OpenRaiser/Intern-Atlas huggingface dataset:
A Comprehensive Review of Bio-Inspired Approaches to Coordination, Communication, and System Architecture in Underwater Swarm Robotics
Venue: arXiv cs.RO 2026
Year: 2026

The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends the capabilities of individual autonomous platforms through collective coordination. Inspired by natural systems, such as fish schools and insect colonies, bio-inspired swarm approaches enable distributed decision-making, adaptability, and resilience under challenging marine conditions. Yet research in this field remains fragmented, with limited integration across algorithmic, communication, and hardware design perspectives. This review synthesises bio-inspired coordination mechanisms, communication strategies, and system design considerations for underwater swarm robotics. It examines key marine-specific algorithms, including the Artificial Fish Swarm Algorithm, Whale Optimisation Algorithm, Coral Reef Optimisation, and Marine Predators Algorithm, highlighting their applications in formation control, task allocation, and environmental interaction. The review also analyses communication constraints unique to the underwater domain and emerging acoustic, optical, and hybrid solutions that support cooperative operation. Additionally, it examines hardware and system design advances that enhance system efficiency and scalability. A multi-dimensional classification framework evaluates existing approaches across communication dependency, environmental adaptability, energy efficiency, and swarm scalability. Through this integrated analysis, the review unifies bio-inspired coordination algorithms, communication modalities, and system design approaches. It also identifies converging trends, key challenges, and future research directions for real-world deployment of underwater swarm systems.
Breaking Coordinate Overfitting: Geometry-Aware WiFi Sensing for Cross-Layout 3D Pose Estimation
Venue: arXiv cs.HC 2026
Year: 2026

WiFi-based 3D human pose estimation offers a low-cost and privacy-preserving alternative to vision-based systems for smart interaction. However, existing approaches rely on visual 3D poses as supervision and directly regress CSI to a camera-based coordinate system. We find that this practice leads to coordinate overfitting: models memorize deployment-specific WiFi transceiver layouts rather than only learning activity-relevant representations, resulting in severe generalization failures. To address this challenge, we present PerceptAlign, the first geometry-conditioned framework for WiFi-based cross-layout pose estimation. PerceptAlign introduces a lightweight coordinate unification procedure that aligns WiFi and vision measurements in a shared 3D space using only two checkerboards and a few photos. Within this unified space, it encodes calibrated transceiver positions into high-dimensional embeddings and fuses them with CSI features, making the model explicitly aware of device geometry as a conditional variable. This design forces the network to disentangle human motion from deployment layouts, enabling robust and, for the first time, layout-invariant WiFi pose estimation. To support systematic evaluation, we construct the largest cross-domain 3D WiFi pose estimation dataset to date, comprising 21 subjects, 5 scenes, 18 actions, and 7 device layouts. Experiments show that PerceptAlign reduces in-domain error by 12.3% and cross-domain error by more than 60% compared to state-of-the-art baselines. These results establish geometry-conditioned learning as a viable path toward scalable and practical WiFi sensing.
Federated Joint Learning for Domain and Class Generalization
Venue: arXiv cs.CV 2026
Year: 2026

Efficient fine-tuning of visual-language models like CLIP has become crucial due to their large-scale parameter size and extensive pretraining requirements. Existing methods typically address either the issue of unseen classes or unseen domains in isolation, without considering a joint framework for both. In this paper, we propose \textbf{Fed}erated Joint Learning for \textbf{D}omain and \textbf{C}lass \textbf{G}eneralization, termed \textbf{FedDCG}, a novel approach that addresses both class and domain generalization in federated learning settings. Our method introduces a domain grouping strategy where class-generalized networks are trained within each group to prevent decision boundary confusion. During inference, we aggregate class-generalized results based on domain similarity, effectively integrating knowledge from both class and domain generalization. Specifically, a learnable network is employed to enhance class generalization capabilities, and a decoupling mechanism separates general and domain-specific knowledge, improving generalization to unseen domains. Extensive experiments across various datasets show that \textbf{FedDCG} outperforms state-of-the-art baselines in terms of accuracy and robustness.
Docs2Synth: A Synthetic Data Trained Retriever Framework for Scanned Visually Rich Documents Understanding
Venue: arXiv cs.AI 2026
Year: 2026

Document understanding (VRDU) in regulated domains is particularly challenging, since scanned documents often contain sensitive, evolving, and domain specific knowledge. This leads to two major challenges: the lack of manual annotations for model adaptation and the difficulty for pretrained models to stay up-to-date with domain-specific facts. While Multimodal Large Language Models (MLLMs) show strong zero-shot abilities, they still suffer from hallucination and limited domain grounding. In contrast, discriminative Vision-Language Pre-trained Models (VLPMs) provide reliable grounding but require costly annotations to cover new domains. We introduce Docs2Synth, a synthetic-supervision framework that enables retrieval-guided inference for private and low-resource domains. Docs2Synth automatically processes raw document collections, generates and verifies diverse QA pairs via an agent-based system, and trains a lightweight visual retriever to extract domain-relevant evidence. During inference, the retriever collaborates with an MLLM through an iterative retrieval--generation loop, reducing hallucination and improving response consistency. We further deliver Docs2Synth as an easy-to-use Python package, enabling plug-and-play deployment across diverse real-world scenarios. Experiments on multiple VRDU benchmarks show that Docs2Synth substantially enhances grounding and domain generalization without requiring human annotations.
AgenticPruner: MAC-Constrained Neural Network Compression via LLM-Driven Strategy Search
Venue: arXiv cs.CV 2026
Year: 2026

Neural network pruning remains essential for deploying deep learning models on resource-constrained devices, yet existing approaches primarily target parameter reduction without directly controlling computational cost. This yields unpredictable inference latency in deployment scenarios where strict Multiply-Accumulate (MAC) operation budgets must be met. We propose AgenticPruner, a framework utilizing large language models to achieve MAC-constrained optimization through iterative strategy learning. Our approach coordinates three specialized agents: a Profiling Agent that analyzes model architecture and MAC distributions, a Master Agent that orchestrates the workflow with divergence monitoring, and an Analysis Agent powered by Claude 3.5 Sonnet that learns optimal strategies from historical attempts. Through in-context learning, the Analysis Agent improves convergence success rate from 48% to 71% compared to grid search. Building upon isomorphic pruning's graph-based structural grouping, our method adds context-aware adaptation by analyzing patterns across pruning iterations, enabling automatic convergence to target MAC budgets within user-defined tolerance bands. We validate our framework on ImageNet-1K across ResNet, ConvNeXt, and DeiT architectures. On CNNs, our approach achieves MAC targeting while maintaining or improving accuracy: ResNet-50 reaches 1.77G MACs with 77.04% accuracy (+0.91% vs baseline); ResNet-101 achieves 4.22G MACs with 78.94% accuracy (+1.56% vs baseline). For ConvNeXt-Small, pruning to 8.17G MACs yields 1.41x GPU and 1.07x CPU speedup with 45% parameter reduction. On Vision Transformers, we demonstrate MAC-budget compliance within user-defined tolerance bands (typically +1% to +5% overshoot, -5% to -15% undershoot), establishing feasibility for deployment scenarios requiring strict computational guarantees.
CytoCLIP: Learning Cytoarchitectural Characteristics in Developing Human Brain Using Contrastive Language Image Pre-Training
Venue: arXiv cs.CV 2026
Year: 2026

The functions of different regions of the human brain are closely linked to their distinct cytoarchitecture, which is defined by the spatial arrangement and morphology of the cells. Identifying brain regions by their cytoarchitecture enables various scientific analyses of the brain. However, delineating these areas manually in brain histological sections is time-consuming and requires specialized knowledge. An automated approach is necessary to minimize the effort needed from human experts. To address this, we propose CytoCLIP, a suite of vision-language models derived from pre-trained Contrastive Language-Image Pre-Training (CLIP) frameworks to learn joint visual-text representations of brain cytoarchitecture. CytoCLIP comprises two model variants: one is trained using low-resolution whole-region images to understand the overall cytoarchitectural pattern of an area, and the other is trained on high-resolution image tiles for detailed cellular-level representation. The training dataset is created from NISSL-stained histological sections of developing fetal brains of different gestational weeks. It includes 86 distinct regions for low-resolution images and 384 brain regions for high-resolution tiles. We evaluate the model's understanding of the cytoarchitecture and generalization ability using region classification and cross-modal retrieval tasks. Multiple experiments are performed under various data setups, including data from samples of different ages and sectioning planes. Experimental results demonstrate that CytoCLIP outperforms existing methods. It achieves an F1 score of 0.87 for whole-region classification and 0.91 for high-resolution image tile classification.
ParaMETA: Towards Learning Disentangled Paralinguistic Speaking Styles Representations from Speech
Venue: arXiv cs.SD 2026
Year: 2026

Learning representative embeddings for different types of speaking styles, such as emotion, age, and gender, is critical for both recognition tasks (e.g., cognitive computing and human-computer interaction) and generative tasks (e.g., style-controllable speech generation). In this work, we introduce ParaMETA, a unified and flexible framework for learning and controlling speaking styles directly from speech. Unlike existing methods that rely on single-task models or cross-modal alignment, ParaMETA learns disentangled, task-specific embeddings by projecting speech into dedicated subspaces for each type of style. This design reduces inter-task interference, mitigates negative transfer, and allows a single model to handle multiple paralinguistic tasks such as emotion, gender, age, and language classification. Beyond recognition, ParaMETA enables fine-grained style control in Text-To-Speech (TTS) generative models. It supports both speech- and text-based prompting and allows users to modify one speaking styles while preserving others. Extensive experiments demonstrate that ParaMETA outperforms strong baselines in classification accuracy and generates more natural and expressive speech, while maintaining a lightweight and efficient model suitable for real-world applications.
Concepts from Representations: Post-hoc Concept Bottleneck Models via Sparse Decomposition of Visual Representations
Venue: arXiv cs.CV 2026
Year: 2026

Deep learning has achieved remarkable success in image recognition, yet their inherent opacity poses challenges for deployment in critical domains. Concept-based interpretations aim to address this by explaining model reasoning through human-understandable concepts. However, existing post-hoc methods and ante-hoc concept bottleneck models (CBMs), suffer from limitations such as unreliable concept relevance, non-visual or labor-intensive concept definitions, and model or data-agnostic assumptions. This paper introduces Post-hoc Concept Bottleneck Model via Representation Decomposition (PCBM-ReD), a novel pipeline that retrofits interpretability onto pretrained opaque models. PCBM-ReD automatically extracts visual concepts from a pre-trained encoder, employs multimodal large language models (MLLMs) to label and filter concepts based on visual identifiability and task relevance, and selects an independent subset via reconstruction-guided optimization. Leveraging CLIP's visual-text alignment, it decomposes image representations into linear combination of concept embeddings to fit into the CBMs abstraction. Extensive experiments across 11 image classification tasks show PCBM-ReD achieves state-of-the-art accuracy, narrows the performance gap with end-to-end models, and exhibits better interpretability.
FlowIID: Single-Step Intrinsic Image Decomposition via Latent Flow Matching
Venue: arXiv cs.CV 2026
Year: 2026

Intrinsic Image Decomposition (IID) separates an image into albedo and shading components. It is a core step in many real-world applications, such as relighting and material editing. Existing IID models achieve good results, but often use a large number of parameters. This makes them costly to combine with other models in real-world settings. To address this problem, we propose a flow matching-based solution. For this, we design a novel architecture, FlowIID, based on latent flow matching. FlowIID combines a VAE-guided latent space with a flow matching module, enabling a stable decomposition of albedo and shading. FlowIID is not only parameter-efficient, but also produces results in a single inference step. Despite its compact design, FlowIID delivers competitive and superior results compared to existing models across various benchmarks. This makes it well-suited for deployment in resource-constrained and real-time vision applications.
Turbo-GoDec: Exploiting the Cluster Sparsity Prior for Hyperspectral Anomaly Detection
Venue: arXiv cs.CV 2026
Year: 2026

As a key task in hyperspectral image processing, hyperspectral anomaly detection has garnered significant attention and undergone extensive research. Existing methods primarily relt on two prior assumption: low-rank background and sparse anomaly, along with additional spatial assumptions of the background. However, most methods only utilize the sparsity prior assumption for anomalies and rarely expand on this hypothesis. From observations of hyperspectral images, we find that anomalous pixels exhibit certain spatial distribution characteristics: they often manifest as small, clustered groups in space, which we refer to as cluster sparsity of anomalies. Then, we combined the cluster sparsity prior with the classical GoDec algorithm, incorporating the cluster sparsity prior into the S-step of GoDec. This resulted in a new hyperspectral anomaly detection method, which we called Turbo-GoDec. In this approach, we modeled the cluster sparsity prior of anomalies using a Markov random field and computed the marginal probabilities of anomalies through message passing on a factor graph. Locations with high anomalous probabilities were treated as the sparse component in the Turbo-GoDec. Experiments are conducted on three real hyperspectral image (HSI) datasets which demonstrate the superior performance of the proposed Turbo-GoDec method in detecting small-size anomalies comparing with the vanilla GoDec (LSMAD) and state-of-the-art anomaly detection methods. The code is available at https://github.com/jiahuisheng/Turbo-GoDec.
Time-Continuous Modeling for Temporal Affective Pattern Recognition in LLMs
Venue: arXiv cs.LG 2026
Year: 2026

This paper introduces a dataset and conceptual framework for LLMs to mimic real world emotional dynamics through time and in-context learning leveraging physics-informed neural network, opening a possibility for interpretable dialogue modeling.
Analyzing Collection Strategies: A Computational Perspective on the Coupon Collector Problem
Venue: arXiv cs.DS 2026
Year: 2026

The Coupon Collector Problem (CCP) is a well-known combinatorial problem that seeks to estimate the number of random draws required to complete a collection of $n$ distinct coupon types. Various generalizations of this problem have been applied in numerous engineering domains. However, practical applications are often hindered by the computational challenges associated with deriving numerical results for moments and distributions. In this work, we present three algorithms for solving the most general form of the CCP, where coupons are collected under any arbitrary drawing probability, with the objective of obtaining $t$ copies of a subset of $k$ coupons from a total of $n$. The First algorithm provides the base model to compute the expectation, variance, and the second moment of the collection process. The second algorithm utilizes the construction of the base model and computes the same values in polynomial time with respect to $n$ under the uniform drawing distribution, and the third algorithm extends to any general drawing distribution. All algorithms leverage Markov models specifically designed to address computational challenges, ensuring exact computation of the expectation and variance of the collection process. Their implementation uses a dynamic programming approach that follows from the Markov models framework, and their time complexity is analyzed accordingly.
From Shallow Waters to Mariana Trench: A Survey of Bio-inspired Underwater Soft Robots
Venue: arXiv cs.RO 2026
Year: 2026

Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cause noise and damage to the underwater ecosystem, while bio-inspired soft robots draw inspiration from aquatic creatures to address these challenges. These bio-inspired approaches enable robots to withstand high water pressure, minimize drag, operate with efficient manipulation and sensing systems, and interact with the environment in an eco-friendly manner. Consequently, bio-inspired soft robots have emerged as a promising field for ocean exploration. This paper reviews recent advancements in underwater bio-inspired soft robots, analyses their design considerations when facing different desired functions, bio-inspirations, ambient pressure, temperature, light, and biodiversity , and finally explores the progression from bio-inspired principles to practical applications in the field and suggests potential directions for developing the next generation of underwater soft robots.
From Prompts to Pavement: LMMs-based Agentic Behavior-Tree Generation Framework for Autonomous Vehicles
Venue: arXiv cs.CV 2026
Year: 2026

Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive manual tuning, limiting their applicability at SAE Level 5 autonomy. This paper presents an agentic framework that leverages large language models (LLMs) and multi-modal vision models (LVMs) to generate and adapt BTs on the fly. A specialized Descriptor agent applies chain-of-symbols prompting to assess scene criticality, a Planner agent constructs high-level sub-goals via in-context learning, and a Generator agent synthesizes executable BT sub-trees in XML format. Integrated into a CARLA+Nav2 simulation, our system triggers only upon baseline BT failure, demonstrating successful navigation around unexpected obstacles (e.g., street blockage) with no human intervention. Compared to a static BT baseline, this approach is a proof-of-concept that extends to diverse driving scenarios.
Machine Learning-Based Framework for Real Time Detection and Early Prediction of Control Valve Stiction in Industrial Control Systems
Venue: arXiv cs.LG 2026
Year: 2026

Control valve stiction, a friction that prevents smooth valve movement, is a common fault in industrial process systems that causes instability, equipment wear, and higher maintenance costs. Many plants still operate with conventional valves that lack real time monitoring, making early predictions challenging. This study presents a machine learning (ML) framework for detecting and predicting stiction using only routinely collected process signals: the controller output (OP) from control systems and the process variable (PV), such as flow rate. Three deep learning models were developed and compared: a Convolutional Neural Network (CNN), a hybrid CNN with a Support Vector Machine (CNN-SVM), and a Long Short-Term Memory (LSTM) network. To train these models, a data-driven labeling method based on slope ratio analysis was applied to a real oil and gas refinery dataset. The LSTM model achieved the highest accuracy and was able to predict stiction up to four hours in advance. To the best of the authors' knowledge, this is the first study to demonstrate ML based early prediction of control valve stiction from real industry data. The proposed framework can be integrated into existing control systems to support predictive maintenance, reduce downtime, and avoid unnecessary hardware replacement.
A Hierarchical Benchmark of Foundation Models for Dermatology
Venue: arXiv cs.CV 2026
Year: 2026

Foundation models have transformed medical image analysis by providing robust feature representations that reduce the need for large-scale task-specific training. However, current benchmarks in dermatology often reduce the complex diagnostic taxonomy to flat, binary classification tasks, such as distinguishing melanoma from benign nevi. This oversimplification obscures a model's ability to perform fine-grained differential diagnoses, which is critical for clinical workflow integration. This study evaluates the utility of embeddings derived from ten foundation models, spanning general computer vision, general medical imaging, and dermatology-specific domains, for hierarchical skin lesion classification. Using the DERM12345 dataset, which comprises 40 lesion subclasses, we calculated frozen embeddings and trained lightweight adapter models using a five-fold cross-validation. We introduce a hierarchical evaluation framework that assesses performance across four levels of clinical granularity: 40 Subclasses, 15 Main Classes, 2 and 4 Superclasses, and Binary Malignancy. Our results reveal a "granularity gap" in model capabilities: MedImageInsights achieved the strongest overall performance (97.52% weighted F1-Score on Binary Malignancy detection) but declined to 65.50% on fine-grained 40-class subtype classification. Conversely, MedSigLip (69.79%) and dermatology-specific models (Derm Foundation and MONET) excelled at fine-grained 40-class subtype discrimination while achieving lower overall performance than MedImageInsights on broader classification tasks. Our findings suggest that while general medical foundation models are highly effective for high-level screening, specialized modeling strategies are necessary for the granular distinctions required in diagnostic support systems.