Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect immutable environmental constraints. Consequently, while these agents implicitly function as world models, their simulations often suffer from physical hallucinations—generating plans that are logically sound but physically unexecutable. Existing alignment strategies predominantly rely on resource-intensive training or fine-tuning, which attempt to compress dynamic environmental rules into static model parameters. However, such parametric encapsulation is inherently rigid, struggling to adapt to the open-ended variability of environmental dynamics without continuous, costly retraining. To solve this fundamental misalignment between semantic planning and environmental reality without relying on parameter updates, we introduce WorldMind, a framework that autonomously constructs a symbolic World Knowledge Repository by synthesizing environmental feedback. Specifically, it unifies Process Experience to enforce semantic physical feasibility via prediction errors and Goal Experience to guide task optimality through successful trajectories. Experiments on EB-ALFRED and EB-Habitat demonstrate that WorldMind achieves the best performance compared to baselines, exhibiting remarkable cross-model and cross-environment transferability.

We introduce OceanGym, the first comprehensive benchmark for underwater embodied agents, designed to advance AI in one of the most demanding real-world environments. OceanGym features eight realistic task domains and a unified agent framework driven by Multimodal Large Language Models (MLLMs) that integrates perception, memory, and sequential decision-making. Agents must follow natural language instructions, interpret optical and sonar inputs, autonomously explore complex environments, and achieve long-horizon goals. Extensive experiments reveal a significant performance gap between state-of-the-art MLLM-driven agents and human experts, underscoring persistent challenges in perception, planning, and adaptation underwater. By offering a high-fidelity, rigorously designed platform, OceanGym establishes a testbed for robust embodied AI and represents a foundational step toward sim-to-real transfer on Autonomous Underwater Vehicles (AUVs), marking progress toward agents capable of operating in one of Earth’s last unexplored frontiers.

Slow-thinking Large Language Models (LLMs) have demonstrated strong reasoning capabilities but often suffer from severe hallucinations due to an inability to recognize their knowledge boundaries. Existing Reinforcement Learning (RL) approaches typically rely on outcome-oriented rewards, which can inadvertently reinforce fabricated reasoning paths when the final answer is correct. To address this, we propose Knowledge-enhanced RL, KnowRL, a framework that integrates factual supervision directly into the reasoning process. By decomposing the chain of thought into atomic facts and verifying them against the corresponding ground-truth knowledge, KnowRL performs fine-grained checks to encourage models to reason faithfully. Crucially, this process-oriented supervision teaches the model to identify its knowledge boundaries, learning to say “I don’t know” instead of fabricating answers when information is missing. Experimental results demonstrate that KnowRL effectively mitigates hallucinations—reducing the Incorrect Rate on SimpleQA by 20.3% for distillation-based slow-thinking models while maintaining strong performance on complex reasoning benchmarks like GPQA and AIME 2025. Furthermore, our method shows robust transferability to out-of-distribution tasks, indicating that the model learns a generalizable verification behavior.

Large Language Models (LLMs) have achieved considerable performance across various agentic planning tasks. However, traditional approaches adopt a “flood irrigation” methodology that indiscriminately injects gold trajectories, external feedback, and domain knowledge into agent models. This practice overlooks the fundamental human cognitive principle of self-awareness - the ability to dynamically assess situational demands and strategically employ resources during decision-making. We propose Agentic Knowledgeable Self-awareness to address this gap, a novel paradigm enabling LLM-based agents to autonomously regulate knowledge utilization. Specifically, we propose KnowSelf, a data-centric approach that applies agents with knowledgeable self-awareness like humans. Concretely, we devise a heuristic situation judgement criterion to mark special tokens on the agent’s self-explored trajectories for collecting training data. Through a two-stage training process, the agent model can switch between different situations by generating specific special tokens, achieving optimal planning effects with minimal costs. Our experiments demonstrate that can outperform various strong baselines on different tasks and models with minimal use of external knowledge.