OpenRaiser/Intern-Atlas huggingface dataset:
Astra: General Interactive World Model with Autoregressive Denoising
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in diffusion transformers have empowered video generation models to generate high-quality video clips from texts or images. However, world models with the ability to predict long-horizon futures from past observations and actions remain underexplored, especially for general-purpose scenarios and various forms of actions. To bridge this gap, we introduce Astra, an interactive general world model that generates real-world futures for diverse scenarios (e.g., autonomous driving, robot grasping) with precise action interactions (e.g., camera motion, robot action). We propose an autoregressive denoising architecture and use temporal causal attention to aggregate past observations and support streaming outputs. We use a noise-augmented history memory to avoid over-reliance on past frames to balance responsiveness with temporal coherence. For precise action control, we introduce an action-aware adapter that directly injects action signals into the denoising process. We further develop a mixture of action experts that dynamically route heterogeneous action modalities, enhancing versatility across diverse real-world tasks such as exploration, manipulation, and camera control. Astra achieves interactive, consistent, and general long-term video prediction and supports various forms of interactions. Experiments across multiple datasets demonstrate the improvements of Astra in fidelity, long-range prediction, and action alignment over existing state-of-the-art world models.
Membership and Dataset Inference Attacks on Large Audio Generative Models
Venue: arXiv cs.LG 2026
Year: 2026

Generative audio models, based on diffusion and autoregressive architectures, have advanced rapidly in both quality and expressiveness. This progress, however, raises pressing copyright concerns, as such models are often trained on vast corpora of artistic and commercial works. A central question is whether one can reliably verify if an artist's material was included in training, thereby providing a means for copyright holders to protect their content. In this work, we investigate the feasibility of such verification through membership inference attacks (MIA) on open-source generative audio models, which attempt to determine whether a specific audio sample was part of the training set. Our empirical results show that membership inference alone is of limited effectiveness at scale, as the per-sample membership signal is weak for models trained on large and diverse datasets. However, artists and media owners typically hold collections of works rather than isolated samples. Building on prior work in text and vision domains, in this work we focus on dataset inference (DI), which aggregates diverse membership evidence across multiple samples. We find that DI is successful in the audio domain, offering a more practical mechanism for assessing whether an artist's works contributed to model training. Our results suggest DI as a promising direction for copyright protection and dataset accountability in the era of large audio generative models.
Interpreto: An Explainability Library for Transformers
Venue: arXiv cs.CL 2026
Year: 2026

Interpreto is an open-source Python library for interpreting HuggingFace language models, from early BERT variants to LLMs. It provides two complementary families of methods: attribution methods and concept-based explanations. The library bridges recent research and practical tooling by exposing explanation workflows through a unified API for both classification and text generation. A key differentiator is its end-to-end concept-based pipeline (from activation extraction to concept learning, interpretation, and scoring), which goes beyond feature-level attributions and is uncommon in existing libraries.
SIP-BMM: Constructing Capability-Efficiency Pareto Set of LLMs via Bayesian Model Merging with Structural Importance Prior
Venue: arXiv cs.LG 2026
Year: 2026

Navigating the capability-efficiency trade-offs in Large Language Models (LLMs) requires constructing a high-quality Pareto set. However, existing merging techniques remain inadequate: coarse-grained, model-level methods yield only a sparse set of suboptimal solutions, while fine-grained, layer-wise optimization suffers from the curse of dimensionality, especially under tight evaluation budgets where each model candidate is costly to assess. We propose Bayesian Model Merging with Structural Importance Prior (SIP-BMM), an evolutionary loop framework driven by Log-Noisy Expected Hypervolume Improvement ($q$NEHVI) that makes layer-wise Pareto set construction tractable by explicitly modeling which layers matter. Specifically, SIP-BMM derives a \textbf{Structural Importance Prior (SIP)} from layer-wise task-vector differences between base and expert models, and uses this prior to Bayesian Optimization toward a low effective dimensional subspace. Intuitively, SIP steers the optimizer to spend most trials on a small set of influential layers while largely ignoring layers that exhibit minimal task-relevant shifts. This importance-aware search preserves layer-wise control while substantially reducing sample complexity. Experiments show that SIP-BMM discovers a stronger and denser Pareto front than competitive baselines, enabling agile model selection under diverse operational constraints. Code is available at: https://github.com/MiLab-HITSZ/2026-SIPBMM.
Geometric Dynamics of Agentic Loops in Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Iterative LLM systems(self-refinement, chain-of-thought, autonomous agents) are increasingly deployed, yet their temporal dynamics remain uncharacterized. Prior work evaluates task performance at convergence but ignores the trajectory: how does semantic content evolve across iterations? Does it stabilize, drift, or oscillate? Without answering these questions, we cannot predict system behavior, guarantee stability, or systematically design iterative architectures. We formalize agentic loops as discrete dynamical systems in semantic space. Borrowing from dynamical systems theory, we define trajectories, attractors and dynamical regimes for recursive LLM transformations, providing rigorous geometric definitions adapted to this setting. Our framework reveals that agentic loops exhibit classifiable dynamics: contractive (convergence toward stable semantic attractors), oscillatory (cycling among attractors), or exploratory (unbounded divergence). Experiments on singular loops validate the framework. Iterative paraphrasing produces contractive dynamics with measurable attractor formation and decreasing dispersion. Iterative negation produces exploratory dynamics with no stable structure. Crucially, prompt design directly controls the dynamical regime - the same model exhibits fundamentally different geometric behaviors depending solely on the transformation applied. This work establishes that iterative LLM dynamics are predictable and controllable, opening new directions for stability analysis, trajectory forecasting, and principled design of composite loops that balance convergence and exploration.
CLASH: Collaborative Large-Small Hierarchical Framework for Continuous Vision-and-Language Navigation
Venue: arXiv cs.RO 2026
Year: 2026

Vision-and-Language Navigation (VLN) requires robots to follow natural language instructions and navigate complex environments without prior maps. While recent vision-language large models demonstrate strong reasoning abilities, they often underperform task-specific panoramic small models in VLN tasks. To address this, we propose CLASH (Collaborative Large-Small Hierarchy), a VLN-CE framework that integrates a reactive small-model planner (RSMP) with a reflective large-model reasoner (RLMR). RSMP adopts a causal-learning-based dual-branch architecture to enhance generalization, while RLMR leverages panoramic visual prompting with chain-of-thought reasoning to support interpretable spatial understanding and navigation. We further introduce an uncertainty-aware collaboration mechanism (UCM) that adaptively fuses decisions from both models. For obstacle avoidance, in simulation, we replace the rule-based controller with a fully learnable point-goal policy, and in real-world deployment, we design a LiDAR-based clustering module for generating navigable waypoints and pair it with an online SLAM-based local controller. CLASH achieves state-of-the-art (SoTA) results (ranking 1-st) on the VLN-CE leaderboard, significantly improving SR and SPL on the test-unseen set over the previous SoTA methods. Real-world experiments demonstrate CLASH's strong robustness, validating its effectiveness in both simulation and deployment scenarios.
SWAA: Sliding Window Attention Adaptation for Efficient Long-Context LLMs Without Pretraining
Venue: arXiv cs.CL 2026
Year: 2026

The quadratic complexity of self-attention in Transformer-based Large Language Models (LLMs) renders long-context inference prohibitively expensive. While Sliding Window Attention (SWA), the simplest sparse attention pattern, offers a linear-complexity alternative, naively applying it to models pretrained with Full Attention (FA) causes catastrophic long-context performance collapse due to the training-inference mismatch. To address this, we propose Sliding Window Attention Adaptation (SWAA), a plug-and-play toolkit of recipes that adapt FA models to SWA without costly pretraining. SWAA systematically combines five strategies: (1) applying SWA only during prefilling; (2) preserving "sink" tokens; (3) interleaving FA/SWA layers; (4) chain-of-thought (CoT); and (5) fine-tuning. Our experiments demonstrate that while individual methods are insufficient, specific synergistic combinations can effectively recover original long-context capabilities. After further analyzing performance-efficiency trade-offs, we identify recommended SWAA configurations for diverse scenarios, which achieve 30% to 100% speedups for long-context LLM inference with acceptable quality loss. Our code is available at https://github.com/yuyijiong/sliding-window-attention-adaptation
Symphony: A Heuristic Normalized Calibrated Advantage Actor and Critic Algorithm in application for Humanoid Robots
Venue: arXiv cs.RO 2026
Year: 2026

In our work we implicitly suggest that it is a misconception to think that humans learn fast. The learning process takes time. Babies start learning to move in the restricted fluid environment of the womb. Children are often limited by underdeveloped body. Even adults are not allowed to participate in complex competitions right away. However, with robots, when learning from scratch, we often don't have the privilege of waiting for tens of millions of steps. "Swaddling" regularization is responsible for restraining an agent in rapid but unstable development penalizing action strength in a specific way not affecting actions directly. The Symphony, Transitional-policy Deterministic Actor and Critic algorithm, is a concise combination of different ideas for possibility of training humanoid robots from scratch with Sample Efficiency, Sample Proximity and Safety of Actions in mind. It is well known that continuous increase in Gaussian noise without appropriate smoothing is harmful for motors and gearboxes. Compared to Stochastic algorithms, we set limited parametric noise and promote a reduced strength of actions, safely increasing entropy, since the actions are submerged in weaker noise. When actions require more extreme values, actions rise above the weak noise. Training becomes empirically much safer for both the environment around and the robot's mechanisms. We use Fading Replay Buffer: using a fixed formula containing the hyperbolic tangent, we adjust the batch sampling probability: the memory contains a recent memory and a long-term memory trail. Fading Replay Buffer allows us to use Temporal Advantage when we improve the current Critic Network prediction compared to the exponential moving average. Temporal Advantage allows us to update the Actor and Critic in one pass, as well as combine the Actor and Critic in one Object and implement their Losses in one line.
NormCode: A Semi-Formal Language for Auditable AI Planning
Venue: arXiv cs.AI 2026
Year: 2026

As AI systems move into high stakes domains such as legal reasoning, medical diagnosis, and financial decision making, regulators and practitioners increasingly demand auditability. Auditability means the ability to trace exactly what each step in a multi step workflow saw and did. Current large language model based workflows are fundamentally opaque. Context pollution, defined as the accumulation of information across reasoning steps, causes models to hallucinate and lose track of constraints. At the same time, implicit data flow makes it impossible to reconstruct what any given step actually received as input. We present NormCode, a semi formal language that makes AI workflows auditable by construction. Each inference step operates in enforced data isolation and can access only explicitly passed inputs. This eliminates cross step contamination and ensures that every intermediate state can be inspected. A strict separation between semantic operations, meaning probabilistic language model reasoning, and syntactic operations, meaning deterministic data flow, allows auditors to clearly distinguish inference from mechanical restructuring. The multi format ecosystem, consisting of NCDS, NCD, NCN, and NCDN files, allows developers, domain experts, and auditors to inspect the same plan in formats suited to their individual needs. A four phase compilation pipeline transforms natural language intent into executable JSON repositories. A visual Canvas application provides real time graph visualization and breakpoint debugging. We validate the approach by achieving full accuracy on base X addition and by self hosted execution of the NormCode compiler itself. These results demonstrate that structured intermediate representations can bridge human intuition and machine rigor while maintaining full transparency.
Agent policies from higher-order causal functions
Venue: arXiv cs.AI 2026
Year: 2026

We establish a correspondence between equivalence classes of agent-state policies for deterministic POMDPs and one-input process functions (the classical-deterministic limit of higher-order quantum operations). We use this correspondence to build a bridge between the agent-environment interaction in artificial intelligence, causal structure in the foundations of physics, and logic in computer science. We construct a *-autonomous category PF of types which supports an interpretation of one-step evaluation of policies, and multi-agent observation constraints, into cuts and monoidal products. In terms of types, we develop the correspondence further by identifying observation-independent decentralised POMDPs as the natural domain for the multi-input process functions used to model indefinite causality. We then prove a strict separation between general multi-input process function and definite-ordered process function performance on such dec-POMDPs, by finding an instance for which policies utilizing an indefinite causal structure can achieve greater finite-horizon rewards than policies which are restricted to a fixed background causal structure.
SENSE: Self-Supervised Neural Embeddings for Spatial Ensembles
Venue: arXiv cs.LG 2026
Year: 2026

Analyzing and visualizing scientific ensemble datasets with high dimensionality and complexity poses significant challenges. Dimensionality reduction techniques and autoencoders are powerful tools for extracting features, but they often struggle with such high-dimensional data. This paper presents an enhanced autoencoder framework that incorporates a clustering loss, based on the soft silhouette score, alongside a contrastive loss to improve the visualization and interpretability of ensemble datasets. First, EfficientNetV2 is used to generate pseudo-labels for the unlabeled portions of the scientific ensemble datasets. By jointly optimizing the reconstruction, clustering, and contrastive objectives, our method encourages similar data points to group together while separating distinct clusters in the latent space. UMAP is subsequently applied to this latent representation to produce 2D projections, which are evaluated using the silhouette score. Multiple types of autoencoders are evaluated and compared based on their ability to extract meaningful features. Experiments on two scientific ensemble datasets - channel structures in soil derived from Markov chain Monte Carlo, and droplet-on-film impact dynamics - show that models incorporating clustering or contrastive loss marginally outperform the baseline approaches.
Learning Category-level Last-meter Navigation from RGB Demonstrations of a Single-instance
Venue: arXiv cs.RO 2026
Year: 2026

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for the precise positioning phase of mobile manipulation. This gap prevents manipulation policies from operating within the distribution of their training demonstrations, resulting in frequent execution failures. We address this gap by introducing an object-centric imitation learning framework for last-meter navigation, enabling a quadruped mobile manipulator robot to achieve manipulation-ready positioning using only RGB observations from its onboard cameras. Our method conditions the navigation policy on three inputs: goal images, multi-view RGB observations from the onboard cameras, and a text prompt specifying the target object. A language-driven segmentation module and a spatial score-matrix decoder then supply explicit object grounding and relative pose reasoning. Using real-world data from a single object instance within a category, the system generalizes to unseen object instances across diverse environments with challenging lighting and background conditions. To comprehensively evaluate this, we introduce two metrics: an edge-alignment metric, which uses ground truth orientation, and an object-alignment metric, which evaluates how well the robot visually faces the target. Under these metrics, our policy achieves 73.47% success in edge-alignment and 96.94% success in object-alignment when positioning relative to unseen target objects. These results show that precise last-meter navigation can be achieved at a category-level without depth, LiDAR, or map priors, enabling a scalable pathway toward unified mobile manipulation. Project page: https://rpm-lab-umn.github.io/category-level-last-meter-nav/
REST: Diffusion-based Real-time End-to-end Streaming Talking Head Generation via ID-Context Caching and Asynchronous Streaming Distillation
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models have significantly advanced the field of talking head generation (THG). However, slow inference speeds and prevalent non-autoregressive paradigms severely constrain the application of diffusion-based THG models. In this study, we propose REST, a pioneering diffusion-based, real-time, end-to-end streaming audio-driven talking head generation framework. To support real-time end-to-end generation, a compact video latent space is first learned through a spatiotemporal variational autoencoder with a high compression ratio. Additionally, to enable semi-autoregressive streaming within the compact video latent space, we introduce an ID-Context Cache mechanism, which integrates ID-Sink and Context-Cache principles into key-value caching for maintaining identity consistency and temporal coherence during long-term streaming generation. Furthermore, an Asynchronous Streaming Distillation (ASD) strategy is proposed to mitigate error accumulation and enhance temporal consistency in streaming generation, leveraging a non-streaming teacher with an asynchronous noise schedule to supervise the streaming student. REST bridges the gap between autoregressive and diffusion-based approaches, achieving a breakthrough in efficiency for applications requiring real-time THG. Experimental results demonstrate that REST outperforms state-of-the-art methods in both generation speed and overall performance.
Do We Need Reformer for Vision? An Experimental Comparison with Vision Transformers
Venue: arXiv cs.CV 2026
Year: 2026

Transformers have recently demonstrated strong performance in computer vision, with Vision Transformers (ViTs) leveraging self-attention to capture both low-level and high-level image features. However, standard ViTs remain computationally expensive, since global self-attention scales quadratically with the number of tokens, which limits their practicality for high-resolution inputs and resource-constrained settings. In this work, we investigate the Reformer architecture as an alternative vision backbone. By combining patch-based tokenization with locality-sensitive hashing (LSH) attention, our model approximates global self-attention while reducing its theoretical time complexity from $\mathcal{O}(n^2)$ to $\mathcal{O}(n \log n)$ in the sequence length $n$. We evaluate the proposed Reformer-based vision model on CIFAR-10 to assess its behavior on small-scale datasets, on ImageNet-100 to study its accuracy--efficiency trade-off in a more realistic setting, and on a high-resolution medical imaging dataset to evaluate the model under longer token sequences. While the Reformer achieves higher accuracy on CIFAR-10 compared to our ViT-style baseline, the ViT model consistently outperforms the Reformer in our experiments in terms of practical efficiency and end-to-end computation time across the larger and higher-resolution settings. These results suggest that, despite the theoretical advantages of LSH-based attention, meaningful computation gains require sequence lengths substantially longer than those produced by typical high-resolution images.
Robust MLLM Unlearning via Visual Knowledge Distillation
Venue: arXiv cs.CV 2026
Year: 2026

Recently, machine unlearning approaches have been proposed to remove sensitive information from well-trained large models. However, most existing methods are tailored for LLMs, while MLLM-oriented unlearning remains at its early stage. Inspired by recent studies exploring the internal mechanisms of MLLMs, we propose to disentangle the visual and textual knowledge embedded within MLLMs and introduce a dedicated approach to selectively erase target visual knowledge while preserving textual knowledge. Unlike previous unlearning methods that rely on output-level supervision, our approach introduces a Visual Knowledge Distillation (VKD) scheme, which leverages intermediate visual representations within the MLLM as supervision signals. This design substantially enhances both unlearning effectiveness and model utility. Moreover, since our method only fine-tunes the visual components of the MLLM, it offers significant efficiency advantages. Extensive experiments demonstrate that our approach outperforms state-of-the-art unlearning methods in terms of both effectiveness and efficiency. Moreover, we are the first to evaluate the robustness of MLLM unlearning against relearning attacks.