arXiv subjects

Harsh Soni

Publications and source records attributed to Harsh Soni.

17 recordsLinked to original sources

arXiv2026

ToolFailBench: Diagnosing Tool-Use Failures in LLM Agents

Tool calling is central to modern language model agents, but aggregate benchmark scores often hide where tool use fails. A model that never calls a needed tool and a model that calls the tool but ignores the result can look similar under final task accuracy. We introduce ToolFailBench, a diagnostic benchmark for measuring tool-use failures across 1,000 tasks in finance, medicine, law, cybersecurity, and real estate. Tool-required tasks return values the model wouldn't guess, forcing it to trust the tool while control tasks attach the same tools but should be answered directly. We label each trace with Tool-Skip, Result-Ignore, Output-Fabrication, and Unnecessary-Tool-Use, using a rule classifier and two LLM judges aggregated by majority vote. Across 19 headline models, the best reaches 86.33% Clean Tool-Use Rate, showing that faithful tool use is not saturated. More importantly, models with similar aggregate scores fail in different ways: most stay disciplined on no-tool controls, while Llama-3.1 models show an Always-Call pattern, and at the same parameter scale Llama-3.1-70B and Qwen2.5-72B differ by 89 percentage points on control-task accuracy. Tool-use evaluation should measure not only whether agents call tools, but whether they use tool outputs correctly and avoid tools when none is needed.

cs.CL↗

arXiv2026

Asymmetry-Induced Chiral Dynamics in Coupled Self-Propelled Robots: Spinning and Circular Motion

Motivated by the chiral motility of microswimmers, we investigate how geometric asymmetry in a system of two self-propelled active Brownian robots coupled by a spring gives rise to rich collective dynamics. We demonstrate that asymmetry in the propulsion directions of the robots generates net torques that induce persistent rotational motion. Depending on the choice of propulsion angles $\alpha_1$ and $\alpha_2$, the system exhibits three distinct dynamical regimes -- run-and-tumble motion, circular trajectories, and spinning -- with the geometric configuration primarily determining the realized regime. We further show that spring stiffness and rotational noise act as additional tuning parameters governing the stability of these regimes. These results demonstrate how the interplay of mechanical coupling and activity produces diverse self-organized dynamics in simple robotic dimers, providing a bridge between artificial active systems and biological microswimmers such as bacteria, Chlamydomonas reinhardtii, and spermatozoa.

cond-mat.soft↗

arXiv2026

Flocking through a sea of rods

We investigate the collective behavior of motile rods immersed in a monolayer of apolar rods confined between vertically vibrating plates using numerical simulations. We uncover an antidiffusive instability whereby motile rods segregate from the apolar medium and form flocks whose size increases with the medium concentration. Remarkably, enhanced segregation leads to a reduction of the global polar order. The flock structure is strongly influenced by the anisotropy of the medium rods. For small aspect ratios, the flocks are elongated perpendicular to the mean direction of motion, whereas for larger aspect ratios, they elongate along the direction of motility. We rationalize the emergence of segregation-induced disorder using a minimal mean-field model.

cond-mat.soft↗

arXiv2025

Spontaneous Emergence of Run-and-Tumble-Like Dynamics in a Robotic Analog of \textit{Chlamydomonas}: Experiment and Theory

Run-and-tumble (RT) motion is commonly observed in flagellated microswimmers, arising from synchronous and asynchronous flagellar beating. One such example is a biflagellated alga, called \textit{Chlamydomonas reinhardtii}. Its flagellar synchronization is not only affected by hydrodynamic interactions but also through contractile stress fibers that mechanically couple the flagella, enabling adaptable swimming behavior. To explore this, we design a macroscopic mechanical system that comprises dry, self-propelled robots linked by a rigid rod to model this organism. By varying the attachment points of the two ends of the rod on each robot, the model incorporates the effect of fiber contractility observed in the real organism. To mimic a low Reynolds number environment, we program each robot to undergo overdamped active Brownian (AB) motion. We find that such a system exhibits RT-like behavior, characterized by sharp, direction-reversing tumbles and exponentially distributed run times, consistent with the real organism. Moreover, we quantify tumbling frequency and demonstrate its tunability across experimental parameters. Additionally, we provide a theoretical model that reproduces our results, elucidating physical mechanisms governing RT dynamics. Thus, our robotic system not only replicates RT motion but also captures several subtle characteristics, offering valuable insights into the underlying physics of microswimmer motility.

cond-mat.soft↗

arXiv2024

Phases and correlations in active nematic granular systems

We investigate the statistical behavior of a system comprising fore-aft symmetric rods confined between two vertically vibrating plates using numerical simulations closely resembling the experimental setup studied by Narayan et al., Science 317, 105 (2007). Our focus lies in studying the phase transition of the system from an isotropic phase to a nematic phase as we increase either the rod length or the rod concentration. Our simulations confirm the presence of long-range ordering in the ordered phase. Furthermore, we identify a phase characterized by a periodic ordering profile that disrupts translation symmetry. We also provide a detailed analysis of the translational and rotational diffusive dynamics of the rods. Interestingly, the translational diffusivity of the rods is found to increase with the rod concentration.

cond-mat.soft↗

arXiv2024

Bulk condensation by an active interface

We present experiments, supported by mechanically detailed simulations, establishing bulk vapor-liquid condensation of a hard-bead fluid by a tiny population of orientable motile grains that self-assembles into a moving polarized monolayer. In a quasi-1D geometry two such layers, oppositely aligned, immobilize the condensed non-motile component. We account for our observations through a continuum theory with a naturally non-reciprocal Cahn-Hilliard structure, whose predicted trends as a function of packing fraction are consistent with our observations.

cond-mat.soft↗

arXiv2023

Programming tunable active dynamics in a self-propelled robot

We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities are calculated by equating robot's equations of motion in two dimensions with well-established active particle models and encoded into the robot's microcontroller. We demonstrate that the robot can depict active Brownian, run and tumble, and Brownian dynamics with a wide range of parameters. The resulting motion analyzed using particle tracking shows excellent agreement with the theoretically predicted trajectories. Finally, we demonstrate that its motion can be switched between different dynamics using light intensity as an external parameter. This work opens an avenue for designing tunable active systems with the potential of revealing the physics of active matter and its application for bio- and nature-inspired robotics.

cond-mat.soft↗

arXiv2022

Properties of the dissipation functions for passive and active systems

The dissipation function for a system is defined as the natural logarithm of the ratio between probabilities of a trajectory and its time-reversed trajectory, and its probability distribution follows a well-known relation called the fluctuation theorem. Using the generic Langevin equations, we derive the expressions of the dissipation function for passive and active systems. For passive systems, the dissipation function depends only on the initial and the final values of the dynamical variables of the system, not on the trajectory of the system. Furthermore, it does not depend explicitly on the reactive or dissipative coupling coefficients of the generic Langevin equations. In addition, we study a 1D case numerically to verify the fluctuation theorem with the form of the dissipation function we obtained. For active systems, we define the work done by active forces along a trajectory. If the probability distribution of the dynamical variables is symmetric under time reversal, in both cases, the average rate of change of the dissipation function with trajectory duration is nothing but the average entropy production rate of the system and reservoir.

cond-mat.stat-mech↗

arXiv2020

Active nonreciprocal attraction between motile particles in an elastic medium

We show from experiments and simulations on vibration-activated granular matter that self-propelled polar rods in an elastic medium on a substrate turn and move towards each other. We account for this effective attraction through a coarse-grained theory of a motile particle as a moving point-force density that creates elastic strains in the medium that reorient other particles. Our measurements confirm qualitatively the predicted features of the distortions created by the rods, including the $|x|^{-1/2}$ tail of the trailing displacement field and non-reciprocal sensing and pursuit. A discrepancy between the magnitudes of displacements along and transverse to the direction of motion remains. Our theory should be of relevance to the interaction of motile cells in the extracellular matrix or in a supported layer of gel or tissue.

cond-mat.soft↗

arXiv2020

Phases and excitations of active rod-bead mixtures: simulations and experiments

We present a large-scale numerical study, supplemented by experimental observations, of a quasi-two-dimensional active system of polar rods and spherical beads confined between two horizontal plates and energised by vertical vibration. For low rod concentrations $\Phi_r$ we observe a direct phase transition, as bead concentration $\Phi_b$ is increased, from the isotropic phase to a homogeneous flock. For $\Phi_r$ above a threshold value, an ordered band dense in both rods and beads occurs between the disordered phase and the homogeneous flock, in both experiments and simulations. Within the size ranges accessible we observe only a single band, whose width increases with $\Phi_r$. Deep in the ordered state, we observe broken-symmetry "sound" modes and giant number fluctuations. The direction-dependent sound speeds and the scaling of fluctuations are consistent with the predictions of field theories of flocking, but sound damping rates show departures from such theories. At very high densities we see phase separation into rod-rich and bead-rich regions, both of which move coherently.

cond-mat.soft↗

arXiv2019

Stability of the interface of an isotropic active fluid

We study the linear stability of an isotropic active fluid in three different geometries: a film of active fluid on a rigid substrate, a cylindrical thread of fluid, and a spherical fluid droplet. The active fluid is modeled by the hydrodynamic theory of an active nematic liquid crystal in the isotropic phase. In each geometry, we calculate the growth rate of sinusoidal modes of deformation of the interface. There are two distinct branches of growth rates; at long wavelength, one corresponds to the deformation of the interface, and one corresponds to the evolution of the liquid crystalline degrees of freedom. The passive cases of the film and the spherical droplet are always stable. For these geometries, a sufficiently large activity leads to instability. Activity also leads to propagating damped or growing modes. The passive cylindrical thread is unstable for perturbations with wavelength longer than the circumference. A sufficiently large activity can make any wavelength unstable, and again leads to propagating damped or growing modes.

cond-mat.soft↗

arXiv2018

Enhancement of microorganism swimming speed in active matter

We study a swimming undulating sheet in the isotropic phase of an active nematic liquid crystal. Activity changes the effective shear viscosity, reducing it to zero at a critical value of activity. Expanding in the sheet amplitude, we find that the correction to the swimming speed due to activity is inversely proportional to the effective shear viscosity. Our perturbative calculation becomes invalid near the critical value of activity; using numerical methods to probe this regime, we find that activity enhances the swimming speed by an order of magnitude compared to the passive case.

cond-mat.soft↗

arXiv2016

Wrinkling of a thin film on a nematic liquid crystal elastomer

Wrinkles commonly develop in a thin film deposited on a soft elastomer substrate when the film is subject to compression. Motivated by recent experiments [Agrawal et al., Soft Matter 8, 7138 (2012)] that show how wrinkle morphology can be controlled by using a nematic elastomer substrate, we develop the theory of small-amplitude wrinkles of an isotropic film atop a nematic elastomer. The directors of the nematic elastomer are assumed to lie in a plane parallel to the plane of the undeformed film. For uniaxial compression of the film along the direction perpendicular to the elastomer directors, the system behaves as a compressed film on an isotropic substrate. When the uniaxial compression is along the direction of nematic order, we find that the soft elasticity characteristic of liquid crystal elastomers leads to a critical stress for wrinkling which is very small compared to the case of an isotropic substrate. We also determine the wavelength of the wrinkles at the critical stress, and show how the critical stress and wavelength depend on substrate depth and the anisotropy of the polymer chains in the nematic elastomer.

cond-mat.soft↗

arXiv2016

Sorting motile rods by activity

We show, through experiments and simulations, that geometrically polar granular rods, rendered active by the transduction of vertical vibration, undergo a collective trapping phase transition in the presence of a V-shaped obstacle when the opening angle drops below a threshold value. We propose a mechanism that accounts qualitatively for the transition, based on the cooperative reduction of angular noise with increasing area fraction. We exploit the sensitivity of trapping to the persistence of directed motion to sort particles based on the statistical properties of their activity.

cond-mat.soft↗

arXiv2015

Anisotropic Isometric Fluctuation Relations in experiment and theory on a self-propelled rod

The Isometric Fluctuation Relation (IFR) [P.I. Hurtado et al., PNAS 108, 7704 (2011)] relates the relative probability of current fluctuations of fixed magnitude in different spatial directions. We test its validity in an experiment on a tapered rod, rendered motile by vertical vibration and immersed in a sea of spherical beads. We analyse the statistics of the velocity vector of the rod and show that they depart significantly from the IFR of Hurtado et al. Aided by a Langevin-equation model we show that our measurements are largely described by an anisotropic generalization of the IFR [R. Villavicencio et al., EPL 105, 30009 (2014)], with no fitting parameters, but with a discrepancy in the prefactor whose origin may lie in the detailed statistics of the microscopic noise. The experimentally determined Large-Deviation Function of the velocity vector has a kink on a curve in the plane.

cond-mat.soft↗

arXiv2014

Flocking at a distance in active granular matter

The self-organised motion of vast numbers of creatures in a single direction is a spectacular example of emergent order. We recreate this phenomenon using actuated non-living components. We report here that millimetre-sized tapered rods, rendered motile by contact with an underlying vibrated surface and interacting through a medium of spherical beads, undergo a phase transition to a state of spontaneous alignment of velocities and orientations above a threshold bead area fraction. Guided by a detailed simulation model, we construct an analytical theory of this flocking transition, with two ingredients: a moving rod drags beads; neighbouring rods reorient in the resulting flow like a weathercock in the wind. Theory and experiment agree on the structure of our phase diagram in the plane of rod and bead concentrations and power-law spatial correlations near the phase boundary. Our discovery suggests possible new mechanisms for the collective transport of particulate or cellular matter.

cond-mat.soft↗

arXiv2010

Optical tweezer for probing erythrocyte membrane deformability

We report that the average rotation speed of optically trapped crenated erythrocytes is direct signature of their membrane deformability. When placed in hypertonic buffer, discocytic erythrocytes are subjected to crenation. The deformation of cells brings in chirality and asymmetry in shape that make them rotate under the scattering force of a linearly polarized optical trap. A change in the deformability of the erythrocytes, due to any internal or environmental factor, affects the rotation speed of the trapped crenated cells. Here we show how the increment in erythrocyte membrane rigidity with adsorption of $Ca^{++}$ ions can be exhibited through this approach.

physics.bio-ph↗