As large language models increasingly act through external tools, deciding when to call a tool has become a central problem alongside deciding how to use it. Unnecessary tool calls introduce latency, cost, retrieval noise, and error propagation, while missed calls hurt knowledge-intensive queries or questions requiring up-to-date evidence. Existing methods typically trigger tools from absolute query or generation signals, such as difficulty, confidence, or final task reward, and therefore lack an explicit estimate of the instance-level marginal benefit of tool use. We propose CoBRA, a counterfactual boundary-learning framework for tool-augmented language models. CoBRA first constructs internal and external experts from the same base model, collects paired trajectories, and estimates the reward margin between answering with and without tools. This margin partitions data into internal-favored, external-favored, and ambiguous cases. CoBRA then uses clear-margin samples for Boundary-Aware Cold-Start SFT, followed by MARS-RL with reference-split rollouts and counterfactual marginal advantages to optimize boundary decisions. Experiments with retrieval as the main tool on Qwen3-4B show that CoBRA improves tool-use efficiency and boundary-sensitive answer accuracy while maintaining strong performance on tool-dependent out-of-distribution questions.

Real-time voice agents face a tension: end-to-end models often lack deep reasoning, while cascaded ASR–LLM–TTS pipelines achieve stronger reasoning but defer LLM inference until after ASR finalizes the transcript, creating an avoidable post–turn-end silent gap. We target this gap under complex spoken requests that admit a relatively determinate answer, and treat it as system-induced rather than communicatively motivated. Existing cascaded streaming strategies attempt to reduce it via mechanical segmentation (e.g., fixed chunks, VAD-based splitting) or speculative generation, but they frequently either break semantic units or waste computation on predictions that must be rolled back. We propose LTS-VoiceAgent, a Listen–Think–Speak framework that explicitly separates when to think from how to reason incrementally. It features a Dynamic Semantic Trigger to detect meaningful prefixes, and a Dual-Role Stream Orchestrator that coordinates a background Thinker (for state maintenance) and a foreground Speaker (for speculative solving). This parallel design enables "thinking while listening" without committing audible content before turn end. We also introduce a Pause-and-Repair benchmark that injects natural disfluencies as a semantic-level streaming stress test. Experiments across VERA, Spoken-MQA, BigBenchAudio, and our benchmark show that LTS-VoiceAgent achieves a stronger accuracy–latency–efficiency trade-off than serial cascaded baselines and existing streaming strategies.