OpenRaiser/Intern-Atlas huggingface dataset:
Parametric Retrieval-Augmented Generation using Latent Routing of LoRA Adapters
Venue: arXiv cs.IR 2026
Year: 2026

Parametric Retrieval-Augmented Generation (PRAG) is a RAG approach that integrates external knowledge directly into model parameters using a LoRA adapter, aiming at reducing the inference cost compared to traditional RAG. However, current PRAG approaches adopt a \textit{one-to-one} document encoding scheme, using a dedicated LoRA adapter for each individual document. This scheme introduces two major limitations: 1) As the number of documents increases, there will be a prohibitive cost for training and storage. 2) The LoRA adapters may largely overlap due to the shared knowledge across documents, making the approach highly inefficient. To overcome these challenges, we propose the Poly-PRAG approach, which uses a small set of LoRA adapters that are able to encode more general knowledge. Each document can be encoded using a combination of them through a latent routing function. By jointly training the LoRA adapters and the latent routing function, each LoRA adapter is able to encode a shared part of the knowledge across documents, and the routing function can select the best combination of adapters for a document. Experimental results on four benchmarks demonstrate the effectiveness of the Poly-PRAG compared to other strong PRAG baselines. In addition, this approach reduces the storage requirement by avoiding the need to store a large number of LoRA adapters and offers a more efficient way to encode external knowledge into LLMs.
Principled Design of Interpretable Automated Scoring for Large-Scale Educational Assessments
Venue: arXiv cs.CL 2026
Year: 2026

AI-driven automated scoring systems offer scalable and efficient means of evaluating complex student-generated responses. Yet, despite increasing demand for transparency and interpretability, the field has yet to develop a widely accepted solution for interpretable automated scoring to be used in large-scale real-world assessments. This work takes a principled approach to address this challenge. We analyze the needs and potential benefits of interpretable automated scoring for various assessment stakeholder groups and develop four principles of interpretability -- (F)aithfulness, (G)roundedness, (T)raceability, and (I)nterchangeability (FGTI) -- targeted at those needs. To illustrate the feasibility of implementing these principles, we develop the AnalyticScore framework for short answer scoring as a baseline reference framework for future research. In terms of scoring accuracy, AnalyticScore outperforms many uninterpretable scoring methods and is, on average, within 0.06 QWK of the uninterpretable SOTA across 10 items from the ASAP-SAS dataset. By comparing against human annotators conducting the same featurization task, we further demonstrate that the featurization behavior of AnalyticScore aligns well with that of humans.
From Competition to Coordination: Market Making as a Scalable Framework for Safe and Aligned Multi-Agent LLM Systems
Venue: arXiv cs.MA 2026
Year: 2026

As foundation models are increasingly deployed as interacting agents in multi-agent systems, their collective behavior raises new challenges for trustworthiness, transparency, and accountability. Traditional coordination mechanisms, such as centralized oversight or adversarial adjudication, struggle to scale and often obscure how decisions emerge. We introduce a market-making framework for multi-agent large language model (LLM) coordination that organizes agent interactions as structured economic exchanges. In this setup, each agent acts as a market participant, updating and trading probabilistic beliefs, to converge toward shared, truthful outcomes. By aligning local incentives with collective epistemic goals, the framework promotes self-organizing, verifiable reasoning without requiring external enforcement. Empirically, we evaluate this approach across factual reasoning, ethical judgment, and commonsense inference tasks. Market-based coordination yields accuracy gains of up to 10% over single-shot baselines while preserving interpretability and transparency of intermediate reasoning steps. Beyond these improvements, our findings demonstrate that economic coordination principles can operationalize accountability and robustness in multi-agent LLM systems, offering a scalable pathway toward self-correcting, socially responsible AI capable of maintaining trust and oversight in real world deployment scenarios.
Rectifying Distribution Shift in Cascaded Precipitation Nowcasting
Venue: arXiv cs.LG 2026
Year: 2026

Precipitation nowcasting, which aims to provide high spatio-temporal resolution precipitation forecasts by leveraging current radar observations, is a core task in regional weather forecasting. Recently, the cascaded architecture has emerged as the mainstream paradigm for deep learning-based precipitation nowcasting. This paradigm involves a deterministic model to predict posterior mean, followed by a probabilistic model to generate local stochasticity. However, existing methods commonly overlook the conflation of the systematic distribution shift in deterministic predictions and the local stochasticity. As a result, the distribution shift of the deterministic component contaminates the predictions of the probabilistic component, leading to inaccuracies in precipitation patterns and intensity, particularly over longer lead times. To address this issue, we introduce RectiCast, a two-stage framework that explicitly decouples the rectification of mean-field shift from the generation of local stochasticity via a dual Flow Matching model. In the first stage, a deterministic model generates the posterior mean. In the second stage, we introduce a Rectifier to explicitly learn the distribution shift and produce a rectified mean. Subsequently, a Generator focuses on modeling the local stochasticity conditioned on the rectified mean. Experiments on two radar datasets demonstrate that RectiCast achieves significant performance improvements over existing state-of-the-art methods.
Intelligent Systems in Neuroimaging: Pioneering AI Techniques for Brain Tumor Detection
Venue: arXiv cs.CV 2026
Year: 2026

This study deliberates on the application of advanced AI techniques for brain tumor classification through MRI, wherein the training includes the present best deep learning models to enhance diagnosis accuracy and the potential of usability in clinical practice. By combining custom convolutional models with pre-trained neural network architectures, our approach exposes the utmost performance in the classification of four classes: glioma, meningioma, pituitary tumors, and no-tumor cases. Assessing the models on a large dataset of over 7,000 MRI images focused on detection accuracy, computational efficiency, and generalization to unseen data. The results indicate that the Xception architecture surpasses all other were tested, obtaining a testing accuracy of 98.71% with the least validation loss. While presenting this case with findings that demonstrate AI as a probable scorer in brain tumor diagnosis, we demonstrate further motivation by reducing computational complexity toward real-world clinical deployment. These aspirations offer an abundant future for progress in automated neuroimaging diagnostics.
Learning Diffusion Policies for Robotic Manipulation of Timber Joinery under Fabrication Uncertainty
Venue: arXiv cs.RO 2026
Year: 2026

Fabrication uncertainties, such as tolerance accumulation and material imperfections, pose a significant challenge to contact-rich robotic manipulation in construction by hindering precise and robust assembly. In this paper, we investigate the performance and robustness of diffusion policy learning for contact-rich assembly at the construction scale, using a tight-fitting timber mortise and tenon joint as a case study. A two-phase experimental study is conducted: first, to evaluate baseline policy performance and applicability; second, to assess policy robustness under fabrication-induced uncertainties modeled as randomized perturbations to the mortise position. The diffusion policy is trained on teleoperated demonstrations using an industrial robotic arm conditioned on end-effector pose and force/torque feedback. The best-performing policy achieved a total average success rate of 75% under perturbations up to 10 mm, including 100% success in unperturbed cases. The results demonstrate the potential of sensory-motor diffusion policies to enable high-precision contact-rich manipulation on large-scale industrial robotic arms, reducing reliance on skilled manual intervention. This work advances robotic construction under uncertainty and provides practical insights for deploying learning-based control in real-world Architectural, Engineering, and Construction applications.
ROVER: Regulator-Driven Robust Temporal Verification of Black-Box Robot Policies
Venue: arXiv cs.RO 2026
Year: 2026

We present a novel, regulator-driven approach for the temporal verification of black-box autonomous robot policies, inspired by real-world certification processes where regulators often evaluate observable behavior without access to model internals. Central to our method is a regulator-in-the-loop approach that evaluates execution traces from black-box policies against temporal safety requirements. These requirements, expressed as prioritized Signal Temporal Logic (STL) specifications, characterize behavior changes over time and encode domain knowledge into the verification process. We use Total Robustness Value (TRV) and Largest Robustness Value (LRV) to quantify average performance and worst-case adherence, and introduce Average Violation Robustness Value (AVRV) to measure average specification violation. Together, these metrics guide targeted retraining and iterative model improvement. Our approach accommodates diverse temporal safety requirements (e.g., lane-keeping, delayed acceleration, and turn smoothness), capturing persistence, sequencing, and response across two distinct domains (virtual racing game and mobile robot navigation). Across six STL specifications in both scenarios, regulator-guided retraining increased satisfaction rates by an average of 43.8%, with consistent improvement in average performance (TRV) and reduced violation severity (LRV) in half of the specifications. Finally, real-world validation on a TurtleBot3 robot demonstrates a 27% improvement in smooth-navigation satisfaction, yielding smoother paths and stronger compliance with STL-defined temporal safety requirements.
SPINE: Token-Selective Test-Time Reinforcement Learning with Entropy-Band Regularization
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) and multimodal LLMs (MLL-Ms) excel at chain-of-thought reasoning but face distribution shift at test-time and a lack of verifiable supervision. Recent test-time reinforcement learning (TTRL) methods derive label-free pseudo-rewards from self-consistency voting over sampled trajectories, yet they often collapse: the majority-vote reward prevails, responses shorten, and Pass@1 declines. We trace this to uniform sequence updates in which most tokens are low-entropy followers, while a small high-entropy subset determines the reasoning branches. Thus we propose \method, a token-selective test-time reinforcement learning framework that (i) performs distribution-aware forking-token selection to update only decision-critical branch points, and (ii) applies a robust entropy-band regularizer at those tokens to prevent premature collapse and suppress noisy drift. \method plugs into GRPO-style objectives (optionally with a KL anchor) and requires neither labels nor reward models. Across eight benchmarks spanning multimodal VQA, text-only reasoning, \method consistently improves Pass@1 over TTRL while avoiding response-length collapse and yielding more stable training dynamics on both LLM and MLLM backbones. These results indicate that aligning updates with chain-of-thought branch points is a simple and label-free mechanism for stable and effective test-time adaptation in reasoning models. Code will be released.
SkillWrapper: Generative Predicate Invention for Task-level Planning
Venue: arXiv cs.RO 2026
Year: 2026

Generalizing from individual skill executions to solving long-horizon tasks remains a core challenge in building autonomous agents. A promising direction is learning high-level, symbolic abstractions of the low-level skills of the agents, enabling reasoning and planning independent of the low-level state space. Among possible high-level representations, object-centric skill abstraction with symbolic predicates has been proven to be efficient because of its compatibility with domain-independent planners. Recent advances in foundation models have made it possible to generate symbolic predicates that operate on raw sensory inputs, a process we call generative predicate invention, to facilitate downstream abstraction learning. However, it remains unclear which formal properties the learned representations must satisfy, and how they can be learned to guarantee these properties. In this paper, we address both questions by presenting a formal theory of generative predicate invention for skill abstraction, resulting in symbolic operators that can be used for provably sound and complete planning. Within this framework, we propose SkillWrapper, a method that leverages foundation models to actively collect robot data and learn human-interpretable, plannable representations of black-box skills, using only RGB image observations. Our extensive empirical evaluation in simulation and on real robots shows that SkillWrapper learns abstract representations that enable solving unseen, long-horizon tasks in the real world with black-box skills.
Odd-DC: Generalizable Neural Model Reduction via Odd Difference-of-Convex Structure
Venue: arXiv cs.GR 2026
Year: 2026

Model reduction is essential for real-time simulation of deformable objects. Linear techniques such as PCA provide structured and predictable behavior, but their limited expressiveness restricts accuracy under large or nonlinear deformations. Nonlinear model reduction with neural networks offers richer representations and higher compression; however, without structural constraints, the learned mapping from latent coordinates to displacements often generalizes poorly beyond the training distribution. We present an odd difference-of-convex (DC) neural formulation that bridges linear and nonlinear model reduction. Our goal is to obtain a latent space that behaves reliably under unseen load magnitudes and directions. To improve extrapolation in magnitude, we introduce convexity into the decoder to discourage oscillatory responses. Yet convexity alone cannot represent the odd symmetry required by many symmetric systems, which is crucial for generalization to inverse force directions. We therefore adopt a DC formulation that preserves the stabilizing effect of convexity while explicitly enforcing odd symmetry. Practically, we realize this structure using an input-convex neural network (ICNN) augmented with symmetry constraints. Across challenging deformation scenarios with varying magnitudes and reversed load directions, our method demonstrates stronger generalization than unconstrained nonlinear reductions while maintaining compact latent spaces and real-time performance. Our DC formulation extends to both mesh-based and neural-field reductions, demonstrating applicability across multiple classes of neural nonlinear model reduction.
Wireless Power Transfer and Intent-Driven Network Optimization in AAVs-assisted IoT for 6G Sustainable Connectivity
Venue: arXiv cs.AI 2026
Year: 2026

Autonomous Aerial Vehicle (AAV)-assisted Internet of Things (IoT) represents a collaborative architecture in which AAV allocate resources over 6G links to jointly enhance user-intent interpretation and overall network performance. Owing to this mutual dependence, improvements in intent inference and policy decisions on one component reinforce the efficiency of others, making highly reliable intent prediction and low-latency action execution essential. Although numerous approaches can model intent relationships, they encounter severe obstacles when scaling to high-dimensional action sequences and managing intensive on-board computation. We propose an Intent-Driven Framework for Autonomous Network Optimization comprising prediction and decision modules. First, implicit intent modeling is adopted to mitigate inaccuracies arising from ambiguous user expressions. For prediction, we introduce Hyperdimensional Transformer (HDT), which embeds data into a Hyperdimensional space via Hyperdimensional vector encoding and replaces standard matrix and attention operations with symbolic Hyperdimensional computations. For decision-making, where AAV must respond to user intent while planning trajectories, we design Double Actions based Multi-Agent Proximal Policy Optimization (DA-MAPPO). Building upon MAPPO, it samples actions through two independently parameterized networks and cascades the user-intent network into the trajectory network to maintain action dependencies. We evaluate our framework on a real IoT action dataset with authentic wireless data. Experimental results demonstrate that HDT and DA-MAPPO achieve superior performance across diverse scenarios.
MergeVLA: Cross-Skill Model Merging Toward a Generalist Vision-Language-Action Agent
Venue: arXiv cs.RO 2026
Year: 2026

Recent Vision-Language-Action (VLA) models reformulate vision-language models by tuning them with millions of robotic demonstrations. While they perform well when fine-tuned for a single embodiment or task family, extending them to multi-skill settings remains challenging: directly merging VLA experts trained on different tasks results in near-zero success rates. This raises a fundamental question: what prevents VLAs from mastering multiple skills within one model? With an empirical decomposition of learnable parameters during VLA fine-tuning, we identify two key sources of non-mergeability: (1) Finetuning drives LoRA adapters in the VLM backbone toward divergent, task-specific directions beyond the capacity of existing merging methods to unify. (2) Action experts develop inter-block dependencies through self-attention feedback, causing task information to spread across layers and preventing modular recombination. To address these challenges, we present MergeVLA, a merging-oriented VLA architecture that preserves mergeability by design. MergeVLA introduces sparsely activated LoRA adapters via task masks to retain consistent parameters and reduce irreconcilable conflicts in the VLM. Its action expert replaces self-attention with cross-attention-only blocks to keep specialization localized and composable. When the task is unknown, it uses a test-time task router to adaptively select the appropriate task mask and expert head from the initial observation, enabling unsupervised task inference. Across LIBERO, LIBERO-Plus, RoboTwin, and multi-task experiments on the real SO101 robotic arm, MergeVLA achieves performance comparable to or even exceeding individually finetuned experts, demonstrating robust generalization across tasks, embodiments, and environments. Project page: https://mergevla.github.io/
Periodic Asynchrony: An On-Policy Approach for Accelerating LLM Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Since the introduction of the GRPO algorithm, reinforcement learning (RL) has attracted increasing attention for LLM post-training, yet training efficiency remains a critical challenge. In mainstream RL frameworks, inference and training are co-located on the same devices, and their synchronous execution prevents concurrent inference and training. In this work, we revisit the strategy of separating inference and training deployment, and propose a periodically asynchronous framework that transforms synchronous RL training into an asynchronous producer-consumer pipeline. Unlike existing asynchronous approaches that introduce off-policy bias, our design is provably equivalent to its synchronous counterpart, preserving strict on-policy correctness without any algorithmic modifications. We further introduce a unified tri-model architecture and a shared-prompt attention mechanism to support efficient asynchronous execution and reduce redundant computation. Experiments on NPU platforms demonstrate a three- to five-fold improvement in end-to-end training throughput over mainstream RL frameworks, while maintaining fully comparable accuracy, indicating its potential for widespread application.
MIST: Mutual Information Estimation Via Supervised Training
Venue: arXiv cs.LG 2026
Year: 2026

We propose a fully data-driven approach to designing mutual information (MI) estimators. Since any MI estimator is a function of the observed sample from two random variables, we parameterize this function with a neural network (MIST) and train it end-to-end to predict MI values. Training is performed on a large meta-dataset of 625,000 synthetic joint distributions with known ground-truth MI. To handle variable sample sizes and dimensions, we employ a two-dimensional attention scheme ensuring permutation invariance across input samples. To quantify uncertainty, we optimize a quantile regression loss, enabling the estimator to approximate the sampling distribution of MI rather than return a single point estimate. This research program departs from prior work by taking a fully empirical route, trading universal theoretical guarantees for flexibility and efficiency. Empirically, the learned estimators largely outperform classical baselines across sample sizes and dimensions, including on joint distributions unseen during training. The resulting quantile-based intervals are well-calibrated and more reliable than bootstrap-based confidence intervals, while inference is orders of magnitude faster than existing neural baselines. Beyond immediate empirical gains, this framework yields trainable, fully differentiable estimators that can be embedded into larger learning pipelines. Moreover, exploiting MI's invariance to invertible transformations, meta-datasets can be adapted to arbitrary data modalities via normalizing flows, enabling flexible training for diverse target meta-distributions.
3D Dynamic Radio Map Prediction Using Vision Transformers for Low-Altitude Wireless Networks
Venue: arXiv cs.LG 2026
Year: 2026

Low-altitude wireless networks (LAWN) are rapidly expanding with the growing deployment of unmanned aerial vehicles (UAVs) for logistics, surveillance, and emergency response. Reliable connectivity remains a critical yet challenging task due to three-dimensional (3D) mobility, time-varying user density, and limited power budgets. The transmit power of base stations (BSs) fluctuates dynamically according to user locations and traffic demands, leading to a highly non-stationary 3D radio environment. Radio maps (RMs) have emerged as an effective means to characterize spatial power distributions and support radio-aware network optimization. However, most existing works construct static or offline RMs, overlooking real-time power variations and spatio-temporal dependencies in multi-UAV networks. To overcome this limitation, we propose a 3D dynamic radio map (3D-DRM) framework that learns and predicts the spatio-temporal evolution of received power. Specially, a Vision Transformer (ViT) encoder extracts high-dimensional spatial representations from 3D RMs, while a Transformer-based module models sequential dependencies to predict future power distributions. Experiments unveil that 3D-DRM accurately captures fast-varying power dynamics and substantially outperforms baseline models in both RM reconstruction and short-term prediction.