arXiv subjects

Robert Zhang

Publications and source records attributed to Robert Zhang.

12 recordsLinked to original sources

arXiv2026

Harbor Adapters and Harbor-Index: Infrastructure and a Curated Meta-Dataset for Large-Scale Agentic Evaluation

Evaluating agents on the growing number of agentic benchmarks is challenging because they often require complex environments and agent integrations. We introduce Harbor Adapters, a unified evaluation infrastructure for agentic benchmarks. Our work makes three contributions. First, we develop benchmark adapters that port more than 80 benchmarks to evaluate arbitrary agents, and validate them through rigorous code review and parity experiments. Second, we conduct a large-scale evaluation of 8 models spanning capability tiers across 54 benchmarks; every model is run with Terminus-2 and with one of 3 native harnesses. This enables a broader analysis of agent capabilities and failure modes than was previously possible. Third, we introduce Harbor-Index, a curated set of 82 difficult, diverse, and high-quality tasks spanning 29 benchmarks, refined from the adapted suite through difficulty filtering, AI and human audit, and an audit-and-fix loop. Harbor-Index preserves the challenge and breadth of large-scale agentic evaluations while being affordable to run; no evaluated model-harness configuration exceeds 30% pass rate, and the strongest (GPT-5.5 with Codex) reaches 28.0%. We release the adapters, evaluation results, in-depth analysis, and Harbor-Index as open-source artifacts to support more reliable and comprehensive evaluation of language-model agents.

cs.AI↗

arXiv2026

OpenThoughts-Agent: Data Recipes for Agentic Models

Agentic language models dramatically expand the applications of AI yet little is publicly known about how to curate training data for broadly capable agents. Existing open efforts such as SWE-Smith, SERA, and Nemotron-Terminal typically target a single benchmark, leaving open the question of how to train models that generalize across diverse agentic tasks. The OpenThoughts-Agent (OT-Agent) project addresses this gap with a fully open data curation pipeline for training agentic models. We conduct more than 100 controlled ablation experiments to systematically investigate each stage of the pipeline, yielding insights on the importance of task sources and diversity. We then assemble a training set of 100K examples from our pipeline and fine-tune Qwen3-32B on this dataset, which yields an average accuracy of 44.8% across seven agentic benchmarks and a 3.9 percentage point improvement over the strongest existing open data agentic model (Nemotron-Terminal-32B, 40.9%). Moreover, our training data exhibits strong scaling properties, outperforming alternative open datasets at every training set size in compute-controlled comparisons. We publicly release our training sets, data pipeline, experimental data, and models at openthoughts.ai to support future open research on agentic model training.

cs.AI↗

arXiv2026

Optimal Predicate Pushdown Synthesis

Predicate pushdown is a long-standing performance optimization that filters data as early as possible in a computational workflow. In modern data pipelines, this transformation is especially important because much of the computation occurs inside user-defined functions (UDFs) written in general-purpose languages such as Python and Scala. These UDFs capture rich domain logic and complex aggregations and are among the most expensive operations in a pipeline. Moving filters ahead of such UDFs can yield substantial performance gains, but doing so requires semantic reasoning. This paper introduces a general semantic foundation for predicate pushdown over stateful fold-based computations. We view pushdown as a correspondence between two programs that process different subsets of input data, with correctness witnessed by a bisimulation invariant relating their internal states. Building on this foundation, we develop a sound and relatively complete framework for verification, alongside a synthesis algorithm that automatically constructs optimal pushdown decompositions by finding the strongest admissible pre-filters and weakest residual post-filters. We implement this approach in a tool called Pusharoo and evaluate it on 150 real-world pandas and Spark data-processing pipelines. Our evaluation shows that Pusharoo is significantly more expressive than prior work, producing optimal pushdown transformations with a median synthesis time of 1.6 seconds per benchmark. Furthermore, our experiments demonstrate that the discovered pushdown optimizations speed up end-to-end execution by an average of 2.4$\times$ and up to two orders of magnitude.

cs.PL↗

arXiv2026

Terminal-Bench: Benchmarking Agents on Hard, Realistic Tasks in Command Line Interfaces

AI agents may soon become capable of autonomously completing valuable, long-horizon tasks in diverse domains. Current benchmarks either do not measure real-world tasks, or are not sufficiently difficult to meaningfully measure frontier models. To this end, we present Terminal-Bench 2.0: a carefully curated hard benchmark composed of 89 tasks in computer terminal environments inspired by problems from real workflows. Each task features a unique environment, human-written solution, and comprehensive tests for verification. We show that frontier models and agents score less than 65\% on the benchmark and conduct an error analysis to identify areas for model and agent improvement. We publish the dataset and evaluation harness to assist developers and researchers in future work at https://www.tbench.ai/ .

cs.SE↗

arXiv2025

CRUST-Bench: A Comprehensive Benchmark for C-to-safe-Rust Transpilation

C-to-Rust transpilation is essential for modernizing legacy C code while enhancing safety and interoperability with modern Rust ecosystems. However, no dataset currently exists for evaluating whether a system can transpile C into safe Rust that passes a set of test cases. We introduce CRUST-Bench, a dataset of 100 C repositories, each paired with manually-written interfaces in safe Rust as well as test cases that can be used to validate correctness of the transpilation. By considering entire repositories rather than isolated functions, CRUST-Bench captures the challenges of translating complex projects with dependencies across multiple files. The provided Rust interfaces provide explicit specifications that ensure adherence to idiomatic, memory-safe Rust patterns, while the accompanying test cases enforce functional correctness. We evaluate state-of-the-art large language models (LLMs) on this task and find that safe and idiomatic Rust generation is still a challenging problem for various state-of-the-art methods and techniques. We also provide insights into the errors LLMs usually make in transpiling code from C to safe Rust. The best performing model, OpenAI o1, is able to solve only 15 tasks in a single-shot setting. Improvements on CRUST-Bench would lead to improved transpilation systems that can reason about complex scenarios and help in migrating legacy codebases from C into languages like Rust that ensure memory safety. You can find the dataset and code at https://github.com/anirudhkhatry/CRUST-bench.

cs.SE↗

arXiv2025

Expanding on the BRIAR Dataset: A Comprehensive Whole Body Biometric Recognition Resource at Extreme Distances and Real-World Scenarios (Collections 1-4)

The state-of-the-art in biometric recognition algorithms and operational systems has advanced quickly in recent years providing high accuracy and robustness in more challenging collection environments and consumer applications. However, the technology still suffers greatly when applied to non-conventional settings such as those seen when performing identification at extreme distances or from elevated cameras on buildings or mounted to UAVs. This paper summarizes an extension to the largest dataset currently focused on addressing these operational challenges, and describes its composition as well as methodologies of collection, curation, and annotation.

cs.CV↗

arXiv2024

A Pure Demand Operational Semantics with Applications to Program Analysis

This paper develops a novel minimal-state operational semantics for higher-order functional languages that uses only the call stack and a source program point or a lexical level as the complete state information: there is no environment, no substitution, no continuation, etc. We prove this form of operational semantics equivalent to standard presentations. We then show how this approach can open the door to potential new applications: we define a program analysis as a direct finitization of this operational semantics. The program analysis that naturally emerges has a number of novel and interesting properties compared to standard program analyses for higher-order programs: for example, it can infer recurrences and does not need value widening. We both give a formal definition of the analysis and describe our current implementation.

cs.PL↗

arXiv2022

Expanding Accurate Person Recognition to New Altitudes and Ranges: The BRIAR Dataset

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

cs.CV↗

arXiv2022

STREAMLINE: A Simple, Transparent, End-To-End Automated Machine Learning Pipeline Facilitating Data Analysis and Algorithm Comparison

Machine learning (ML) offers powerful methods for detecting and modeling associations often in data with large feature spaces and complex associations. Many useful tools/packages (e.g. scikit-learn) have been developed to make the various elements of data handling, processing, modeling, and interpretation accessible. However, it is not trivial for most investigators to assemble these elements into a rigorous, replicatable, unbiased, and effective data analysis pipeline. Automated machine learning (AutoML) seeks to address these issues by simplifying the process of ML analysis for all. Here, we introduce STREAMLINE, a simple, transparent, end-to-end AutoML pipeline designed as a framework to easily conduct rigorous ML modeling and analysis (limited initially to binary classification). STREAMLINE is specifically designed to compare performance between datasets, ML algorithms, and other AutoML tools. It is unique among other autoML tools by offering a fully transparent and consistent baseline of comparison using a carefully designed series of pipeline elements including: (1) exploratory analysis, (2) basic data cleaning, (3) cross validation partitioning, (4) data scaling and imputation, (5) filter-based feature importance estimation, (6) collective feature selection, (7) ML modeling with `Optuna' hyperparameter optimization across 15 established algorithms (including less well-known Genetic Programming and rule-based ML), (8) evaluation across 16 classification metrics, (9) model feature importance estimation, (10) statistical significance comparisons, and (11) automatically exporting all results, plots, a PDF summary report, and models that can be easily applied to replication data.

cs.LG↗

arXiv2021

LCS-DIVE: An Automated Rule-based Machine Learning Visualization Pipeline for Characterizing Complex Associations in Classification

Machine learning (ML) research has yielded powerful tools for training accurate prediction models despite complex multivariate associations (e.g. interactions and heterogeneity). In fields such as medicine, improved interpretability of ML modeling is required for knowledge discovery, accountability, and fairness. Rule-based ML approaches such as Learning Classifier Systems (LCSs) strike a balance between predictive performance and interpretability in complex, noisy domains. This work introduces the LCS Discovery and Visualization Environment (LCS-DIVE), an automated LCS model interpretation pipeline for complex biomedical classification. LCS-DIVE conducts modeling using a new scikit-learn implementation of ExSTraCS, an LCS designed to overcome noise and scalability in biomedical data mining yielding human readable IF:THEN rules as well as feature-tracking scores for each training sample. LCS-DIVE leverages feature-tracking scores and/or rules to automatically guide characterization of (1) feature importance (2) underlying additive, epistatic, and/or heterogeneous patterns of association, and (3) model-driven heterogeneous instance subgroups via clustering, visualization generation, and cluster interrogation. LCS-DIVE was evaluated over a diverse set of simulated genetic and benchmark datasets encoding a variety of complex multivariate associations, demonstrating its ability to differentiate between them and then applied to characterize associations within a real-world study of pancreatic cancer.

cs.LG↗

arXiv2021

The Design of the User Interfaces for Privacy Enhancements for Android

We present the design and design rationale for the user interfaces for Privacy Enhancements for Android (PE for Android). These UIs are built around two core ideas, namely that developers should explicitly declare the purpose of why sensitive data is being used, and these permission-purpose pairs should be split by first party and third party uses. We also present a taxonomy of purposes and ways of how these ideas can be deployed in the existing Android ecosystem.

cs.CR↗

arXiv2018

A Fog Robotic System for Dynamic Visual Servoing

Cloud Robotics is a paradigm where distributed robots are connected to cloud services via networks to access unlimited computation power, at the cost of network communication. However, due to limitations such as network latency and variability, it is difficult to control dynamic, human compliant service robots directly from the cloud. In this work, by leveraging asynchronous protocol with a heartbeat signal, we combine cloud robotics with a smart edge device to build a Fog Robotic system. We use the system to enable robust teleoperation of a dynamic self-balancing robot from the cloud. We first use the system to pick up boxes from static locations, a task commonly performed in warehouse logistics. To make cloud teleoperation more efficient, we deploy image based visual servoing (IBVS) to perform box pickups automatically. Visual feedbacks, including apriltag recognition and tracking, are performed in the cloud to emulate a Fog Robotic object recognition system for IBVS. We demonstrate the feasibility of real-time dynamic automation system using this cloud-edge hybrid, which opens up possibilities of deploying dynamic robotic control with deep-learning recognition systems in Fog Robotics. Finally, we show that Fog Robotics enables the self-balancing service robot to pick up a box automatically from a person under unstructured environments.

cs.RO↗