OpenRaiser/Intern-Atlas huggingface dataset:
IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Trees
Venue: arXiv cs.RO 2026
Year: 2026

Solving Inverse Kinematics (IK) for arbitrary kinematic trees presents significant challenges due to their high-dimensionality, redundancy, and complex inter-branch constraints. Conventional optimization-based solvers can be sensitive to initialization and suffer from local minima or conflicting gradients. At the same time, existing learning-based approaches are often tied to a predefined number of end-effectors and a fixed training objective, limiting their reusability across various robot morphologies and task requirements. To address these limitations, we introduce IKDiffuser, a scalable IK solver built upon conditional diffusion-based generative models, which learns the distribution of the configuration space conditioned on end-effector poses. We propose a structure-agnostic formulation that represents end-effector poses as a sequence of tokens, leading to a unified framework that handles varying numbers of end-effectors while learning the implicit kinematic structures entirely from data. Beyond standard IK generation, IKDiffuser handles partially specified goals via a masked marginalization mechanism that conditions only on a subset of end-effector constraints. Furthermore, it supports adding task objectives at inference through objective-guided sampling, enabling capabilities such as warm-start initialization and manipulability maximization without retraining. Extensive evaluations across seven diverse robotic platforms demonstrate that IKDiffuser significantly outperforms state-of-the-art baselines in accuracy, solution diversity, and collision avoidance. Moreover, when used to initialize optimization-based solvers, IKDiffuser significantly boosts success rates on challenging redundant systems with high Degrees of Freedom (DoF), such as the 29-DoF Unitree G1 humanoid, from 21.01% to 96.96% while reducing computation time to the millisecond range.
EAQuant: Enhancing Post-Training Quantization for MoE Models via Expert-Aware Optimization
Venue: arXiv cs.CL 2026
Year: 2026

Mixture-of-Experts (MoE) models enable scalable computation and performance in large-scale deep learning but face quantization challenges due to sparse expert activation and dynamic routing. Existing post-training quantization (PTQ) methods fail to address activation outliers, routing instability, and sparse expert calibration, leading to significant performance degradation. To address this, we propose EAQuant, a PTQ framework tailored for MoE architectures. Our method introduces three expert-aware innovations: (1) smoothing aggregation to suppress activation outliers, (2) routing consistency alignment to preserve expert selection post-quantization, and (3) calibration data balance to optimize sparsely activated experts. These strategies collectively enable robust, high-precision quantization of MoE models under ultra-low-bit constraints.Extensive experiments across several extreme quantization settings (e.g., W4A4/W3A4/W3A3/W2A4) demonstrate that EAQuant significantly outperforms existing methods, achieving average accuracy improvements of 1.15 - 13.81% across three diverse MoE architectures, with particularly pronounced gains in reasoning tasks and robust performance retention under aggressive quantization. By integrating these innovations, EAQuant establishes a new state-of-the-art for high-precision, efficient MoE model compression.Our code is available at https://github.com/darren-fzq1/EAQuant.
Bures-Wasserstein Flow Matching for Graph Generation
Venue: arXiv cs.LG 2026
Year: 2026

Graph generation has emerged as a critical task in fields ranging from drug discovery to circuit design. Contemporary approaches, notably diffusion and flow-based models, have achieved solid graph generative performance through constructing a probability path that interpolates between reference and data distributions. However, these methods typically model the evolution of individual nodes and edges independently and use linear interpolations in the disjoint space of nodes/edges to build the path. This disentangled interpolation breaks the interconnected patterns of graphs, making the constructed probability path irregular and non-smooth, which causes poor training dynamics and faulty sampling convergence. To address the limitation, this paper first presents a theoretically grounded framework for probability path construction in graph generative models. Specifically, we model the joint evolution of the nodes and edges by representing graphs as connected systems parameterized by Markov random fields (MRF). We then leverage the optimal transport displacement between MRF objects to design a smooth probability path that ensures the co-evolution of graph components. Based on this, we introduce BWFlow, a flow-matching framework for graph generation that utilizes the derived optimal probability path to benefit the training and sampling algorithm design. Experimental evaluations in plain graph generation and molecule generation validate the effectiveness of BWFlow with competitive performance, better training convergence, and efficient sampling.
Kolmogorov-Arnold Energy Models: Fast, Interpretable Generative Modeling
Venue: arXiv cs.LG 2026
Year: 2026

Generative models typically rely on either simple latent priors (e.g., Variational Autoencoders, VAEs), which are efficient but limited, or highly expressive iterative samplers (e.g., Diffusion and Energy-based Models), which are costly and opaque. We introduce the Kolmogorov-Arnold Energy Model (KAEM) to bridge this trade-off and provide a new avenue for latent-space interpretability. Based on a novel interpretation of the Kolmogorov-Arnold Representation Theorem, KAEM imposes a univariate latent structure that enables fast and exact inference via the inverse transform method. With a low-dimensional latent space and appropriate inductive biases, we show that importance sampling becomes a viable, unbiased, and highly efficient posterior inference method. For settings where importance sampling fails, we propose a population-based strategy that decomposes the posterior into a sequence of annealed distributions to improve mixing during sampling, a common pitfall in Energy-based Models. We present initial comparisons of KAEM against VAEs for the SVHN and CelebA datasets, demonstrating its potential for competitive sample quality, inference speed, and interpretability.
Advancing Safe Mechanical Ventilation Using Offline RL With Hybrid Actions and Clinically Aligned Rewards
Venue: arXiv cs.LG 2026
Year: 2026

Invasive mechanical ventilation (MV) is a life-sustaining therapy commonly used in the intensive care unit (ICU) for patients with severe and acute conditions. These patients frequently rely on MV for breathing. Given the high risk of death in such cases, optimal MV settings can reduce mortality, minimize ventilator-induced lung injury, shorten ICU stays, and ease the strain on healthcare resources. However, optimizing MV settings remains a complex and error-prone process due to patient-specific variability. While Offline Reinforcement Learning (RL) shows promise for optimizing MV settings, current methods struggle with the hybrid (continuous and discrete) nature of MV settings. Discretizing continuous settings leads to exponential growth in the action space, which limits the number of optimizable settings. Converting the predictions back to continuous can cause a distribution shift, compromising safety and performance. To address this challenge, in the IntelliLung project, we are developing an AI-based approach where we constrain the action space and employ factored action critics. This approach allows us to scale to six optimizable settings compared to 2-3 in previous studies. We adapt SOTA offline RL algorithms to operate directly on hybrid action spaces, avoiding the pitfalls of discretization. We also introduce a clinically grounded reward function based on ventilator-free days and physiological targets. Using multiobjective optimization for reward selection, we show that this leads to a more equitable consideration of all clinically relevant objectives. Notably, we develop a system in close collaboration with healthcare professionals that is aligned with real-world clinical objectives and designed with future deployment in mind.
Thunder-NUBench: A Benchmark for LLMs' Sentence-Level Negation Understanding
Venue: arXiv cs.CL 2026
Year: 2026

Negation is a fundamental linguistic phenomenon that poses ongoing challenges for Large Language Models (LLMs), particularly in tasks requiring deep semantic understanding. Current benchmarks often treat negation as a minor detail within broader tasks, such as natural language inference. Consequently, there is a lack of benchmarks specifically designed to evaluate comprehension of negation. In this work, we introduce Thunder-NUBench, a novel benchmark explicitly created to assess sentence-level understanding of negation in LLMs. Thunder-NUBench goes beyond merely identifying surface-level cues by contrasting standard negation with structurally diverse alternatives, such as local negation, contradiction, and paraphrase. This benchmark includes manually curated sentence-negation pairs and a multiple-choice dataset, allowing for a comprehensive evaluation of models' understanding of negation.
Probabilistic Aggregation and Targeted Embedding Optimization for Collective Moral Reasoning in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) have shown impressive moral reasoning abilities. Yet they often diverge when confronted with complex, multi-factor moral dilemmas. To address these discrepancies, we propose a framework that synthesizes multiple LLMs' moral judgments into a collectively formulated moral judgment, realigning models that deviate significantly from this consensus. Our aggregation mechanism fuses continuous moral acceptability scores (beyond binary labels) into a collective probability, weighting contributions by model reliability. For misaligned models, a targeted embedding-optimization procedure fine-tunes token embeddings for moral philosophical theories, minimizing JS divergence to the consensus while preserving semantic integrity. Experiments on a large-scale social moral dilemma dataset show our approach builds robust consensus and improves individual model fidelity. These findings highlight the value of data-driven moral alignment across multiple models and its potential for safer, more consistent AI systems.
Revisiting Chain-of-Thought Prompting: Zero-shot Can Be Stronger than Few-shot
Venue: arXiv cs.CL 2026
Year: 2026

In-Context Learning (ICL) is an essential emergent ability of Large Language Models (LLMs), and recent studies introduce Chain-of-Thought (CoT) to exemplars of ICL to enhance the reasoning capability, especially in mathematics tasks. However, given the continuous advancement of model capabilities, it remains unclear whether CoT exemplars still benefit recent, stronger models in such tasks. Through systematic experiments, we find that for recent strong models such as the Qwen2.5 series, adding traditional CoT exemplars does not improve reasoning performance compared to Zero-Shot CoT. Instead, their primary function is to align the output format with human expectations. We further investigate the effectiveness of enhanced CoT exemplars, constructed using answers from advanced models such as \texttt{Qwen2.5-Max} and \texttt{DeepSeek-R1}. Experimental results indicate that these enhanced exemplars still fail to improve the model's reasoning performance. Further analysis reveals that models tend to ignore the exemplars and focus primarily on the instructions, leading to no observable gain in reasoning ability. Overall, our findings highlight the limitations of the current ICL+CoT framework in mathematical reasoning, calling for a re-examination of the ICL paradigm and the definition of exemplars.
Scaling Laws for Geospatial Foundation Models: A case study on PhilEO Bench
Venue: arXiv cs.CV 2026
Year: 2026

Foundation Models (FMs) have achieved state-of-the-art performance across domains by leveraging large-scale pretraining. In Earth Observation (EO), the availability of petabyte-scale satellite archives has recently enabled the development of GeoSpatial Foundation Models (GFMs). Yet, fundamental questions remain regarding how dataset size, model architecture, and size interact to determine downstream performance. In this work, we systematically explore this design space by pretraining and fine-tuning models on three dataset scales: PhilEO Globe (0.5TB), FastTOM (2TB, introduced here), and MajorTOM (23TB). We evaluate three architectural families: Geo-Aware U-Net (CNN), ViT-UPerNet (Transformer), and Mamba (State-Space Model); across model sizes ranging from 44M to 300M parameters. All models are benchmarked on the PhilEO Bench, covering: road density and building density regression, and land cover segmentation, and are compared against existing GFMs such as TerraMind and Prithvi-EO-2.0. Our results show that CNN-based models remain highly competitive in low-shot settings, with a 200M-parameter Geo-Aware U-Net outperforming larger architectures on regression tasks. However, when scaling to multi-terabyte datasets, ViT-UPerNet achieves the best performance, particularly for semantic segmentation on MajorTOM (23TB). Finally, we provide the first extensive evaluation of Mamba models in EO, highlighting their potential efficiency advantages, though further large-scale pretraining is required to fully match CNNs and ViTs. All code, pretrained models, and the FastTOM dataset are released publicly, enabling reproducibility and further exploration of scaling laws for GFMs.
Modeling the One-to-Many Property in Open-Domain Dialogue with LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Open-domain Dialogue (OD) exhibits a one-to-many (o2m) property, whereby multiple appropriate responses exist for a single dialogue context. Despite prior research showing that modeling this property boosts response diversity, most modern LLM-based dialogue agents do not explicitly do so. In this work, we model the o2m property of OD in LLMs by decomposing OD generation into two key tasks: Multi-Response Generation (MRG) and Preference-based Selection (PS), which entail generating a set of n semantically and lexically diverse high-quality responses for a given dialogue context, followed by selecting a single response based on human preference, respectively. To facilitate MRG and PS, we introduce o2mDial, a dialogue corpus explicitly designed to capture the o2m property by featuring multiple plausible responses for each context. Leveraging o2mDial, we propose new in-context learning and instruction-tuning strategies, as well as novel evaluation metrics for MRG, alongside a model-based approach for PS. Empirical results demonstrate that applying the proposed two-stage framework to smaller LLMs for OD generation enhances overall response diversity while maintaining contextual coherence, improving response quality by up to 90%, bringing them closer to the performance of larger models.
Interpretability and Generalization Bounds for Learning Spatial Physics
Venue: arXiv cs.LG 2026
Year: 2026

While there are many applications of ML to scientific problems that look promising, visuals can be deceiving. Using numerical analysis techniques, we rigorously quantify the accuracy, convergence rates, and generalization bounds of certain ML models applied to linear differential equations for parameter discovery or solution finding. Beyond the quantity and discretization of data, we identify that the function space of the data is critical to the generalization of the model. A similar lack of generalization is empirically demonstrated for commonly used models, including physics-specific techniques. Counterintuitively, we find that different classes of models can exhibit opposing generalization behaviors. Based on our theoretical analysis, we also introduce a new mechanistic interpretability lens on scientific models whereby Green's function representations can be extracted from the weights of black-box models. Our results inform a new cross-validation technique for measuring generalization in physical systems, which can serve as a benchmark.
When and How Unlabeled Data Provably Improve In-Context Learning
Venue: arXiv cs.LG 2026
Year: 2026

Recent research shows that in-context learning (ICL) can be effective even when demonstrations have missing or incorrect labels. To shed light on this capability, we examine a canonical setting where the demonstrations are drawn according to a binary Gaussian mixture model (GMM) and a certain fraction of the demonstrations have missing labels. We provide a comprehensive theoretical study to show that: (1) The loss landscape of one-layer linear attention models recover the optimal fully-supervised estimator but completely fail to exploit unlabeled data; (2) In contrast, multilayer or looped transformers can effectively leverage unlabeled data by implicitly constructing estimators of the form $\sum_{i\ge 0} a_i (X^\top X)^iX^\top y$ with $X$ and $y$ denoting features and partially-observed labels (with missing entries set to zero). We characterize the class of polynomials that can be expressed as a function of depth and draw connections to Expectation Maximization, an iterative pseudo-labeling algorithm commonly used in semi-supervised learning. Importantly, the leading polynomial power is exponential in depth, so mild amount of depth/looping suffices. As an application of theory, we propose looping off-the-shelf tabular foundation models to enhance their semi-supervision capabilities. Extensive evaluations on real-world datasets show that our method significantly improves the semisupervised tabular learning performance over the standard single pass inference.
Instruction Tuning with and without Context: Behavioral Shifts and Downstream Impact
Venue: arXiv cs.CL 2026
Year: 2026

Instruction tuning is a widely used approach to improve the instruction-following ability of large language models (LLMs). Instruction-tuning datasets typically include a mixture of context-augmented and context-free examples, yet prior work has largely combined these data types without examining their distinct effects. In this paper, we investigate how training LLMs with or without context affects model behavior and downstream performance. First, in the text domain, we show that LLMs trained with context attend more strongly to the provided knowledge, achieving better grounding. We also observe that context-augmented training shifts how LLMs use knowledge: models store and leverage less on parametric knowledge and instead depend more on the provided context. Second, we observe that using LLM trained with context-augmented data as the backbone for vision-language models reduces hallucination and improves grounding in the visual domain. Finally, we explore practical strategies for real-world deployments where context availability varies. We show that maintaining separate context-augmented and context-free models and routing inputs between them yields more robust overall performance than training a single mixed model, as it better preserves their complementary strengths.
SPARE: Single-Pass Annotation with Reference-Guided Evaluation for Automatic Process Supervision and Reward Modelling
Venue: arXiv cs.CL 2026
Year: 2026

Process or step-wise supervision has played a crucial role in advancing complex multi-step reasoning capabilities of Large Language Models (LLMs). However, efficient, high-quality automated process annotation remains a significant challenge. To address this, we introduce Single-Pass Annotation with Reference-Guided Evaluation (SPARE), a novel structured framework that enables efficient per-step annotation by jointly aligning solution steps to reference solutions and determine its accuracy with explicit reasoning in single generation. We demonstrate SPARE's effectiveness across four diverse datasets spanning mathematical reasoning (GSM8K, MATH), multi-hop question answering (MuSiQue-Ans), and spatial reasoning (SpaRP), showing consistent improvements in two applications: (1) training Process Reward Models (PRMs) for ranking and aggregating multiple generations, and (2) fine-tuning models via offline reinforcement learning for greedy decoding. On ProcessBench, SPARE demonstrates data-efficient out-of-distribution generalization, using only $\sim$16% of training samples compared to human-labeled and other synthetically trained baselines. Additionally, it achieves competitive performance with MCTS-based methods while offering 2.3$\times$ speedup in terms of total token count. Manual analysis reveals complementary precision-recall characteristics with MCTS approaches, suggesting potential for ensemble methods. These results establish SPARE as a practical and scalable solution for automatic process supervision in LLM reasoning.
BandPilot: Towards Performance- and Contention-Aware GPU Dispatching in AI Clusters
Venue: arXiv cs.DC 2026
Year: 2026

Modern multi-tenant AI clusters are increasingly communication-bound, driven by high-volume and multi-round GPU-to-GPU collective communication. Consequently, the GPU dispatcher's choice of a physical GPU subset for each tenant largely determines the job's effective collective bandwidth and thus its performance ceiling. Existing dispatchers predominantly rely on static, topology-aware heuristics that prioritize GPU resource compactness, assuming that minimizing physical distance maximizes communication bandwidth. However, we reveal that this assumption often fails due to complex system-level bottlenecks, such as non-linear NIC saturation and inter-node link heterogeneity.This paper presents BandPilot, a performance- and contention-aware GPU dispatching primitive that optimizes effective collective bandwidth for multi-tenant AI clusters. Specifically, BandPilot learns a data-efficient bandwidth model from sparse NCCL measurements via a hierarchical design. Guided by the model, a fast hybrid search combines an equilibrium-driven constructor with a pruned elimination search to navigate the combinatorial allocation space in real time. To account for multi-tenant interference, BandPilot virtually merges a candidate allocation with co-located cross-host jobs to conservatively estimate shared bottleneck capacity and predict contention-degraded bandwidth. Across a 32-GPU H100 cluster and heterogeneous simulations, BandPilot achieves 92-97% bandwidth efficiency relative to the best-found reference, improving average efficiency by 20-40% over topology-compactness heuristics.
Context Matters! Relaxing Goals with LLMs for Feasible 3D Scene Planning
Venue: arXiv cs.RO 2026
Year: 2026

Embodied agents need to plan and act reliably in real and complex 3D environments. Classical planning (e.g., PDDL) offers structure and guarantees, but in practice it fails under noisy perception and incorrect predicate grounding. On the other hand, Large Language Models (LLMs)-based planners leverage commonsense reasoning, yet frequently propose actions that are unfeasible or unsafe. Following recent works that combine the two approaches, we introduce ContextMatters, a framework that fuses LLMs and classical planning to perform hierarchical goal relaxation: the LLM helps ground symbols to the scene and, when the target is unreachable, it proposes functionally equivalent goals that progressively relax constraints, adapting the goal to the context of the agent's environment. Operating on 3D Scene Graphs, this mechanism turns many nominally unfeasible tasks into tractable plans and enables context-aware partial achievement when full completion is not achievable. Our experimental results show a +52.45% Success Rate improvement over state-of-the-art LLMs+PDDL baseline, demonstrating the effectiveness of our approach. Moreover, we validate the execution of ContextMatter in a real world scenario by deploying it on a TIAGo robot. Code, dataset, and supplementary materials are available to the community at https://lab-rococo-sapienza.github.io/context-matters/.