Showing 1–12 of 12 results for author: Magka, D

AI Research Preference Models

Authors: Thomas Simon Foster, Bassel Al Omari, Tingchen Fu, Thomas Mann, Carl Domond, Lucia Cipolina-Kun, Bhavul Gauri, Muna Aghamelu, Alexander D. Goldie, Eryk Helenowski, Jean-Christophe Gagnon-Audet, Alberto Pepe, Saba Nazir, Daniel Izcovich, Noam Levi, Rishi Hazra, Karen Hambardzumyan, Nicolas Baldwin, Xian Li, Martin Josifoski, Paris Giampouras, Masoud Jalili Sabet, Anya Sims, Hela Momand, Tatiana Shavrina , et al. (8 additional authors not shown)

Abstract: AI research agents (AIRA) can now propose, implement, and evaluate their own machine learning experiments, but progress on frontier tasks is throttled by cost: a candidate solution can be written in minutes, whereas evaluating it can take hours to days of GPU time. An agent can therefore propose far more candidates than it can afford to run, and its progress depends on its research preference: how… ▽ More AI research agents (AIRA) can now propose, implement, and evaluate their own machine learning experiments, but progress on frontier tasks is throttled by cost: a candidate solution can be written in minutes, whereas evaluating it can take hours to days of GPU time. An agent can therefore propose far more candidates than it can afford to run, and its progress depends on its research preference: how it allocates a fixed execution budget across many candidates. We introduce AI Research Preference Models (RPMs) that predict which of multiple candidate solutions are most worth executing, without paying the cost of executing them all. We build RPMs from frozen pretrained language models (with no task-specific training), in two forms: an inference-only model that reasons over candidate plans, code, and prior executed solutions, and an agentic model that additionally runs small-scale pilot experiments before deciding. We integrate both into the AIRA-dojo search agent and evaluate on AIRS-Bench, a recent benchmark of machine learning research tasks for AI research agents. The two variants raise the average normalized score from 0.684 to 0.711 and 0.729 respectively, and reach the unguided agent's 24-hour performance in roughly 15 hours, using less than two-thirds of its execution budget. Our best RPMs also yield new state-of-the-art results on two AIRS-Bench tasks. △ Less

Submitted 14 August, 2026; originally announced August 2026.

Comments: 34 pages, 17 figures, 6 tables

Muse Spark Safety & Preparedness Report

Authors: Cristina Menghini, Peter Ney, Hamza Kwisaba, Zifan, Wang, Miles Turpin, Felix Binder, Jean-Christophe Testud, Aidan Boyd, Nathaniel Li, Ivan Evtimov, Klaudia Krawiecka, Arman Zharmagambetov, Jeremy Kritz, Alexander R. Fabbri, Daniel Song, Jinpeng Miao, Joonas Hjelt, Meghna Ramani, Leona Lan, Reza Aghajani, Joanna Bitton, Mahesh Pasupuleti, Devin Norder, Khalid El-Arini , et al. (95 additional authors not shown)

Abstract: Muse Spark is the latest large language model developed by Meta. In this report, we first present evaluations for catastrophic risk domains under Meta's Advanced AI Scaling Framework, along with the evidence that informed our launch decision. We then discuss additional considerations, such as Muse Spark's broader content safety and behavioral profile, that are relevant to overall safety but fall o… ▽ More Muse Spark is the latest large language model developed by Meta. In this report, we first present evaluations for catastrophic risk domains under Meta's Advanced AI Scaling Framework, along with the evidence that informed our launch decision. We then discuss additional considerations, such as Muse Spark's broader content safety and behavioral profile, that are relevant to overall safety but fall outside the catastrophic risk domains governed by the Framework. Our preparedness results covering Chemical and Biological, Cybersecurity, and Loss of Control risks assess Muse Spark's deployment within Meta AI as presenting acceptable levels of residual risks under our Advanced AI Scaling Framework. We conducted a broad set of evaluations targeting dual-use and high-risk capabilities across these catastrophic risk domains. Those evaluations identified elevated risks prior to mitigations, with Chemical and Biological capabilities assessed as likely reaching the "high risk" category under the Advanced AI Scaling Framework before safeguards were applied. We have implemented a multi-layered set of mitigations that address the identified risks, and Muse Spark demonstrates state-of-the-art refusal across a range of benchmarks related to hazardous workflows in chemistry and biology. We therefore release Muse Spark as the underlying model of Meta AI. △ Less

Submitted 14 May, 2026; originally announced June 2026.

Comments: 159 pages, 57 figures

Agentic Discovery of Neural Architectures: AIRA-Compose and AIRA-Design

Authors: Alberto Pepe, Chien-Yu Lin, Despoina Magka, Bilge Acun, Yannan Nellie Wu, Anton Protopopov, Carole-Jean Wu, Yoram Bachrach

Abstract: Toward recursive self-improvement, we investigate LLM agents autonomously designing foundation models beyond standard Transformers. We introduce a dual-framework approach: AIRA-Compose for high-level architecture search, and AIRA-Design for low-level mechanistic implementation. AIRA-Compose uses 11 agents to explore fundamental computational primitives under a 24-hour budget. Agents evaluate milli… ▽ More Toward recursive self-improvement, we investigate LLM agents autonomously designing foundation models beyond standard Transformers. We introduce a dual-framework approach: AIRA-Compose for high-level architecture search, and AIRA-Design for low-level mechanistic implementation. AIRA-Compose uses 11 agents to explore fundamental computational primitives under a 24-hour budget. Agents evaluate million-parameter candidates, extrapolating top designs to 350M, 1B, and 3B scales. This yields 14 architectures across two families: AIRAformers (Transformer-based) and AIRAhybrids (Transformer-Mamba). Pre-trained at 1B scale, these consistently outperform Llama 3.2 and Composer-found baselines. On downstream tasks, AIRAformer-D and AIRAhybrid-D improve accuracy by 2.4% and 3.8% over Llama 3.2. Furthermore, AIRA-Compose finds models with highly efficient scaling frontiers: AIRAformer-C scales 54% and 71% faster than Llama 3.2 and Composer's best Transformer, while AIRAhybrid-C outscales Nemotron-2 by 23% and Composer's best hybrid by 37%. AIRA-Design tasks 20 agents with writing novel attention mechanisms for long-range dependencies and high-performing training scripts. On the Long Range Arena benchmark, agent-designed architectures reach within 2.3% and 2.6% of human state-of-the-art on document matching and text classification. On the Autoresearch benchmark, Greedy Opus 4.5 achieves 0.968 validation bits-per-byte under a fixed time budget, surpassing the published minimum. Together, these frameworks show AI agents can autonomously discover architectures and algorithmic optimizations matching or surpassing hand-designed baselines. This establishes a powerful paradigm for discovering next-generation foundation models, marking a clear step toward recursive self-improvement. △ Less

Submitted 15 May, 2026; originally announced May 2026.

Comments: 55 pages, 28 figures, 21 tables

MSC Class: 68T07; 68T42 ACM Class: I.2.6; I.2.11

AIRA_2: Overcoming Bottlenecks in AI Research Agents

Authors: Karen Hambardzumyan, Nicolas Baldwin, Edan Toledo, Rishi Hazra, Michael Kuchnik, Bassel Al Omari, Thomas Simon Foster, Anton Protopopov, Jean-Christophe Gagnon-Audet, Ishita Mediratta, Kelvin Niu, Michael Shvartsman, Alisia Lupidi, Alexis Audran-Reiss, Parth Pathak, Tatiana Shavrina, Despoina Magka, Hela Momand, Derek Dunfield, Nicola Cancedda, Pontus Stenetorp, Carole-Jean Wu, Jakob Nicolaus Foerster, Yoram Bachrach, Martin Josifoski

Abstract: Existing research has identified three structural performance bottlenecks in AI research agents: (1) synchronous single-GPU execution constrains sample throughput, limiting the benefit of search; (2) a generalization gap where validation-based selection causes overfitting and performance to degrade over extended search horizons; and (3) the limited capability of fixed, single-turn LLM operators im… ▽ More Existing research has identified three structural performance bottlenecks in AI research agents: (1) synchronous single-GPU execution constrains sample throughput, limiting the benefit of search; (2) a generalization gap where validation-based selection causes overfitting and performance to degrade over extended search horizons; and (3) the limited capability of fixed, single-turn LLM operators imposes a ceiling on search performance. We introduce AIRA$_2$, which addresses these bottlenecks through three architectural choices: an asynchronous multi-GPU worker pool that increases experiment throughput linearly; a Hidden Consistent Evaluation protocol that delivers a reliable evaluation signal; and ReAct agents that dynamically scope their actions and debug interactively. On MLE-bench-30, AIRA$^{\dagger}_{2}$ achieves a mean Percentile Rank of 81.5% at 24 hours and 83.1% at 72 hours, outperforming the strongest baseline, which achieves 72.7%. On AIRS-Bench, AIRA$_2$ exceeds human state-of-the-art on 6 out of 20 diverse research tasks. Ablations confirm that each architectural component is necessary, that performance follows a predictable scaling law that transfers across LLM backbones, and that the "overfitting" reported in prior work was driven by evaluation noise rather than true data memorization. △ Less

Submitted 13 April, 2026; v1 submitted 27 March, 2026; originally announced March 2026.

APRES: An Agentic Paper Revision and Evaluation System

Authors: Bingchen Zhao, Jenny Zhang, Chenxi Whitehouse, Minqi Jiang, Michael Shvartsman, Abhishek Charnalia, Despoina Magka, Tatiana Shavrina, Derek Dunfield, Oisin Mac Aodha, Yoram Bachrach

Abstract: Scientific discoveries must be communicated clearly to realize their full potential. Without effective communication, even the most groundbreaking findings risk being overlooked or misunderstood. The primary way scientists communicate their work and receive feedback from the community is through peer review. However, the current system often provides inconsistent feedback between reviewers, ultima… ▽ More Scientific discoveries must be communicated clearly to realize their full potential. Without effective communication, even the most groundbreaking findings risk being overlooked or misunderstood. The primary way scientists communicate their work and receive feedback from the community is through peer review. However, the current system often provides inconsistent feedback between reviewers, ultimately hindering the improvement of a manuscript and limiting its potential impact. In this paper, we introduce a novel method APRES powered by Large Language Models (LLMs) to update a scientific papers text based on an evaluation rubric. Our automated method discovers a rubric that is highly predictive of future citation counts, and integrate it with APRES in an automated system that revises papers to enhance their quality and impact. Crucially, this objective should be met without altering the core scientific content. We demonstrate the success of APRES, which improves future citation prediction by 19.6% in mean averaged error over the next best baseline, and show that our paper revision process yields papers that are preferred over the originals by human expert evaluators 79% of the time. Our findings provide strong empirical support for using LLMs as a tool to help authors stress-test their manuscripts before submission. Ultimately, our work seeks to augment, not replace, the essential role of human expert reviewers, for it should be humans who discern which discoveries truly matter, guiding science toward advancing knowledge and enriching lives. △ Less

Submitted 3 March, 2026; originally announced March 2026.

AIRS-Bench: a Suite of Tasks for Frontier AI Research Science Agents

Authors: Alisia Lupidi, Bhavul Gauri, Thomas Simon Foster, Bassel Al Omari, Despoina Magka, Alberto Pepe, Alexis Audran-Reiss, Muna Aghamelu, Nicolas Baldwin, Lucia Cipolina-Kun, Jean-Christophe Gagnon-Audet, Chee Hau Leow, Sandra Lefdal, Hossam Mossalam, Abhinav Moudgil, Saba Nazir, Emanuel Tewolde, Isabel Urrego, Jordi Armengol Estape, Amar Budhiraja, Gaurav Chaurasia, Abhishek Charnalia, Derek Dunfield, Karen Hambardzumyan, Daniel Izcovich , et al. (12 additional authors not shown)

Abstract: LLM agents hold significant promise for advancing scientific research. To accelerate this progress, we introduce AIRS-Bench (the AI Research Science Benchmark), a suite of 20 tasks sourced from state-of-the-art machine learning papers. These tasks span diverse domains, including language modeling, mathematics, bioinformatics, and time series forecasting. AIRS-Bench tasks assess agentic capabilitie… ▽ More LLM agents hold significant promise for advancing scientific research. To accelerate this progress, we introduce AIRS-Bench (the AI Research Science Benchmark), a suite of 20 tasks sourced from state-of-the-art machine learning papers. These tasks span diverse domains, including language modeling, mathematics, bioinformatics, and time series forecasting. AIRS-Bench tasks assess agentic capabilities over the full research lifecycle -- including idea generation, experiment analysis and iterative refinement -- without providing baseline code. The AIRS-Bench task format is versatile, enabling easy integration of new tasks and rigorous comparison across different agentic frameworks. We establish baselines using frontier models paired with both sequential and parallel scaffolds. Our results show that agents exceed human SOTA in four tasks but fail to match it in sixteen others. Even when agents surpass human benchmarks, they do not reach the theoretical performance ceiling for the underlying tasks. These findings indicate that AIRS-Bench is far from saturated and offers substantial room for improvement. We open-source the AIRS-Bench task definitions and evaluation code to catalyze further development in autonomous scientific research. △ Less

Submitted 16 February, 2026; v1 submitted 6 February, 2026; originally announced February 2026.

Comments: 49 pages, 14 figures, 10 tables

What Does It Take to Be a Good AI Research Agent? Studying the Role of Ideation Diversity

Authors: Alexis Audran-Reiss, Jordi Armengol-Estapé, Karen Hambardzumyan, Amar Budhiraja, Martin Josifoski, Edan Toledo, Rishi Hazra, Despoina Magka, Michael Shvartsman, Parth Pathak, Justine T Kao, Lucia Cipolina-Kun, Bhavul Gauri, Jean-Christophe Gagnon-Audet, Emanuel Tewolde, Jenny Zhang, Taco Cohen, Yossi Adi, Tatiana Shavrina, Yoram Bachrach

Abstract: AI research agents offer the promise to accelerate scientific progress by automating the design, implementation, and training of machine learning models. However, the field is still in its infancy, and the key factors driving the success or failure of agent trajectories are not fully understood. We examine the role that ideation diversity plays in agent performance. First, we analyse agent traject… ▽ More AI research agents offer the promise to accelerate scientific progress by automating the design, implementation, and training of machine learning models. However, the field is still in its infancy, and the key factors driving the success or failure of agent trajectories are not fully understood. We examine the role that ideation diversity plays in agent performance. First, we analyse agent trajectories on MLE-bench, a well-known benchmark to evaluate AI research agents, across different models and agent scaffolds. Our analysis reveals that different models and agent scaffolds yield varying degrees of ideation diversity, and that higher-performing agents tend to have increased ideation diversity. Further, we run a controlled experiment where we modify the degree of ideation diversity, demonstrating that higher ideation diversity results in stronger performance. Finally, we strengthen our results by examining additional evaluation metrics beyond the standard medal-based scoring of MLE-bench, showing that our findings still hold across other agent performance metrics. △ Less

Submitted 9 December, 2025; v1 submitted 19 November, 2025; originally announced November 2025.

Souper-Model: How Simple Arithmetic Unlocks State-of-the-Art LLM Performance

Authors: Shalini Maiti, Amar Budhiraja, Bhavul Gauri, Gaurav Chaurasia, Anton Protopopov, Alexis Audran-Reiss, Michael Slater, Despoina Magka, Tatiana Shavrina, Roberta Raileanu, Yoram Bachrach

Abstract: Large Language Models (LLMs) have demonstrated remarkable capabilities across diverse domains, but their training remains resource- and time-intensive, requiring massive compute power and careful orchestration of training procedures. Model souping-the practice of averaging weights from multiple models of the same architecture-has emerged as a promising pre- and post-training technique that can enh… ▽ More Large Language Models (LLMs) have demonstrated remarkable capabilities across diverse domains, but their training remains resource- and time-intensive, requiring massive compute power and careful orchestration of training procedures. Model souping-the practice of averaging weights from multiple models of the same architecture-has emerged as a promising pre- and post-training technique that can enhance performance without expensive retraining. In this paper, we introduce Soup Of Category Experts (SoCE), a principled approach for model souping that utilizes benchmark composition to identify optimal model candidates and applies non-uniform weighted averaging to maximize performance. Contrary to previous uniform-averaging approaches, our method leverages the observation that benchmark categories often exhibit low inter-correlations in model performance. SoCE identifies "expert" models for each weakly-correlated category cluster and combines them using optimized weighted averaging rather than uniform weights. We demonstrate that the proposed method improves performance and robustness across multiple domains, including multilingual capabilities, tool calling, and math and achieves state-of-the-art results on the Berkeley Function Calling Leaderboard. △ Less

Submitted 17 November, 2025; originally announced November 2025.

AI Research Agents for Machine Learning: Search, Exploration, and Generalization in MLE-bench

Authors: Edan Toledo, Karen Hambardzumyan, Martin Josifoski, Rishi Hazra, Nicolas Baldwin, Alexis Audran-Reiss, Michael Kuchnik, Despoina Magka, Minqi Jiang, Alisia Maria Lupidi, Andrei Lupu, Roberta Raileanu, Kelvin Niu, Tatiana Shavrina, Jean-Christophe Gagnon-Audet, Michael Shvartsman, Shagun Sodhani, Alexander H. Miller, Abhishek Charnalia, Derek Dunfield, Carole-Jean Wu, Pontus Stenetorp, Nicola Cancedda, Jakob Nicolaus Foerster, Yoram Bachrach

Abstract: AI research agents are demonstrating great potential to accelerate scientific progress by automating the design, implementation, and training of machine learning models. We focus on methods for improving agents' performance on MLE-bench, a challenging benchmark where agents compete in Kaggle competitions to solve real-world machine learning problems. We formalize AI research agents as search polic… ▽ More AI research agents are demonstrating great potential to accelerate scientific progress by automating the design, implementation, and training of machine learning models. We focus on methods for improving agents' performance on MLE-bench, a challenging benchmark where agents compete in Kaggle competitions to solve real-world machine learning problems. We formalize AI research agents as search policies that navigate a space of candidate solutions, iteratively modifying them using operators. By designing and systematically varying different operator sets and search policies (Greedy, MCTS, Evolutionary), we show that their interplay is critical for achieving high performance. Our best pairing of search strategy and operator set achieves a state-of-the-art result on MLE-bench lite, increasing the success rate of achieving a Kaggle medal from 39.6% to 47.7%. Our investigation underscores the importance of jointly considering the search strategy, operator design, and evaluation methodology in advancing automated machine learning. △ Less

Submitted 4 November, 2025; v1 submitted 3 July, 2025; originally announced July 2025.

Comments: Code: https://github.com/facebookresearch/aira-dojo

The Automated LLM Speedrunning Benchmark: Reproducing NanoGPT Improvements

Authors: Bingchen Zhao, Despoina Magka, Minqi Jiang, Xian Li, Roberta Raileanu, Tatiana Shavrina, Jean-Christophe Gagnon-Audet, Kelvin Niu, Shagun Sodhani, Michael Shvartsman, Andrei Lupu, Alisia Lupidi, Edan Toledo, Karen Hambardzumyan, Martin Josifoski, Thomas Foster, Lucia Cipolina-Kun, Abhishek Charnalia, Derek Dunfield, Alexander H. Miller, Oisin Mac Aodha, Jakob Foerster, Yoram Bachrach

Abstract: Rapid advancements in large language models (LLMs) have the potential to assist in scientific progress. A critical capability toward this endeavor is the ability to reproduce existing work. To evaluate the ability of AI agents to reproduce results in an active research area, we introduce the Automated LLM Speedrunning Benchmark, leveraging the research community contributions on the NanoGPT speedr… ▽ More Rapid advancements in large language models (LLMs) have the potential to assist in scientific progress. A critical capability toward this endeavor is the ability to reproduce existing work. To evaluate the ability of AI agents to reproduce results in an active research area, we introduce the Automated LLM Speedrunning Benchmark, leveraging the research community contributions on the NanoGPT speedrun, a competition to train a GPT-2 model in the shortest time. Each of the 19 speedrun tasks provides the agent with the previous records training script, optionally paired with one of three hint formats, ranging from pseudocode to paper-like descriptions of the new records improvements. Records execute quickly by design and speedrun improvements encompass diverse code-level changes, ranging from high-level algorithmic advancements to hardware-aware optimizations. These features make the benchmark both accessible and realistic for the frontier problem of improving LLM training. We find that recent reasoning LLMs combined with SoTA scaffolds struggle to reimplement already-known innovations in our benchmark, even when given detailed hints. Our benchmark thus provides a simple, non-saturated measure of an LLMs ability to automate scientific reproduction, a necessary (but not sufficient) skill for an autonomous research agent. △ Less

Submitted 30 June, 2025; v1 submitted 27 June, 2025; originally announced June 2025.

MLGym: A New Framework and Benchmark for Advancing AI Research Agents

Authors: Deepak Nathani, Lovish Madaan, Nicholas Roberts, Nikolay Bashlykov, Ajay Menon, Vincent Moens, Amar Budhiraja, Despoina Magka, Vladislav Vorotilov, Gaurav Chaurasia, Dieuwke Hupkes, Ricardo Silveira Cabral, Tatiana Shavrina, Jakob Foerster, Yoram Bachrach, William Yang Wang, Roberta Raileanu

Abstract: We introduce Meta MLGym and MLGym-Bench, a new framework and benchmark for evaluating and developing LLM agents on AI research tasks. This is the first Gym environment for machine learning (ML) tasks, enabling research on reinforcement learning (RL) algorithms for training such agents. MLGym-bench consists of 13 diverse and open-ended AI research tasks from diverse domains such as computer vision,… ▽ More We introduce Meta MLGym and MLGym-Bench, a new framework and benchmark for evaluating and developing LLM agents on AI research tasks. This is the first Gym environment for machine learning (ML) tasks, enabling research on reinforcement learning (RL) algorithms for training such agents. MLGym-bench consists of 13 diverse and open-ended AI research tasks from diverse domains such as computer vision, natural language processing, reinforcement learning, and game theory. Solving these tasks requires real-world AI research skills such as generating new ideas and hypotheses, creating and processing data, implementing ML methods, training models, running experiments, analyzing the results, and iterating through this process to improve on a given task. We evaluate a number of frontier large language models (LLMs) on our benchmarks such as Claude-3.5-Sonnet, Llama-3.1 405B, GPT-4o, o1-preview, and Gemini-1.5 Pro. Our MLGym framework makes it easy to add new tasks, integrate and evaluate models or agents, generate synthetic data at scale, as well as develop new learning algorithms for training agents on AI research tasks. We find that current frontier models can improve on the given baselines, usually by finding better hyperparameters, but do not generate novel hypotheses, algorithms, architectures, or substantial improvements. We open-source our framework and benchmark to facilitate future research in advancing the AI research capabilities of LLM agents. △ Less

Submitted 20 February, 2025; originally announced February 2025.

Comments: 35 pages, 12 figures, 10 tables

Acyclicity Notions for Existential Rules and Their Application to Query Answering in Ontologies

Authors: Bernardo Cuenca Grau, Ian Horrocks, Markus Krötzsch, Clemens Kupke, Despoina Magka, Boris Motik, Zhe Wang

Abstract: Answering conjunctive queries (CQs) over a set of facts extended with existential rules is a prominent problem in knowledge representation and databases. This problem can be solved using the chase algorithm, which extends the given set of facts with fresh facts in order to satisfy the rules. If the chase terminates, then CQs can be evaluated directly in the resulting set of facts. The chase, howev… ▽ More Answering conjunctive queries (CQs) over a set of facts extended with existential rules is a prominent problem in knowledge representation and databases. This problem can be solved using the chase algorithm, which extends the given set of facts with fresh facts in order to satisfy the rules. If the chase terminates, then CQs can be evaluated directly in the resulting set of facts. The chase, however, does not terminate necessarily, and checking whether the chase terminates on a given set of rules and facts is undecidable. Numerous acyclicity notions were proposed as sufficient conditions for chase termination. In this paper, we present two new acyclicity notions called model-faithful acyclicity (MFA) and model-summarising acyclicity (MSA). Furthermore, we investigate the landscape of the known acyclicity notions and establish a complete taxonomy of all notions known to us. Finally, we show that MFA and MSA generalise most of these notions. Existential rules are closely related to the Horn fragments of the OWL 2 ontology language; furthermore, several prominent OWL 2 reasoners implement CQ answering by using the chase to materialise all relevant facts. In order to avoid termination problems, many of these systems handle only the OWL 2 RL profile of OWL 2; furthermore, some systems go beyond OWL 2 RL, but without any termination guarantees. In this paper we also investigate whether various acyclicity notions can provide a principled and practical solution to these problems. On the theoretical side, we show that query answering for acyclic ontologies is of lower complexity than for general ontologies. On the practical side, we show that many of the commonly used OWL 2 ontologies are MSA, and that the number of facts obtained by materialisation is not too large. Our results thus suggest that principled development of materialisation-based OWL 2 reasoners is practically feasible. △ Less

Submitted 3 February, 2014; originally announced June 2014.

Journal ref: Journal Of Artificial Intelligence Research, Volume 47, pages 741-808, 2013