Multimodal Unified Safety Evaluation of Large Language Models
Zhongxi Wang, Yueqian Lin, Jingyang Zhang, Hai Helen Li, Yiran Chen · Mar 3, 2026 · Citations: 0
Red Team Automatic Metrics Web Browsing
Safety evaluation and red-teaming of large language models remain predominantly text-centric, and existing frameworks lack the infrastructure to systematically test whether alignment generalizes to audio, image, and video inputs.
- Modeling Distinct Human Interaction in Web Agents
Faria Huq, Zora Zhiruo Wang, Zhanqiu Guo, Venu Arvind Arangarajan, Tianyue Ou · Feb 19, 2026 · Citations: 0
Pairwise Preference Automatic Metrics Web Browsing
In this work, we introduce the task of modeling human intervention to support collaborative web task execution.
- What Matters For Safety Alignment?
Xing Li, Hui-Ling Zhen, Lihao Yin, Xianzhi Yu, Zhenhua Dong · Jan 7, 2026 · Citations: 0
Red Team Automatic Metrics Tool Use
This paper presents a comprehensive empirical study on the safety alignment capabilities.
- Adaptation of Agentic AI: A Survey of Post-Training, Memory, and Skills
Pengcheng Jiang, Jiacheng Lin, Zhiyi Shi, Zifeng Wang, Luxi He · Dec 18, 2025 · Citations: 0
Pairwise Preference Automatic Metrics Tool Use
Large language model (LLM) agents are moving beyond prompting alone.
- CowPilot: A Framework for Autonomous and Human-Agent Collaborative Web Navigation
Faria Huq, Zora Zhiruo Wang, Frank F. Xu, Tianyue Ou, Shuyan Zhou · Jan 28, 2025 · Citations: 0
Pairwise PreferenceDemonstrations Automatic Metrics Web Browsing
We propose CowPilot, a framework supporting autonomous as well as human-agent collaborative web navigation, and evaluation across task success and task efficiency.
- LUDOBENCH: Evaluating LLM Behavioural Decision-Making Through Spot-Based Board Game Scenarios in Ludo
Ojas Jain, Dhruv Kumar · Apr 7, 2026 · Citations: 0
Simulation Env Multi Agent
We introduce LudoBench, a benchmark for evaluating LLM strategic reasoning in Ludo, a stochastic multi-agent board game whose dice mechanics, piece capture, safe-square navigation, and home-path progression introduce meaningful planning…
- LiveMCPBench: Can Agents Navigate an Ocean of MCP Tools?
Guozhao Mo, Wenliang Zhong, Jiawei Chen, Qianhao Yuan, Xuanang Chen · Aug 3, 2025 · Citations: 0
Llm As Judge Tool Use
Unfortunately, there is still a large gap between real-world MCP usage and current evaluation: they typically assume single-server settings and directly inject tools into the model's context, bypassing the challenges of large-scale…
- DongYuan: An LLM-Based Framework for Integrative Chinese and Western Medicine Spleen-Stomach Disorders Diagnosis
Hua Li, Yingying Li, Xiaobin Feng, Xinyi Fu, Lifeng Dong · Mar 30, 2026 · Citations: 0
Pairwise Preference Web Browsing
While large language models (LLMs) offer new potential for medical applications, they face three major challenges in the context of integrative Chinese and Western medicine (ICWM): a lack of high-quality data, the absence of models capable…
- Mobile-Agent-v3.5: Multi-platform Fundamental GUI Agents
Haiyang Xu, Xi Zhang, Haowei Liu, Junyang Wang, Zhaozai Zhu · Feb 15, 2026 · Citations: 0
Simulation Env Long Horizon
The paper introduces GUI-Owl-1.5, the latest native GUI agent model that features instruct/thinking variants in multiple sizes (2B/4B/8B/32B/235B) and supports a range of platforms (desktop, mobile, browser, and more) to enable cloud-edge…
- Aerial Vision-Language Navigation with a Unified Framework for Spatial, Temporal and Embodied Reasoning
Huilin Xu, Zhuoyang Liu, Yixiang Luomei, Feng Xu · Dec 9, 2025 · Citations: 0
Simulation Env Long Horizon
Extensive experiments on the AerialVLN and OpenFly benchmark validate the effectiveness of our method.
- The Ultimate Tutorial for AI-driven Scale Development in Generative Psychometrics: Releasing AIGENIE from its Bottle
Lara Russell-Lasalandra, Hudson Golino, Luis Eduardo Garrido, Alexander P. Christensen · Mar 30, 2026 · Citations: 0
Critique Edit Tool Use
Psychological scale development has traditionally required extensive expert involvement, iterative revision, and large-scale pilot testing before psychometric evaluation can begin.
- AgenticRec: End-to-End Tool-Integrated Policy Optimization for Ranking-Oriented Recommender Agents
Tianyi Li, Zixuan Wang, Guidong Lei, Xiaodong Li, Hui Li · Mar 23, 2026 · Citations: 0
Pairwise Preference Tool Use
To address this, we present AgenticRec, a ranking-oriented agentic recommendation framework that optimizes the entire decision-making trajectory (including intermediate reasoning, tool invocation, and final ranking list generation) under…
- XSkill: Continual Learning from Experience and Skills in Multimodal Agents
Guanyu Jiang, Zhaochen Su, Xiaoye Qu, Yi R. Fung · Mar 12, 2026 · Citations: 0
Critique Edit Tool Use
Multimodal agents can now tackle complex reasoning tasks with diverse tools, yet they still suffer from inefficient tool use and inflexible orchestration in open-ended settings.
- Aligning Large Language Models with Searcher Preferences
Wei Wu, Peilun Zhou, Liyi Chen, Qimeng Wang, Chengqiang Lu · Mar 11, 2026 · Citations: 0
Pairwise Preference Web Browsing
This setting introduces challenges, including robustness to noisy retrieval, non-negotiable safety guarantees, and alignment with diverse user needs.
- TimeWarp: Evaluating Web Agents by Revisiting the Past
Md Farhan Ishmam, Kenneth Marino · Mar 5, 2026 · Citations: 0
Demonstrations Web Browsing
The improvement of web agents on current benchmarks raises the question: Do today's agents perform just as well when the web changes?
- Don't Overthink It: Inter-Rollout Action Agreement as a Free Adaptive-Compute Signal for LLM Agents
Khushal Sethi · Apr 9, 2026 · Citations: 0
Automatic Metrics Long Horizon
We introduce TrACE (Trajectorical Adaptive Compute via agrEement), a training-free controller that allocates LLM calls adaptively across agent timesteps by measuring inter-rollout action agreement.
- Brief Is Better: Non-Monotonic Chain-of-Thought Budget Effects in Function-Calling Language Agents
Xuan Qi · Apr 2, 2026 · Citations: 0
Automatic Metrics Tool Use
Chain-of-thought (CoT) reasoning is widely assumed to improve agent performance, but the relationship between reasoning length and accuracy in structured tool-use settings remains poorly understood.
- Healthy LLMs? Benchmarking LLM Knowledge of UK Government Public Health Information
Joshua Harris, Fan Grayson, Felix Feldman, Timothy Laurence, Toby Nonnenmacher · May 9, 2025 · Citations: 0
Automatic Metrics Web Browsing
However, while there are a number of LLM benchmarks in the medical domain, currently little is known about LLM knowledge within the field of public health.
- Mind over Space: Can Multimodal Large Language Models Mentally Navigate?
Qihui Zhu, Shouwei Ruan, Xiao Yang, Hao Jiang, Yao Huang · Mar 23, 2026 · Citations: 0
Automatic MetricsSimulation Env Web Browsing
Despite the widespread adoption of MLLMs in embodied agents, their capabilities remain largely confined to reactive planning from immediate observations, consistently failing in spatial reasoning across extensive spatiotemporal scales.
- Integrating Deep RL and Bayesian Inference for ObjectNav in Mobile Robotics
João Castelo-Branco, José Santos-Victor, Alexandre Bernardino · Mar 26, 2026 · Citations: 0
Simulation Env Web Browsing
Autonomous object search is challenging for mobile robots operating in indoor environments due to partial observability, perceptual uncertainty, and the need to trade off exploration and navigation efficiency.
- "Don't Do That!": Guiding Embodied Systems through Large Language Model-based Constraint Generation
Amin Seffo, Aladin Djuhera, Masataro Asai, Holger Boche · Jun 4, 2025 · Citations: 0
Simulation Env Web Browsing
Recent advancements in large language models (LLMs) have spurred interest in robotic navigation that incorporates complex spatial, mathematical, and conditional constraints from natural language into the planning problem.
- Tucano 2 Cool: Better Open Source LLMs for Portuguese
Nicholas Kluge Corrêa, Aniket Sen, Shiza Fatimah, Sophia Falk, Lennard Landgraf · Mar 3, 2026 · Citations: 0
Pairwise Preference Tool Use
Following our previous works, we now extend our dataset, GigaVerbo-v2, to a new degree of quality and scale, while also introducing a new synthetic dataset, GigaVerbo-v2 Synth, aimed at filling missing gaps in GigaVerbo-v2, and two…
- Oracular Programming: A Modular Foundation for Building LLM-Enabled Software
Jonathan Laurent, André Platzer · Feb 7, 2025 · Citations: 0
Demonstrations Web Browsing
We propose oracular programming: a foundational paradigm for integrating traditional, explicit computations with inductive oracles such as LLMs.
- Full-Duplex-Bench-v3: Benchmarking Tool Use for Full-Duplex Voice Agents Under Real-World Disfluency
Guan-Ting Lin, Chen Chen, Zhehuai Chen, Hung-yi Lee · Apr 6, 2026 · Citations: 0
Automatic Metrics Tool Use
We introduce Full-Duplex-Bench-v3 (FDB-v3), a benchmark for evaluating spoken language models under naturalistic speech conditions and multi-step tool use.
- FinMCP-Bench: Benchmarking LLM Agents for Real-World Financial Tool Use under the Model Context Protocol
Jie Zhu, Yimin Tian, Boyang Li, Kehao Wu, Zhongzhi Liang · Mar 26, 2026 · Citations: 0
Automatic Metrics Tool Use
This paper introduces FinMCP-Bench, a novel benchmark for evaluating large language models (LLMs) in solving real-world financial problems through tool invocation of financial model context protocols.
- LRC-WeatherNet: LiDAR, RADAR, and Camera Fusion Network for Real-time Weather-type Classification in Autonomous Driving
Nour Alhuda Albashir, Lars Pernickel, Danial Hamoud, Idriss Gouigah, Eren Erdal Aksoy · Mar 23, 2026 · Citations: 0
Automatic Metrics Web Browsing
Autonomous vehicles face major perception and navigation challenges in adverse weather such as rain, fog, and snow, which degrade the performance of LiDAR, RADAR, and RGB camera sensors.
- ToolFlood: Beyond Selection -- Hiding Valid Tools from LLM Agents via Semantic Covering
Hussein Jawad, Nicolas J-B Brunel · Mar 14, 2026 · Citations: 0
Automatic Metrics Tool Use
Large Language Model (LLM) agents increasingly use external tools for complex tasks and rely on embedding-based retrieval to select a small top-k subset for reasoning.
- Confidence-Driven Multi-Scale Model Selection for Cost-Efficient Inference
Bo-Wei Chen, Chung-Chi Chen, An-Zi Yen · Feb 25, 2026 · Citations: 0
Automatic Metrics Tool Use
Experiments on the Massive Multitask Language Understanding (MMLU) benchmark show that our approach achieves accuracy comparable to the largest model while reducing computational costs by 20\% to 40\%.
- Zooming without Zooming: Region-to-Image Distillation for Fine-Grained Multimodal Perception
Lai Wei, Liangbo He, Jun Lan, Lingzhong Dong, Yutong Cai · Feb 12, 2026 · Citations: 0
Automatic Metrics Tool Use
To address this, we propose Region-to-Image Distillation, which transforms zooming from an inference-time tool into a training-time primitive, thereby internalizing the benefits of agentic zooming into a single forward pass of an MLLM.
- Agent-Diff: Benchmarking LLM Agents on Enterprise API Tasks via Code Execution with State-Diff-Based Evaluation
Hubert M. Pysklo, Artem Zhuravel, Patrick D. Watson · Feb 11, 2026 · Citations: 0
Automatic Metrics Tool Use
We present Agent-Diff, a novel benchmarking framework for evaluating agentic Large Language Models (LLMs) on real-world productivity software API tasks via code execution.
- SpatiaLab: Can Vision-Language Models Perform Spatial Reasoning in the Wild?
Azmine Toushik Wasi, Wahid Faisal, Abdur Rahman, Mahfuz Ahmed Anik, Munem Shahriar · Feb 3, 2026 · Citations: 0
Automatic Metrics Web Browsing
To address this, we introduce SpatiaLab, a comprehensive benchmark for evaluating VLMs' spatial reasoning in realistic, unconstrained contexts.
- LightMem: Lightweight and Efficient Memory-Augmented Generation
Jizhan Fang, Xinle Deng, Haoming Xu, Ziyan Jiang, Yuqi Tang · Oct 21, 2025 · Citations: 0
Automatic Metrics Tool Use
Inspired by the Atkinson-Shiffrin model of human memory, LightMem organizes memory into three complementary stages.
- Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids
Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott · Feb 24, 2026 · Citations: 0
Simulation Env Long Horizon
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information.
- Act Wisely: Cultivating Meta-Cognitive Tool Use in Agentic Multimodal Models
Shilin Yan, Jintao Tong, Hongwei Xue, Xiaojun Tang, Yangyang Wang · Apr 9, 2026 · Citations: 0
Automatic Metrics Tool Use
The advent of agentic multimodal models has empowered systems to actively interact with external environments.
- Cognitive Friction: A Decision-Theoretic Framework for Bounded Deliberation in Tool-Using Agents
Davide Di Gioia · Mar 31, 2026 · Citations: 0
Automatic Metrics Tool Use
Autonomous tool-using agents in networked environments must decide which information source to query and when to stop querying and act.
- The Evolution of Tool Use in LLM Agents: From Single-Tool Call to Multi-Tool Orchestration
Haoyuan Xu, Chang Li, Xinyan Ma, Xianhao Ou, Zihan Zhang · Mar 24, 2026 · Citations: 0
Automatic Metrics Tool Use
As agent systems evolve, however, the central problem has shifted from isolated invocation to multi-tool orchestration over long trajectories with intermediate state, execution feedback, changing environments, and practical constraints such…
- REDSearcher: A Scalable and Cost-Efficient Framework for Long-Horizon Search Agents
Zheng Chu, Xiao Wang, Jack Hong, Huiming Fan, Yuqi Huang · Feb 15, 2026 · Citations: 0
Automatic Metrics Tool Use
To address these challenges, we propose REDSearcher, a unified framework that codesigns complex task synthesis, midtraining, and posttraining for scalable searchagent optimization.
- RefTr: Recurrent Refinement of Confluent Trajectories for 3D Vascular Tree Centerlines
Roman Naeem, David Hagerman, Jennifer Alvén, Fredrik Kahl · Nov 25, 2025 · Citations: 0
Automatic Metrics Long Horizon
We further introduce an efficient non-maximum suppression algorithm for spatial tree graphs to merge duplicate branches and extend evaluation metrics to be radius-aware for robust comparison.