Test-time reasoning methods such as iterative refinement, decomposition, and repeated sampling are often evaluated in isolation, making their gains difficult to compare across models, benchmarks, and evaluation pipelines. We introduce a unified view of these methods as recursion operators over an agent's reasoning trace: GROW, which deepens a single reasoning path; PRUNE, which decomposes and recomposes the problem; and BRANCH, which samples alternative reasoning paths and selects among them. We evaluate all three operators against a single-pass chain-of-thought baseline under a shared harness with identical prompts, token budgets, and grading code. Across five benchmarks and three frontier models, comprising 14 model-benchmark settings, 49,327 graded items, and 151,876 model calls, BRANCH improves accuracy in all 14 settings by an average of 5.98 percentage points and is the best-performing operator in 12. In contrast, GROW yields a mean gain of 2.18 points and degrades performance in two settings, while PRUNE improves accuracy by 0.94 points on average. Analysis shows that BRANCH's advantage arises not only from exploring multiple reasoning paths, but also from recovering from truncation: its gains strongly correlate with the baseline rate of empty, budget-exhausted outputs (r = 0.72). These results weaken the hypothesis that different problems require routing among test-time reasoning operators; at this level of abstraction, repeated branching is consistently dominant. Finally, we show that unpaired evaluation and treating scoring-pipeline failures as model errors can materially change, and even reverse, comparative conclusions, motivating paired scoring as a standard protocol for test-time-compute evaluation.
Test-time reasoning is increasingly used as a serving-time control knob, but extra reasoning is not uniformly valuable: it can repair failed attempts, waste compute on already-correct answers, or introduce harmful answer changes. We study this as a deployment allocation problem rather than a new-verifier problem. We introduce \sevra, Selective Verification for Reasoning Allocation, a serving-layer controller that decides whether to preserve a frozen solver's initial answer or invoke active verification. Using a frozen Qwen3-4B solver, we log intervention outcomes and train recoverability-aware gates from serving-visible attempt state. On \mathfive, selective verification reaches 76.3\% accuracy, compared with 75.5\% for always verifying, while reducing post-generation tokens by 26.8\% and harmful flips from 2.2\% to 1.0\%. However, an 8,192-token initial solve reaches 76.0\% accuracy with 28\% fewer total model tokens, showing that selective recovery is useful but not the best tested cost frontier. In frozen transfer to \gsm, the selective policy verifies only 3.0\% of examples, improves accuracy from 93.4\% to 94.5\%, and reduces verification tokens by 91.2\% relative to always verifying; again, a longer initial solve matches its accuracy with fewer realized tokens. On CommonsenseQA, always-on verification hurts, while Self-Consistency@5 improves accuracy at about five times the realized token cost. The resulting deployment rule is: tune the initial budget first, then use selective recovery when explicit checks, bounded retries, auditability, or regression-risk control matter.
Open-world mapless navigation from sparse language instructions requires resolving underspecified goals and inferring which environmental cues are relevant for reaching the goal. For instance, reaching an out-of-view destination may require interpreting ramps, signs, or detours that reveal where to go or which route to take. Prior works are limited by their reliance on known navigation factors and closed-set factor categories, or identify cues before motion planning and miss plan-dependent cues. We argue that pretrained Vision-Language Models (VLMs) can discover novel instruction-relevant cues, but require adaptation to focus on which cues matter and how they should influence motion planning. We realize these ideas in Foresight, a test-time framework in which a finetuned VLM alternates between proposing image-space motion plans and critiquing them using the language goal and visual context. Subsequent plans are conditioned on prior critiques, enabling iterative motion refinement before execution. To align plan critiques and refinements with open-set behavior preferences, we learn a reward model from human feedback and use it to post-train the VLM with reinforcement learning in the plan-critique loop. In offline evaluations and 6 real-world environments, Foresight improves average task success by 37% and reduces interventions per mission by 52% relative to state-of-the-art test-time reasoning and foundation-model baselines, while running in real-time on a Jetson AGX Orin. We will release code, data, and training details to support future work on test-time reasoning for robot motion refinement. Additional videos at: https://amrl.cs.utexas.edu/foresight
In this report, we present our solution for Track 2 of the CVPR 2026 VidLLMs Challenge. This track evaluates visual relational reasoning in videos, where models must infer relations that are not always explicitly visible. We propose Answer Self-Consistency with Margin-Triggered Question Re-Arbitration (ASC-MQRA), a training-free test-time reasoning framework built on a multimodal reasoning model. The core ASC component performs multiple stochastic video question-answering runs and aggregates their answer choices through answer-level self-consistency. This substantially improves over single-pass inference and forms our final test submission. We further study MQRA, a conditional re-arbitration module for low-margin examples where the first-stage vote distribution indicates uncertainty. Our vote-margin analysis shows that low-margin examples often retain the ground-truth answer among the top candidates, motivating MQRA to narrow the candidate set and re-watch the video only over the retained candidates. On validation, MQRA further improves over ASC, indicating that low-margin vote distributions can provide a useful uncertainty signal. On test, however, MQRA slightly degrades performance relative to ASC, suggesting that re-arbitration is sensitive to the size and category distribution of the triggered subset. Our final test submission therefore uses ASC without re-arbitration, achieving 72.73 average accuracy and 78.34 category-wise macro average accuracy on validation, and 81.16 average accuracy and 80.91 category-wise macro average accuracy on test. This report details our prompting strategy, implementation setup, ablation studies, and diagnostic analyses. The code is available at https://github.com/data-analytics-labo/ASC-MQRA
The VRR-QA challenge evaluates visual relational reasoning in videos, where answers often depend on implicit spatial relations, event boundaries, target identity, and dialogue context rather than a single salient frame. We present a test-time reasoning pipeline built around a strong GPT-5.5 video QA solver and a set of question-aware evidence ledgers. The initial solver answers each question from a uniform video representation, while routed ledgers are prompted to make the required targets, count units, reference frames, and temporal or spatial scope explicit for counting, spatial, endpoint, viewpoint, and dialogue reasoning. External tools such as open-vocabulary detection, depth cues, pair crops, ASR, and scene-graph ledgers are used only as evidence sources. A conservative gate keeps the current answer unless independent evidence uniquely supports a different option. The final evidence-gated pipeline achieves 92.95% overall accuracy and 93.79% macro accuracy on the challenge test split.
Task-based dialogue systems assist users in achieving specific goals, such as executing actions or retrieving information, through natural language interactions. Accurate coreference resolution is essential, as it involves identifying object references within the dialogue - a task that becomes increasingly challenging in visually grounded environments characterized by complex scenes and diverse object metadata. However, coreference resolution in task-based dialogue remains limited by poor generalization across domains and heavy reliance on supervised models that often overfit to dataset-specific artifacts. In this work, we propose a unimodal test-time reasoning approach that enables large language models (LLMs) to reason over detailed object metadata and dialogue history to improve coreference resolution. Empirical results on the SIMMC 2.1 dataset demonstrate that LLMs can generate step-by-step reasoning processes that effectively align dialogue context with objects present in the scene. Extensive experiments highlight the models' ability to link conversations and objects accurately. Moreover, we show that test-time reasoning under few-shot settings generalizes effectively to unseen scenarios and novel objects, outperforming encoder-based supervised methods in cross-domain evaluations. These findings underscore the critical role of structured metadata and careful prompt engineering in enhancing the robustness and generalization of task-oriented dialogue systems.