This abstract was accepted to and presented at the "Multi-Agent Cooperative Systems and Swarm Robotics in the Era of Generative AI" (MACRAI) workshop at the 2025 IEEE/RSJ Int. Abstract--Our recently introduced self-organizing nervous system (SoNS) provides robot swarms with 1) ease of behavior design and 2) global estimation of the swarm configuration and its collective environment, facilitating the implementation of online automatic code generation for robot swarms. In a demonstration with 6 real robots and simulation trials with >30 robots, we show that when a SoNS-enhanced robot swarm gets stuck, it can automatically solicit and run code generated by an external LLM on the fly, completing its mission with an 85% success rate. Swarm robotics research has demonstrated that many sophisticated behaviors with a large number of robots can be accomplished in a fully self-organized manner [1], but these fully self-organized behaviors have been slow to transfer to real applications. One reason for this is the fact that robots in a swarm are programmed at the individual level but the desired behavior occurs at the group level, and the design of fully self-organized group behaviors is often analytically intractable [2], [3], requiring extensive trial-and-error testing.

Language models have shown remarkable proficiency in code generation; nevertheless, ensuring type correctness remains a challenge. Although traditional methods, such as constrained decoding, alleviate this problem by externally rejecting untypable code, the model itself does not effectively learn type reasoning internally, which ultimately limits its overall performance. This paper introduces TyFlow, a novel system that internalizes type reasoning within code generation to guide the model to learn the type system. The core of our approach is a novel type-guided program synthesis system that maintains an isomorphism between type derivation trees and synthesis derivation trees, enabling a new code representation based on synthesis decision sequences rather than traditional text-based token sequences. By offloading the complexity of type system learning to the representation itself, models can redirect their computational resources toward higher-level program semantics. Our evaluation shows that TyFlow not only eliminates type errors but also significantly improves functional correctness, highlighting the importance of aligning LMs with type systems internally.

Establishing shared goals is a fundamental step in human-AI communication. However, ambiguities can lead to outputs that seem correct but fail to reflect the speaker's intent. In this paper, we explore this issue with a focus on the data visualization domain, where ambiguities in natural language impact the generation of code that visualizes data. The availability of multiple views on the contextual (e.g., the intended plot and the code rendering the plot) allows for a unique and comprehensive analysis of diverse ambiguity types. We develop a taxonomy of types of ambiguity that arise in this task and propose metrics to quantify them. Using Matplotlib problems from the DS-1000 dataset, we demonstrate that our ambiguity metrics better correlate with human annotations than uncertainty baselines. Our work also explores how multi-turn dialogue can reduce ambiguity, therefore, improve code accuracy by better matching user goals. We evaluate three pragmatic models to inform our dialogue strategies: Gricean Cooperativity, Discourse Representation Theory, and Questions under Discussion. A simulated user study reveals how pragmatic dialogues reduce ambiguity and enhance code accuracy, highlighting the value of multi-turn exchanges in code generation.

We conduct a preliminary study on finding a proper prompt construction strategy. Further research can utilize our analysis to construct more powerful code prompts. Table 1: Code prompt study results of CBS. N" means there are one human-relevant function Table 2: Automatic and human evaluation results of social biases in the generated code on GPT -4. We also conduct experiments on GPT -4.

We propose a new paradigm to construct code prompts and successfully uncover social biases in code generation models.

Current search techniques are limited to standard RAG query-document applications. In this paper, we propose a novel technique to expand the code and index for predicting the required APIs, directly enabling high-quality, end-to-end code generation for auto-completion and agentic AI applications. We address the problem of API leaks in current code-to-code benchmark datasets by introducing a new dataset built from real-world ServiceNow Script Includes that capture the challenge of unclear API usage intent in the code. Our evaluation metrics show that this method achieves 87.86% top-40 retrieval accuracy, allowing the critical context with APIs needed for successful downstream code generation. To enable real-time predictions, we develop a comprehensive post-training pipeline that optimizes a compact 0.6B reranker through synthetic dataset generation, supervised fine-tuning, and reinforcement learning. This approach enables our compact reranker to outperform a much larger 8B model while maintaining 2.5x reduced latency, effectively addressing the nuances of enterprise-specific code without the computational overhead of larger models.

Abstract--SAP has released its own proprietary generative model SAP Joule, intended for various generative tasks, including serving as a code assistant for software engineers. While Joule is yet not focused on SAP-specific ABAP code generation, it can be used for other common languages, including Javascript. This paper compares SAP Joules Javascript coding capabilities against a total of 29 other models using the HumanEval-X Javascript benchmark. SAP Joule achieves a strict accuracy of 80.49% as the fifth best model in our evaluation. T o the best of our knowledge, this is the first comparative evaluation of SAP Joule code generation capabilities.

LLM-powered code generation has the potential to revolutionize creative coding endeavors, such as live-coding, by enabling users to focus on structural motifs over syntactic details. In such domains, when prompting an LLM, users may benefit from considering multiple varied code candidates to better realize their musical intentions. Code generation models, however, struggle to present unique and diverse code candidates, with no direct insight into the code's audio output. To better establish a relationship between code candidates and produced audio, we investigate the topology of the mapping between code and audio embedding spaces. We find that code and audio embeddings do not exhibit a simple linear relationship, but supplement this with a constructed predictive model that shows an embedding alignment map could be learned. Supplementing the aim for musically diverse output, we present a model that given code predicts output audio embedding, constructing a code-audio embedding alignment map.

In this work, we address the task of table image to LaTeX code generation, with the goal of automating the reconstruction of high-quality, publication-ready tables from visual inputs. A central challenge of this task lies in accurately handling complex tables -- those with large sizes, deeply nested structures, and semantically rich or irregular cell content -- where existing methods often fail. We begin with a comprehensive analysis, identifying key challenges and highlighting the limitations of current evaluation protocols. To overcome these issues, we propose a reinforced multimodal large language model (MLLM) framework, where a pre-trained MLLM is fine-tuned on a large-scale table-to-LaTeX dataset. To further improve generation quality, we introduce a dual-reward reinforcement learning strategy based on Group Relative Policy Optimization (GRPO). Unlike standard approaches that optimize purely over text outputs, our method incorporates both a structure-level reward on LaTeX code and a visual fidelity reward computed from rendered outputs, enabling direct optimization of the visual output quality. We adopt a hybrid evaluation protocol combining TEDS-Structure and CW-SSIM, and show that our method achieves state-of-the-art performance, particularly on structurally complex tables, demonstrating the effectiveness and robustness of our approach.

Multimodal Large Language Models have demonstrated exceptional performance in UI2Code tasks, significantly enhancing website development efficiency. However, these tasks incur substantially higher computational overhead than traditional code generation due to the large number of input image tokens and extensive output code tokens required. Our comprehensive study identifies significant redundancies in both image and code tokens that exacerbate computational complexity and hinder focus on key UI elements, resulting in excessively lengthy and often invalid HTML files. We propose EfficientUICoder, a compression framework for efficient UI code generation with three key components. First, Element and Layout-aware Token Compression preserves essential UI information by detecting element regions and constructing UI element trees. Second, Region-aware Token Refinement leverages attention scores to discard low-attention tokens from selected regions while integrating high-attention tokens from unselected regions. Third, Adaptive Duplicate Token Suppression dynamically reduces repetitive generation by tracking HTML/CSS structure frequencies and applying exponential penalties. Extensive experiments show EfficientUICoderachieves a 55%-60% compression ratio without compromising webpage quality and delivers superior efficiency improvements: reducing computational cost by 44.9%, generated tokens by 41.4%, prefill time by 46.6%, and inference time by 48.8% on 34B-level MLLMs. Code is available at https://github.com/WebPAI/EfficientUICoder.