OpenRaiser/Intern-Atlas huggingface dataset:
FAST: Foreground-aware Diffusion with Accelerated Sampling Trajectory for Segmentation-oriented Anomaly Synthesis
Venue: arXiv cs.CV 2026
Year: 2026

Industrial anomaly segmentation relies heavily on pixel-level annotations, yet real-world anomalies are often scarce, diverse, and costly to label. Segmentation-oriented industrial anomaly synthesis (SIAS) has emerged as a promising alternative; however, existing methods struggle to balance sampling efficiency and generation quality. Moreover, most approaches treat all spatial regions uniformly, overlooking the distinct statistical differences between anomaly and background areas. This uniform treatment hinders the synthesis of controllable, structure-specific anomalies tailored for segmentation tasks. In this paper, we propose FAST, a foreground-aware diffusion framework featuring two novel modules: the Anomaly-Informed Accelerated Sampling (AIAS) and the Foreground-Aware Reconstruction Module (FARM). AIAS is a training-free sampling algorithm specifically designed for segmentation-oriented industrial anomaly synthesis, which accelerates the reverse process through coarse-to-fine aggregation and enables the synthesis of state-of-the-art segmentation-oriented anomalies in as few as 10 steps. Meanwhile, FARM adaptively adjusts the anomaly-aware noise within the masked foreground regions at each sampling step, preserving localized anomaly signals throughout the denoising trajectory. Extensive experiments on multiple industrial benchmarks demonstrate that FAST consistently outperforms existing anomaly synthesis methods in downstream segmentation tasks. We release the code at: https://github.com/Chhro123/fast-foreground-aware-anomaly-synthesis.
Language-Based Protocol Testing
Venue: arXiv cs.SE 2026
Year: 2026

Over the past decade, the automated generation of test inputs has made significant advances. Modern fuzzers and test generators easily produce complex input formats that do systematically cover the input and execution space. Testing _protocols_, though, has remained a frontier for automated testing, as a test generator has to _interact_ with the program under test, producing messages that conform to the current state of the system. In this paper, we introduce _language-based protocol testing_, the first approach to specify, automatically test, and systematically cover the full state and input space of protocol implementations. We specify protocols as _interaction grammars_ -- an extension of context-free grammars that tag each message element with the communication party that is in charge of producing it. Interaction grammars embed classical state models by unifying states, messages, and transitions all into nonterminals, and can be used for _producing_ interactions as well as _parsing_ them, making them ideally suited for testing protocols. Additional _constraints_ over grammar elements allow us to specify and test _semantic features_ such as binary message formats, checksums, encodings, and the many ways that message features induce states and vice versa. To evaluate the effectiveness of language-based protocol testing, we have implemented it as part of the FANDANGO test generator. We specify several protocols as interaction grammars, including features such as human-readable interactions (SMTP), bit-level encodings (DNS), and dynamic port assignments (FTP), and use them to test the corresponding protocol implementations. By systematically covering the interaction grammar and solving the associated constraints, FANDANGO achieves comprehensive coverage of the protocol interactions, resulting in high code coverage and a thorough assessment of the program under test.
Policy Compatible Skill Incremental Learning via Lazy Learning Interface
Venue: arXiv cs.LG 2026
Year: 2026

Skill Incremental Learning (SIL) is the process by which an embodied agent expands and refines its skill set over time by leveraging experience gained through interaction with its environment or by the integration of additional data. SIL facilitates efficient acquisition of hierarchical policies grounded in reusable skills for downstream tasks. However, as the skill repertoire evolves, it can disrupt compatibility with existing skill-based policies, limiting their reusability and generalization. In this work, we propose SIL-C, a novel framework that ensures skill-policy compatibility, allowing improvements in incrementally learned skills to enhance the performance of downstream policies without requiring policy re-training or structural adaptation. SIL-C employs a bilateral lazy learning-based mapping technique to dynamically align the subtask space referenced by policies with the skill space decoded into agent behaviors. This enables each subtask, derived from the policy's decomposition of a complex task, to be executed by selecting an appropriate skill based on trajectory distribution similarity. We evaluate SIL-C across diverse SIL scenarios and demonstrate that it maintains compatibility between evolving skills and downstream policies while ensuring efficiency throughout the learning process.
A Genetic Algorithm for Navigating Synthesizable Molecular Spaces
Venue: arXiv cs.LG 2026
Year: 2026

Inspired by the effectiveness of genetic algorithms and the importance of synthesizability in molecular design, we present SynGA, a simple genetic algorithm that operates directly over synthesis routes. Our method features custom crossover and mutation operators that explicitly constrain it to synthesizable molecular space. By modifying the fitness function, we demonstrate the effectiveness of SynGA on a variety of design tasks, including synthesizable analog search and sample-efficient property optimization, for both 2D and 3D objectives. Furthermore, by coupling SynGA with a machine learning-based filter that focuses the building block set, we boost SynGA to state-of-the-art performance. For property optimization, this manifests as a model-based variant SynGBO, which employs SynGA and block filtering in the inner loop of Bayesian optimization. Since SynGA is lightweight and enforces synthesizability by construction, our hope is that SynGA can not only serve as a strong standalone baseline but also as a versatile module that can be incorporated into larger synthesis-aware workflows in the future.
LiLAW: Lightweight Learnable Adaptive Weighting to Meta-Learn Sample Difficulty, Improve Noisy Training, Increase Fairness, and Effectively Use Synthetic Data
Venue: arXiv cs.LG 2026
Year: 2026

Training deep neural networks with noise and data heterogeneity is a major challenge. We introduce Lightweight Learnable Adaptive Weighting (LiLAW), a method that dynamically adjusts the loss weight of each training sample based on its evolving difficulty, categorized as easy, moderate, or hard. Using only three learnable parameters, LiLAW adaptively prioritizes informative samples during training by updating these parameters using a single gradient descent step on a validation mini-batch after each training mini-batch. Experiments across multiple general and medical imaging datasets, noise levels/types, loss functions, and architectures with and without pretraining (with linear probing and full fine-tuning) demonstrate that LiLAW's effectiveness, even in high-noise environments, without excessive tuning. We also apply LiLAW to two recently introduced synthetic datasets: SynPAIN (synthetic facial expressions for automated pain detection) and GAITGen (synthetic gait sequences for Parkinson's disease severity estimation). We also validate on ECG5000, a time-series dataset for heartbeat classification, with simple augmentations. We obtain state-of-the-art results on these three datasets. We then use LiLAW on the Adult dataset to show improved fairness. LiLAW is effective without heavy reliance on advanced training techniques or data augmentations, highlighting its practicality, esp. in resource-constrained settings. It offers a computationally efficient solution to boost generalization and robustness in any neural network training setup.
On the Robustness of Answer Formats in Medical Reasoning Models
Venue: arXiv cs.CL 2026
Year: 2026

Medical reasoning models (MRMs) achieve superior performance on medical benchmarks compared to medical LLMs; however, high accuracy alone is insufficient for practical deployment. One of such requirements for real-world application is robustness to varying output constraints. Specifically, posing the same medical question while requesting different answer formats should not affect the underlying correctness of the response. We investigate this phenomenon in this paper, focusing on MRMs. To quantify this behavior, we propose the metric answer-format robustness: the ability to reliably generate correct outputs across varying specified formats. We examine three representative formats: multiple-choice, open-ended question-answering, and ranked lists. Across 15 proprietary and open-weight models, we observe substantial variation in format robustness (35-100%). Furthermore, we conduct controlled fine-tuning experiments on a shared backbone with matched training data to isolate the effects of the fine-tuning paradigm. We find that supervised fine-tuning yields more stable behavior across formats, whereas reinforcement fine-tuning often exhibits higher cross-format brittleness, with the degree of instability strongly dependent on reward design. Overall, answer-format robustness in MRMs is trainable yet brittle and requires careful evaluation for practical medical use.
Binary Autoencoder for Mechanistic Interpretability of Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Existing works are dedicated to untangling atomized numerical components (features) from the hidden states of Large Language Models (LLMs). However, they typically rely on autoencoders constrained by some training-time regularization on single training instances, without an explicit guarantee of global sparsity among instances, causing a large amount of dense (simultaneously inactive) features, harming the feature sparsity and atomization. In this paper, we propose a novel autoencoder variant that enforces minimal entropy on minibatches of hidden activations, thereby promoting feature independence and sparsity across instances. For efficient entropy calculation, we discretize the hidden activations to 1-bit via a step function and apply gradient estimation to enable backpropagation, so that we term it as Binary Autoencoder (BAE) and empirically demonstrate two major applications: (1) Feature set entropy calculation. Entropy can be reliably estimated on binary hidden activations, which can be leveraged to characterize the inference dynamics of LLMs. (2) Feature untangling. Compared to typical methods, due to improved training strategy, BAE avoids dense features while producing the largest number of interpretable ones among baselines.
TyphoonMLA: A Mixed Naive-Absorb MLA Kernel For Shared Prefix
Venue: arXiv cs.LG 2026
Year: 2026

Multi-Head Latent Attention (MLA) is a recent attention mechanism adopted in state-of-the-art LLMs such as DeepSeek-v3 and Kimi K2. Thanks to its novel formulation, MLA allows two functionally equivalent but computationally distinct kernel implementations: naive and absorb. While the naive kernels (e.g., FlashAttention) are typically preferred in training and prefill for their computational efficiency, existing decoding kernels (e.g., FlashMLA) rely on the absorb method to minimize HBM bandwidth usage. However, the compute-bound nature of the absorb implementations prohibits performance benefits from data reuse opportunities in attention calculations, such as shared prefixes. In this work, we introduce TyphoonMLA, a hybrid approach that combines naive and absorb formulations to harness the strengths of both. TyphoonMLA effectively leverages the shared prefix by applying the naive formulation to the compute-bound parts of attention calculations, while reducing the bandwidth requirements for non-shared parts by using the absorb formulation. As a result, TyphoonMLA improves the throughput of attention calculations in MLA architectures by up to 3x and 3.24x on NPU and GPUs, with only a 3% overhead in HBM size.
CAD-Tokenizer: Towards Text-based CAD Prototyping via Modality-Specific Tokenization
Venue: arXiv cs.LG 2026
Year: 2026

Computer-Aided Design (CAD) is a foundational component of industrial prototyping, where models are defined not by raw coordinates but by construction sequences such as sketches and extrusions. This sequential structure enables both efficient prototype initialization and subsequent editing. Text-guided CAD prototyping, which unifies Text-to-CAD generation and CAD editing, has the potential to streamline the entire design pipeline. However, prior work has not explored this setting, largely because standard large language model (LLM) tokenizers decompose CAD sequences into natural-language word pieces, failing to capture primitive-level CAD semantics and hindering attention modules from modeling geometric structure. We conjecture that a multimodal tokenization strategy, aligned with CAD's primitive and structural nature, can provide more effective representations. To this end, we propose CAD-Tokenizer, a framework that represents CAD data with modality-specific tokens using a sequence-based VQ-VAE with primitive-level pooling and constrained decoding. This design produces compact, primitive-aware representations that align with CAD's structural nature. Applied to unified text-guided CAD prototyping, CAD-Tokenizer significantly improves instruction following and generation quality, achieving better quantitative and qualitative performance over both general-purpose LLMs and task-specific baselines.
GRPO is Secretly a Process Reward Model
Venue: arXiv cs.LG 2026
Year: 2026

Process reward models (PRMs) allow for fine-grained credit assignment in reinforcement learning (RL), and seemingly contrast with outcome reward models (ORMs), which assign a single reward to an entire trajectory. However, we provide theoretical proof in this work that the Group Relative Policy Optimization (GRPO) RL algorithm equipped with an ORM is in fact equivalent to a PRM-aware RL objective equipped with a non-trivial, Monte-Carlo-based PRM (given mild assumptions). Leveraging the framework of GRPO-as-a-PRM, we identify a flaw in the GRPO objective that interacts with imbalanced process steps and rewards to hinder both exploration and exploitation (under different conditions). We propose a simple modification to the algorithm to mitigate this defect ($λ$-GRPO), and show that LLMs tuned with $λ$-GRPO outperform LLMs tuned with standard GRPO on downstream reasoning tasks\textemdash and reach peak performance more rapidly. These results show that we can leverage the hidden, built-in PRM structure within the vanilla GRPO algorithm to boost model performance without employing an explicit PRM, and with a negligible impact on training time and cost.
RetoVLA: Reusing Register Tokens for Spatial Reasoning in Vision-Language-Action Models
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models have demonstrated robust performance across diverse robotic tasks. However, their high memory and computational demands often limit real-time deployment. While existing model compression techniques reduce the parameter footprint, they often drop in 3D spatial reasoning and scene layout understanding. This work introduces RetoVLA, an architecture designed to maintain spatial awareness in lightweight models by repurposing Register Tokens-learnable parameters originally introduced to mitigate attention artifacts in Vision Transformers. While these tokens are generally discarded once used, we repurpose them for their dense representation of global spatial context. RetoVLA integrates these recycled tokens directly into the action-planning module through a dedicated spatial context injection path. Our proposed design enables the recovery of global context without increasing the total parameter count. Real-world experiments using a 7-DOF manipulator show a 17.1%p improvement in average success rates over the baseline. Our results demonstrate that leveraging internal register tokens provides a highly effective mechanism for developing efficient, spatially-aware robotic agents. A video demonstration is available at: https://youtu.be/2CseBR-snZg
Taxonomy-aware Dynamic Motion Generation on Hyperbolic Manifolds
Venue: arXiv cs.RO 2026
Year: 2026

Human-like motion generation for robots often draws inspiration from biomechanical studies, which often categorize complex human motions into hierarchical taxonomies. While these taxonomies provide rich structural information about how movements relate to one another, this information is frequently overlooked in motion generation models, leading to a disconnect between the generated motions and their underlying hierarchical structure. This paper introduces the \ac{gphdm}, a novel approach that learns latent representations preserving both the hierarchical structure of motions and their temporal dynamics to ensure physical consistency. Our model achieves this by extending the dynamics prior of the Gaussian Process Dynamical Model (GPDM) to the hyperbolic manifold and integrating it with taxonomy-aware inductive biases. Building on this geometry- and taxonomy-aware frameworks, we propose three novel mechanisms for generating motions that are both taxonomically-structured and physically-consistent: two probabilistic recursive approaches and a method based on pullback-metric geodesics. Experiments on generating realistic motion sequences on the hand grasping taxonomy show that the proposed GPHDM faithfully encodes the underlying taxonomy and temporal dynamics, and it generates novel physically-consistent trajectories.
It's Not You, It's Clipping: A Soft Trust-Region via Probability Smoothing for LLM RL
Venue: arXiv cs.LG 2026
Year: 2026

Training large language models (LLMs) with reinforcement learning (RL) methods such as PPO and GRPO commonly relies on ratio clipping to stabilise updates. While effective at preventing instability, clipping discards information, introduces gradient discontinuities and can prevent exploration of better policies. Inspired by label smoothing, we propose Probability Smoothing Policy Optimisation (PSPO). PSPO smooths current policy probabilities toward the behaviour policy before computing importance ratios, creating a soft trust region that preserves gradients while preventing destabilising updates. Unlike prior soft clipping approaches that use sigmoid-based transformations which can suffer from vanishing gradients and saturation, our method uses a linear interpolation, providing simpler and more robust gradient preservation. Empirically, GR-PSPO outperforms clipping and sigmoid-based alternatives on mathematical reasoning benchmarks when refining models with prior domain knowledge, achieving an accuracy of 79.9% on GSM8K and 59.6% on MATH for Qwen2-Math-1.5B.
Language-in-the-Loop Culvert Inspection on the Erie Canal
Venue: arXiv cs.RO 2026
Year: 2026

Culverts on canals such as the Erie Canal, built originally in 1825, require frequent inspections to ensure safe operation. Human inspection of culverts is challenging due to age, geometry, poor illumination, weather, and lack of easy access. We introduce VISION, an end-to-end, language-in-the-loop autonomy system that couples a web-scale vision-language model (VLM) with constrained viewpoint planning for autonomous inspection of culverts. Brief prompts to the VLM solicit open-vocabulary ROI proposals with rationales and confidences, stereo depth is fused to recover scale, and a planner -- aware of culvert constraints -- commands repositioning moves to capture targeted close-ups. Deployed on a quadruped in a culvert under the Erie Canal, VISION closes the see, decide, move, re-image loop on-board and produces high-resolution images for detailed reporting without domain-specific fine-tuning. In an external evaluation by New York Canal Corporation personnel, initial ROI proposals achieved 61.4\% agreement with subject-matter experts, and final post-re-imaging assessments reached 80\%, indicating that VISION converts tentative hypotheses into grounded, expert-aligned findings.
Talking Trees: Reasoning-Assisted Induction of Decision Trees for Tabular Data
Venue: arXiv cs.LG 2026
Year: 2026

Tabular foundation models are becoming increasingly popular for low-resource tabular problems. These models compensate for small training datasets by pretraining on large volumes of data. The prior knowledge obtained via pretraining provides exceptional performance, but the resulting model becomes a black box that is difficult to interpret and costly to run inference on. In this work, we explore an alternative strategy that is both more lightweight and controllable: using reasoning-capable LLMs to induce decision trees for small tabular datasets in an agentic setup. We design a minimal set of tools for constructing, analyzing, and manipulating decision trees. Using these tools, an LLM agent combines its prior knowledge with the user-specified constraints and learning from data to create lightweight decision trees. We show that a single decision tree constructed via the agentic loop can be competitive with state-of-the-art black-box models on tabular benchmarks, while also providing a human-readable reasoning trace that can be checked for biases and data leaks. Additionally, we show the model can incorporate fairness and monotonicity constraints.
DistillKac: Few-Step Image Generation via Damped Wave Equations
Venue: arXiv cs.LG 2026
Year: 2026

We present DistillKac, a fast image generator that uses the damped wave equation and its stochastic Kac representation to move probability mass at finite speed. In contrast to diffusion models whose reverse time velocities can become stiff and implicitly allow unbounded propagation speed, Kac dynamics enforce finite speed transport and yield globally bounded kinetic energy. Building on this structure, we introduce classifier-free guidance in velocity space that preserves square integrability under mild conditions. We then propose endpoint only distillation that trains a student to match a frozen teacher over long intervals. We prove a stability result that promotes supervision at the endpoints to closeness along the entire path. Experiments demonstrate DistillKac delivers high quality samples with very few function evaluations while retaining the numerical stability benefits of finite speed probability flows.
Correct Reasoning Paths Visit Shared Decision Pivots
Venue: arXiv cs.AI 2026
Year: 2026

Chain-of-thought (CoT) reasoning exposes the intermediate thinking process of large language models (LLMs), yet verifying those traces at scale remains unsolved. In response, we introduce the idea of decision pivots-minimal, verifiable checkpoints that any correct reasoning path must visit. We hypothesize that correct reasoning, though stylistically diverse, converge on the same pivot set, while incorrect ones violate at least one pivot. Leveraging this property, we propose a self-training pipeline that (i) samples diverse reasoning paths and mines shared decision pivots, (ii) compresses each trace into pivot-focused short-path reasoning using an auxiliary verifier, and (iii) post-trains the model using its self-generated outputs. The proposed method aligns reasoning without ground truth reasoning data or external metrics. Experiments on standard benchmarks such as LogiQA, MedQA, and MATH500 show the effectiveness of our method.
QuFoundry: Generating Data with Quantum Properties for Quantum Machine Learning Utility
Venue: arXiv cs.ET 2026
Year: 2026

Quantum machine learning (QML) promises significant speedups, particularly when operating on quantum datasets. However, its progress is hindered by the scarcity of suitable training data. Existing synthetic data generation methods fall short in capturing essential entanglement properties, limiting their utility for QML. To address this, we introduce QuFoundry, a low-depth quantum data generation framework that produces entangled, high-quality samples emulating diverse classical and quantum distributions, enabling more effective development and evaluation of QML models in representative-data settings.