Apple Machine Learning Research

Most current vision-language-action (VLA) models—such as OpenVLA, π0, RT-2, and RDT-1B—are “monolithic.” This means they generate raw motor commands or very short sequences of actions, without organizing behaviors into reusable, well-defined abstractions. As a result, these models perform poorly on long-horizon (multi-step) tasks, and it’s difficult to interpret what they have l...

Evaluating AI agents that use external tools requires realistic test scenarios that capture how practitioners compose tools and iterate across conversation turns. Constructing such scenarios by hand demands deep domain expertise, does not scale across tool ecosystems, and produces static benchmarks that cannot track evolving APIs. We observe that tool specifications—function nam...

Modern AI systems are being deployed in complex domains such as medicine, science, and law, where there is often not a single correct answer given the observed evidence. Such systems must be able to represent and update uncertain beliefs about the world as new evidence arrives to make rational decisions. We introduce the novel technique of studying LLMs as information processing...

Designing effective reward signals for open-domain question answering is challenging because high-quality responses must simultaneously satisfy multiple aspects of answer quality that are difficult to capture with a holistic scalar objective. We introduce a rubric-based reward framework that generates query-specific rubrics grounded in retrieved evidence and decomposed into mult...

High-fidelity image-to-3D generation requires a 3D representation that captures both geometry and appearance. To support relighting and integration into standard rendering pipelines, the representation should include physically based rendering (PBR) modalities such as albedo, metallic-roughness, and surface normals. We propose Luce, a 3D representation that unifies geometry and ...