OpenRaiser/Intern-Atlas huggingface dataset:
Next Reply Prediction X Dataset: Linguistic Discrepancies in Naively Generated Content
Venue: arXiv cs.CL 2026
Year: 2026

The increasing use of Large Language Models (LLMs) as proxies for human participants in social science research presents a promising, yet methodologically risky, paradigm shift. While LLMs offer scalability and cost-efficiency, their "naive" application, where they are prompted to generate content without explicit behavioral constraints, introduces significant linguistic discrepancies that challenge the validity of research findings. This paper addresses these limitations by introducing a novel, history-conditioned reply prediction task on authentic X (formerly Twitter) data, to create a dataset designed to evaluate the linguistic output of LLMs against human-generated content. We analyze these discrepancies using stylistic and content-based metrics, providing a quantitative framework for researchers to assess the quality and authenticity of synthetic data. Our findings highlight the need for more sophisticated prompting techniques and specialized datasets to ensure that LLM-generated content accurately reflects the complex linguistic patterns of human communication, thereby improving the validity of computational social science studies.
EMAD: Evidence-Centric Grounded Multimodal Diagnosis for Alzheimer's Disease
Venue: arXiv cs.CV 2026
Year: 2026

Deep learning models for medical image analysis often act as black boxes, seldom aligning with clinical guidelines or explicitly linking decisions to supporting evidence. This is especially critical in Alzheimer's disease (AD), where predictions should be grounded in both anatomical and clinical findings. We present EMAD, a vision-language framework that generates structured AD diagnostic reports in which each claim is explicitly grounded in multimodal evidence. EMAD uses a hierarchical Sentence-Evidence-Anatomy (SEA) grounding mechanism: (i) sentence-to-evidence grounding links generated sentences to clinical evidence phrases, and (ii) evidence-to-anatomy grounding localizes corresponding structures on 3D brain MRI. To reduce dense annotation requirements, we propose GTX-Distill, which transfers grounding behavior from a teacher trained with limited supervision to a student operating on model-generated reports. We further introduce Executable-Rule GRPO, a reinforcement fine-tuning scheme with verifiable rewards that enforces clinical consistency, protocol adherence, and reasoning-diagnosis coherence. On the AD-MultiSense dataset, EMAD achieves state-of-the-art diagnostic accuracy and produces more transparent, anatomically faithful reports than existing methods. We will release code and grounding annotations to support future research in trustworthy medical vision-language models.
Human-to-Robot Interaction: Learning from Video Demonstration for Robot Imitation
Venue: arXiv cs.RO 2026
Year: 2026

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video captioning models prioritize global scene features over task-relevant objects, producing descriptions unsuitable for precise robotic execution, and (2) end-to-end architectures coupling visual understanding with policy learning require extensive paired datasets and struggle to generalize across objects and scenarios. To address these limitations, we propose a novel ``Human-to-Robot'' imitation learning pipeline that enables robots to acquire manipulation skills directly from unstructured video demonstrations, inspired by the human ability to learn by watching and imitating. Our key innovation is a modular framework that decouples the learning process into two distinct stages: (1) Video Understanding, which combines Temporal Shift Modules (TSM) with Vision-Language Models (VLMs) to extract actions and identify interacted objects, and (2) Robot Imitation, which employs TD3-based deep reinforcement learning to execute the demonstrated manipulations. We validated our approach in PyBullet simulation environments with a UR5e manipulator and in a real-world experiment with a UF850 manipulator across four fundamental actions: reach, pick, move, and put. For video understanding, our method achieves 89.97% action classification accuracy and BLEU-4 scores of 0.351 on standard objects and 0.265 on novel objects, representing improvements of 76.4% and 128.4% over the best baseline, respectively. For robot manipulation, our framework achieves an average success rate of 87.5% across all actions, with 100% success on reaching tasks and up to 90% on complex pick-and-place operations. The project website is available at https://thanhnguyencanh.github.io/LfD4hri.
UniE2F: A Unified Diffusion Framework for Event-to-Frame Reconstruction with Video Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Event cameras excel at high-speed, low-power, and high-dynamic-range scene perception. However, as they fundamentally record only relative intensity changes rather than absolute intensity, the resulting data streams suffer from a significant loss of spatial information and static texture details. In this paper, we address this limitation by leveraging the generative prior of a pre-trained video diffusion model to reconstruct high-fidelity video frames from sparse event data. Specifically, we first establish a baseline model by directly applying event data as a condition to synthesize videos. Then, based on the physical correlation between the event stream and video frames, we further introduce the event-based inter-frame residual guidance to enhance the accuracy of video frame reconstruction. Furthermore, we extend our method to video frame interpolation and prediction in a zero-shot manner by modulating the reverse diffusion sampling process, thereby creating a unified event-to-frame reconstruction framework. Experimental results on real-world and synthetic datasets demonstrate that our method significantly outperforms previous approaches both quantitatively and qualitatively. We also refer the reviewers to the video demo contained in the supplementary material for video results. The code will be publicly available at https://github.com/CS-GangXu/UniE2F.
Understanding Empirical Unlearning with Combinatorial Interpretability
Venue: arXiv cs.LG 2026
Year: 2026

While many recent methods aim to unlearn or remove knowledge from pretrained models, seemingly erased knowledge often persists and can be recovered in various ways. Because large foundation models are far from interpretable, understanding whether and how such knowledge persists remains a significant challenge. To address this, we turn to the recently developed framework of combinatorial interpretability. This framework, designed for two-layer neural networks, enables direct inspection of the knowledge encoded in the model weights. We reproduce baseline unlearning methods within the combinatorial interpretability setting and examine their behavior along two dimensions: (i) whether they truly remove knowledge of a target concept (the concept we wish to remove) or merely inhibit its expression while retaining the underlying information, and (ii) how easily the supposedly erased knowledge can be recovered through various fine-tuning operations. Our results shed light within a fully interpretable setting on how knowledge can persist despite unlearning and when it might resurface.
A Comparative Analysis of Peer Support in Forum-based and Chat-based Mental Health Communities: Technical-Structural-Functional Model of Social Support
Venue: arXiv cs.HC 2026
Year: 2026

Online support communities have become vital spaces offering varied forms of support to individuals facing mental health challenges. Despite the proliferation of platforms with distinct technical structures, little is known about how these features shape support dynamics and the socio-technical mechanisms at play. This study introduces a technical-structural-functional model of social support and systematically compares communication network structures and support types in 20 forum-based and 20 chat-based mental health communities. Using supervised machine learning and social network analysis, we find that forum-based communities foster more informational and emotional support, whereas chat-based communities promote greater companionship. These patterns were partially explained by network structure: higher in-degree centralization in forums accounted for the prevalence of informational support, while decentralized reply patterns in chat groups accounted for more companionship. These findings extend the structural-functional model of support to online contexts and provide actionable guidance for designing support communities that align technical structures with users' support needs.
The Price Is Not Right: Neuro-Symbolic Methods Outperform VLAs on Structured Long-Horizon Manipulation Tasks with Significantly Lower Energy Consumption
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models have recently been proposed as a pathway toward generalist robotic policies capable of interpreting natural language and visual inputs to generate manipulation actions. However, their effectiveness and efficiency on structured, long-horizon manipulation tasks remain unclear. In this work, we present a head-to-head empirical comparison between a fine-tuned open-weight VLA model π0 and a neuro-symbolic architecture that combines PDDL-based symbolic planning with learned low-level control. We evaluate both approaches on structured variants of the Towers of Hanoi manipulation task in simulation while measuring both task performance and energy consumption during training and execution. On the 3-block task, the neuro-symbolic model achieves 95% success compared to 34% for the best-performing VLA. The neuro-symbolic model also generalizes to an unseen 4-block variant (78% success), whereas both VLAs fail to complete the task. During training, VLA fine-tuning consumes nearly two orders of magnitude more energy than the neuro-symbolic approach. These results highlight important trade-offs between end-to-end foundation-model approaches and structured reasoning architectures for long-horizon robotic manipulation, emphasizing the role of explicit symbolic structure in improving reliability, data efficiency, and energy efficiency. Code and models are available at https://price-is-not-right.github.io
CORVET: A CORDIC-Powered, Resource-Frugal Mixed-Precision Vector Processing Engine for High-Throughput AIoT applications
Venue: arXiv cs.AR 2026
Year: 2026

This brief presents a runtime-adaptive, performance-enhanced vector engine featuring a low-resource, iterative CORDIC-based MAC unit for edge AI acceleration. The proposed design enables dynamic reconfiguration between approximate and accurate modes, exploiting the latency-accuracy trade-off for a wide range of workloads. Its resource-efficient approach further enables up to 4x throughput improvement within the same hardware resources by leveraging vectorised, time-multiplexed execution and flexible precision scaling. With a time-multiplexed multi-AF block and a lightweight pooling and normalisation unit, the proposed vector engine supports flexible precision (4/8/16-bit) and high MAC density. The ASIC implementation results show that each MAC stage can save up to 33% of time and 21% of power, with a 256-PE configuration that achieves higher compute density (4.83 TOPS/mm2 ) and energy efficiency (11.67 TOPS/W) than previous state-of-the-art work. A detailed hardware-software co-design methodology for object detection and classification tasks on Pynq-Z2 is discussed to assess the proposed architecture, demonstrating a scalable, energy-efficient solution for edge AI applications.
DD-CAM: Minimal Sufficient Explanations for Vision Models Using Delta Debugging
Venue: arXiv cs.CV 2026
Year: 2026

We introduce a gradient-free framework for identifying minimal, sufficient, and decision-preserving explanations in vision models by isolating the smallest subset of representational units whose joint activation preserves predictions. Unlike existing approaches that aggregate all units, often leading to cluttered saliency maps, our approach, DD-CAM, identifies a 1-minimal subset whose joint activation suffices to preserve the prediction (i.e., removing any unit from the subset alters the prediction). To efficiently isolate minimal sufficient subsets, we adapt delta debugging, a systematic reduction strategy from software debugging, and configure its search strategy based on unit interactions in the classifier head: testing individual units for models with non-interacting units and testing unit combinations for models in which unit interactions exist. We then generate minimal, prediction-preserving saliency maps that highlight only the most essential features. Our experimental evaluation demonstrates that our approach can produce more faithful explanations and achieve higher localization accuracy than the state-of-the-art CAM-based approaches.
A Two-Stage Detection-Tracking Framework for Stable Apple Quality Inspection in Dense Conveyor-Belt Environments
Venue: arXiv cs.CV 2026
Year: 2026

Industrial fruit inspection systems must operate reliably under dense multi-object interactions and continuous motion, yet most existing works evaluate detection or classification at the image level without ensuring temporal stability in video streams. We present a two-stage detection-tracking framework for stable multi-apple quality inspection in conveyor-belt environments. An orchard-trained YOLOv8 model performs apple localization, followed by ByteTrack multi-object tracking to maintain persistent identities. A ResNet18 defect classifier, fine-tuned on a healthy-defective fruit dataset, is applied to cropped apple regions. Track-level aggregation is introduced to enforce temporal consistency and reduce prediction oscillation across frames. We define video-level industrial metrics such as track-level defect ratio and temporal consistency to evaluate system robustness under realistic processing conditions. Results demonstrate improved stability compared to frame-wise inference, suggesting that integrating tracking is essential for practical automated fruit grading systems.
WildOS: Open-Vocabulary Object Search in the Wild
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous navigation in complex, unstructured outdoor environments requires robots to operate over long ranges without prior maps and limited depth sensing. In such settings, relying solely on geometric frontiers for exploration is often insufficient. In such settings, the ability to reason semantically about where to go and what is safe to traverse is crucial for robust, efficient exploration. This work presents WildOS, a unified system for long-range, open-vocabulary object search that combines safe geometric exploration with semantic visual reasoning. WildOS builds a sparse navigation graph to maintain spatial memory, while utilizing a foundation-model-based vision module, ExploRFM, to score frontier nodes of the graph. ExploRFM simultaneously predicts traversability, visual frontiers, and object similarity in image space, enabling real-time, onboard semantic navigation tasks. The resulting vision-scored graph enables the robot to explore semantically meaningful directions while ensuring geometric safety. Furthermore, we introduce a particle-filter-based method for coarse localization of the open-vocabulary target query, that estimates candidate goal positions beyond the robot's immediate depth horizon, enabling effective planning toward distant goals. Extensive closed-loop field experiments across diverse off-road and urban terrains demonstrate that WildOS enables robust navigation, significantly outperforming purely geometric and purely vision-based baselines in both efficiency and autonomy. Our results highlight the potential of vision foundation models to drive open-world robotic behaviors that are both semantically informed and geometrically grounded. Project Page: https://leggedrobotics.github.io/wildos/
Scaling Inference-Time Computation via Opponent Simulation: Enabling Online Strategic Adaptation in Repeated Negotiation
Venue: arXiv cs.MA 2026
Year: 2026

While large language models (LLMs) have emerged as powerful decision-makers across a wide range of single-agent and stationary environments, fewer efforts have been devoted to settings where LLMs must engage in \emph{repeated} and \emph{strategic} interactions with unknown or dynamic opponents. In such settings, recipes built upon \emph{offline} pre-training or fine-tuning, though robust against worst-case adversaries, do not fully exploit the capability of LLMs to adapt \emph{online} based on interaction feedback. Instead, we explore the more natural perspective of scaling inference-time computation as a mechanism for adaptation, embedding the principles of a classical game-theoretical learning dynamic, \emph{smooth Fictitious Play (sFP)}, into LLM inference: (i) for belief formation, we employ an auxiliary opponent model that in-context learns to imitate the time-averaged behavior of the opponent; (ii) for best response, we advance best-of-$N$ (BoN) sampling by simulating against the opponent model. Empirical evaluations on two distinct forms of repeated negotiation games demonstrate that our method enables significant performance improvement over repeated online interaction compared to various baselines, offering a scalable and principled approach to repeated strategic decision-making without any parameter updates.
TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics
Venue: arXiv cs.RO 2026
Year: 2026

While Vision-Language-Action (VLA) models have seen rapid progress in pretraining, their advancement in Reinforcement Learning (RL) remains hampered by low sample efficiency and sparse rewards in real-world settings. Developing generalizable process reward models is essential for providing the fine-grained feedback necessary to bridge this gap, yet existing temporal value functions often fail to generalize beyond their training domains. We introduce TOPReward, a novel, probabilistically grounded temporal value function that leverages the latent world knowledge of pretrained video Vision-Language Models (VLMs) to estimate robotic task progress. Unlike prior methods that prompt VLMs to directly output progress values, which are prone to numerical misrepresentation, TOPReward extracts task progress directly from the VLM's internal token logits. In zero-shot evaluations across 130+ distinct real-world tasks and multiple robot platforms (e.g., Franka, YAM, SO-100/101), TOPReward achieves 0.947 mean Value-Order Correlation (VOC) on Qwen3-VL, dramatically outperforming the state-of-the-art GVL baseline which achieves near-zero correlation on the same open-source model. We further demonstrate that TOPReward serves as a versatile tool for downstream applications, including success detection and reward-aligned behavior cloning.
Online Navigation Planning for Long-term Autonomous Operation of Underwater Gliders
Venue: arXiv cs.RO 2026
Year: 2026

Underwater glider robots have become an indispensable tool for ocean sampling. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, successful autonomous long-term deployments have thus far been scarce, which hints at a lack of suitable methodologies and systems. In this work, we formulate glider navigation planning as a stochastic shortest-path Markov Decision Process and propose a sample-based online planner based on Monte Carlo Tree Search. Samples are generated by a physics-informed simulator that captures uncertain execution of controls and ocean current forecasts while remaining computationally tractable. The simulator parameters are fitted using historical glider data. We integrate these methods into an autonomous command-and-control system for Slocum gliders that enables closed-loop replanning at each surfacing. The resulting system was validated in two field deployments in the North Sea totalling approximately 3 months and 1000 km of autonomous operation. Results demonstrate improved efficiency compared to straight-to-goal navigation and show the practicality of sample-based planning for long-term marine autonomy.
Health+: Empowering Individuals via Unifying Health Data
Venue: arXiv cs.MM 2026
Year: 2026

Managing personal health data is a challenge in today's fragmented and institution-centric healthcare ecosystem. Individuals often lack meaningful control over their medical records, which are scattered across incompatible systems and formats. This vision paper presents Health+, a user-centric, multimodal health data management system that empowers individuals (including those with limited technical expertise) to upload, query, and share their data across modalities (e.g., text, images, reports). Rather than aiming for institutional overhaul, Health+ emphasizes individual agency by providing intuitive interfaces and intelligent recommendations for data access and sharing. At the system level, it tackles the complexity of storing, integrating, and securing heterogeneous health records, ensuring both efficiency and privacy. By unifying multimodal data and prioritizing patients, Health+ lays the foundation for a more connected, interpretable, and user-controlled health information ecosystem.
Anatomy of Agentic Memory: Taxonomy and Empirical Analysis of Evaluation and System Limitations
Venue: arXiv cs.CL 2026
Year: 2026

Agentic memory systems enable large language model (LLM) agents to maintain state across long interactions, supporting long-horizon reasoning and personalization beyond fixed context windows. Despite rapid architectural development, the empirical foundations of these systems remain fragile: existing benchmarks are often underscaled, evaluation metrics are misaligned with semantic utility, performance varies significantly across backbone models, and system-level costs are frequently overlooked. This survey presents a structured analysis of agentic memory from both architectural and system perspectives. We first introduce a concise taxonomy of MAG systems based on four memory structures. Then, we analyze key pain points limiting current systems, including benchmark saturation effects, metric validity and judge sensitivity, backbone-dependent accuracy, and the latency and throughput overhead introduced by memory maintenance. By connecting the memory structure to empirical limitations, this survey clarifies why current agentic memory systems often underperform their theoretical promise and outlines directions for more reliable evaluation and scalable system design.
Soft Sequence Policy Optimization
Venue: arXiv cs.LG 2026
Year: 2026

A significant portion of recent research on Large Language Model (LLM) alignment focuses on developing new policy optimization methods based on Group Relative Policy Optimization (GRPO). Two prominent directions have emerged: (i) a shift toward sequence-level importance sampling weights that better align with the sequence-level rewards used in many tasks, and (ii) alternatives to PPO-style clipping that aim to avoid the associated loss of training signal and entropy collapse. We introduce Soft Sequence Policy Optimization, an off-policy reinforcement learning objective that incorporates soft gating functions over token-level probability ratios within sequence-level importance weights. We provide theoretical motivation for SSPO and investigate practical modifications to improve optimization behavior. Empirically, we show that SSPO improves training stability and performance in mathematical reasoning tasks.