OpenRaiser/Intern-Atlas huggingface dataset:
PIRATR: Parametric Object Inference for Robotic Applications with Transformers in 3D Point Clouds
Venue: arXiv cs.CV 2026
Year: 2026

We present PIRATR, an end-to-end 3D object detection framework for robotic use cases in point clouds. Extending PI3DETR, our method streamlines parametric 3D object detection by jointly estimating multi-class 6-DoF poses and class-specific parametric attributes directly from occlusion-affected point cloud data. This formulation enables not only geometric localization but also the estimation of task-relevant properties for parametric objects, such as a gripper's opening, where the 3D model is adjusted according to simple, predefined rules. The architecture employs modular, class-specific heads, making it straightforward to extend to novel object types without re-designing the pipeline. We validate PIRATR on an automated forklift platform, focusing on three structurally and functionally diverse categories: crane grippers, loading platforms, and pallets. Trained entirely in a synthetic environment, PIRATR generalizes effectively to real outdoor LiDAR scans, achieving a detection mAP of 0.919 without additional fine-tuning. PIRATR establishes a new paradigm of pose-aware, parameterized perception. This bridges the gap between low-level geometric reasoning and actionable world models, paving the way for scalable, simulation-trained perception systems that can be deployed in dynamic robotic environments. Code available at https://github.com/swingaxe/piratr.
Visual Implicit Geometry Transformer for Autonomous Driving
Venue: arXiv cs.CV 2026
Year: 2026

We introduce the Visual Implicit Geometry Transformer (ViGT), an autonomous driving geometric model that estimates continuous 3D occupancy fields from surround-view camera rigs. ViGT represents a step towards foundational geometric models for autonomous driving, prioritizing scalability, architectural simplicity, and generalization across diverse sensor configurations. Our approach achieves this through a calibration-free architecture, enabling a single model to adapt to different sensor setups. Unlike general-purpose geometric foundational models that focus on pixel-aligned predictions, ViGT estimates a continuous 3D occupancy field in a birds-eye-view (BEV) addressing domain-specific requirements. ViGT naturally infers geometry from multiple camera views into a single metric coordinate frame, providing a common representation for multiple geometric tasks. Unlike most existing occupancy models, we adopt a self-supervised training procedure that leverages synchronized image-LiDAR pairs, eliminating the need for costly manual annotations. We validate the scalability and generalizability of our approach by training our model on a mixture of five large-scale autonomous driving datasets (NuScenes, Waymo, NuPlan, ONCE, and Argoverse) and achieving state-of-the-art performance on the pointmap estimation task, with the best average rank across all evaluated baselines. We further evaluate ViGT on the Occ3D-nuScenes benchmark, where ViGT achieves comparable performance with supervised methods. The source code is publicly available at \href{https://github.com/whesense/ViGT}{https://github.com/whesense/ViGT}.
A Hybrid CNN and ML Framework for Multi-modal Classification of Movement Disorders Using MRI and Brain Structural Features
Venue: arXiv cs.CV 2026
Year: 2026

Atypical Parkinsonian Disorders (APD), also known as Parkinson-plus syndrome, are a group of neurodegenerative diseases that include progressive supranuclear palsy (PSP) and multiple system atrophy (MSA). In the early stages, overlapping clinical features often lead to misdiagnosis as Parkinson's disease (PD). Identifying reliable imaging biomarkers for early differential diagnosis remains a critical challenge. In this study, we propose a hybrid framework combining convolutional neural networks (CNNs) with machine learning (ML) techniques to classify APD subtypes versus PD and distinguish between the subtypes themselves: PSP vs. PD, MSA vs. PD, and PSP vs. MSA. The model leverages multi-modal input data, including T1-weighted magnetic resonance imaging (MRI), segmentation masks of 12 deep brain structures associated with APD, and their corresponding volumetric measurements. By integrating these complementary modalities, including image data, structural segmentation masks, and quantitative volume features, the hybrid approach achieved promising classification performance with area under the curve (AUC) scores of 0.95 for PSP vs. PD, 0.86 for MSA vs. PD, and 0.92 for PSP vs. MSA. These results highlight the potential of combining spatial and structural information for robust subtype differentiation. In conclusion, this study demonstrates that fusing CNN-based image features with volume-based ML inputs improves classification accuracy for APD subtypes. The proposed approach may contribute to more reliable early-stage diagnosis, facilitating timely and targeted interventions in clinical practice.
LoGoSeg: Integrating Local and Global Features for Open-Vocabulary Semantic Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Open-vocabulary semantic segmentation (OVSS) extends traditional closed-set segmentation by enabling pixel-wise annotation for both seen and unseen categories using arbitrary textual descriptions. While existing methods leverage vision-language models (VLMs) like CLIP, their reliance on image-level pretraining often results in imprecise spatial alignment, leading to mismatched segmentations in ambiguous or cluttered scenes. However, most existing approaches lack strong object priors and region-level constraints, which can lead to object hallucination or missed detections, further degrading performance. To address these challenges, we propose LoGoSeg, an efficient single-stage framework that integrates three key innovations: (i) an object existence prior that dynamically weights relevant categories through global image-text similarity, effectively reducing hallucinations; (ii) a region-aware alignment module that establishes precise region-level visual-textual correspondences; and (iii) a dual-stream fusion mechanism that optimally combines local structural information with global semantic context. Unlike prior works, LoGoSeg eliminates the need for external mask proposals, additional backbones, or extra datasets, ensuring efficiency. Extensive experiments on six benchmarks (A-847, PC-459, A-150, PC-59, PAS-20, and PAS-20b) demonstrate its competitive performance and strong generalization in open-vocabulary settings.
EgoPoseVR: Spatiotemporal Multi-Modal Reasoning for Egocentric Full-Body Pose in Virtual Reality
Venue: arXiv cs.CV 2026
Year: 2026

Immersive virtual reality (VR) applications demand accurate, temporally coherent full-body pose tracking. Recent head-mounted camera-based approaches show promise in egocentric pose estimation, but encounter challenges when applied to VR head-mounted displays (HMDs), including temporal instability, inaccurate lower-body estimation, and the lack of real-time performance. To address these limitations, we present EgoPoseVR, an end-to-end framework for accurate egocentric full-body pose estimation in VR that integrates headset motion cues with egocentric RGB-D observations through a dual-modality fusion pipeline. A spatiotemporal encoder extracts frame- and joint-level representations, which are fused via cross-attention to fully exploit complementary motion cues across modalities. A kinematic optimization module then imposes constraints from HMD signals, enhancing the accuracy and stability of pose estimation. To facilitate training and evaluation, we introduce a large-scale synthetic dataset of over 1.8 million temporally aligned HMD and RGB-D frames across diverse VR scenarios. Experimental results show that EgoPoseVR outperforms state-of-the-art egocentric pose estimation models. A user study in real-world scenes further shows that EgoPoseVR achieved significantly higher subjective ratings in accuracy, stability, embodiment, and intention for future use compared to baseline methods. These results show that EgoPoseVR enables robust full-body pose tracking, offering a practical solution for accurate VR embodiment without requiring additional body-worn sensors or room-scale tracking systems.
ROMAN: Reward-Orchestrated Multi-Head Attention Network for Autonomous Driving System Testing
Venue: arXiv cs.CV 2026
Year: 2026

Automated Driving System (ADS) acts as the brain of autonomous vehicles, responsible for their safety and efficiency. Safe deployment requires thorough testing in diverse real-world scenarios and compliance with traffic laws like speed limits, signal obedience, and right-of-way rules. Violations like running red lights or speeding pose severe safety risks. However, current testing approaches face significant challenges: limited ability to generate complex and high-risk law-breaking scenarios, and failing to account for complex interactions involving multiple vehicles and critical situations. To address these challenges, we propose ROMAN, a novel scenario generation approach for ADS testing that combines a multi-head attention network with a traffic law weighting mechanism. ROMAN is designed to generate high-risk violation scenarios to enable more thorough and targeted ADS evaluation. The multi-head attention mechanism models interactions among vehicles, traffic signals, and other factors. The traffic law weighting mechanism implements a workflow that leverages an LLM-based risk weighting module to evaluate violations based on the two dimensions of severity and occurrence. We have evaluated ROMAN by testing the Baidu Apollo ADS within the CARLA simulation platform and conducting extensive experiments to measure its performance. Experimental results demonstrate that ROMAN surpassed state-of-the-art tools ABLE and LawBreaker by achieving 7.91% higher average violation count than ABLE and 55.96% higher than LawBreaker, while also maintaining greater scenario diversity. In addition, only ROMAN successfully generated violation scenarios for every clause of the input traffic laws, enabling it to identify more high-risk violations than existing approaches.
Alignment Verifiability in Large Language Models: Normative Indistinguishability under Behavioral Evaluation
Venue: arXiv cs.LG 2026
Year: 2026

Behavioral evaluation is the dominant paradigm for assessing alignment in large language models (LLMs). In current practice, observed compliance under finite evaluation protocols is treated as evidence of latent alignment. However, the inference from bounded behavioral evidence to claims about global latent properties is rarely analyzed as an identifiability problem. In this paper, we study alignment evaluation through the lens of statistical identifiability under partial observability. We allow agent policies to condition their behavior on observable signals correlated with the evaluation regime, a phenomenon we term evaluation awareness. Within this framework, we formalize the Alignment Verifiability Problem and introduce Normative Indistinguishability, which arises when distinct latent alignment hypotheses induce identical distributions over evaluator-accessible observations. Our main theoretical contribution is a conditional impossibility result: under finite behavioral evaluation and evaluation-aware policies, observed compliance does not uniquely identify latent alignment, but only membership in an equivalence class of conditionally compliant policies, under explicit assumptions on policy expressivity and observability. We complement the theory with a constructive existence proof using an instruction-tuned LLM (Llama-3.2-3B), demonstrating a conditional policy that is perfectly compliant under explicit evaluation signals yet exhibits degraded identifiability when the same evaluation intent is conveyed implicitly. Together, our results show that behavioral benchmarks provide necessary but insufficient evidence for latent alignment under evaluation awareness.
Graph-based Agent Memory: Taxonomy, Techniques, and Applications
Venue: arXiv cs.AI 2026
Year: 2026

Memory emerges as the core module in the Large Language Model (LLM)-based agents for long-horizon complex tasks (e.g., multi-turn dialogue, game playing, scientific discovery), where memory can enable knowledge accumulation, iterative reasoning and self-evolution. Among diverse paradigms, graph stands out as a powerful structure for agent memory due to the intrinsic capabilities to model relational dependencies, organize hierarchical information, and support efficient retrieval. This survey presents a comprehensive review of agent memory from the graph-based perspective. First, we introduce a taxonomy of agent memory, including short-term vs. long-term memory, knowledge vs. experience memory, non-structural vs. structural memory, with an implementation view of graph-based memory. Second, according to the life cycle of agent memory, we systematically analyze the key techniques in graph-based agent memory, covering memory extraction for transforming the data into the contents, storage for organizing the data efficiently, retrieval for retrieving the relevant contents from memory to support reasoning, and evolution for updating the contents in the memory. Third, we summarize the open-sourced libraries and benchmarks that support the development and evaluation of self-evolving agent memory. We also explore diverse application scenarios. Finally, we identify critical challenges and future research directions. This survey aims to offer actionable insights to advance the development of more efficient and reliable graph-based agent memory systems. All the related resources, including research papers, open-source data, and projects, are collected for the community in https://github.com/DEEP-PolyU/Awesome-GraphMemory.
Variable Search Stepsize for Randomized Local Search in Multi-Objective Combinatorial Optimization
Venue: arXiv cs.NE 2026
Year: 2026

Over the past two decades, research in evolutionary multi-objective optimization has predominantly focused on continuous domains, with comparatively limited attention given to multi-objective combinatorial optimization problems (MOCOPs). Combinatorial problems differ significantly from continuous ones in terms of problem structure and landscape. Recent studies have shown that on MOCOPs multi-objective evolutionary algorithms (MOEAs) can even be outperformed by simple randomised local search. Starting with a randomly sampled solution in search space, randomised local search iteratively draws a random solution (from an archive) to perform local variation within its neighbourhood. However, in most existing methods, the local variation relies on a fixed neighbourhood, which limits exploration and makes the search easy to get trapped in local optima. In this paper, we present a simple yet effective local search method, called variable stepsize randomized local search (VS-RLS), which adjusts the stepsize during the search. VS-RLS transitions gradually from a broad, exploratory search in the early phases to a more focused, fine-grained search as the search progresses. We demonstrate the effectiveness and generalizability of VS-RLS through extensive evaluations against local search and MOEAs methods on diverse MOCOPs.
Smoothed aggregation algebraic multigrid for problems with heterogeneous and anisotropic materials
Venue: arXiv cs.CE 2026
Year: 2026

This paper introduces a material-aware strength-of-connection measure for smoothed aggregation algebraic multigrid methods, aimed at improving robustness for scalar partial differential equations with heterogeneous and anisotropic material properties. Classical strength-of-connection measures typically rely only on matrix entries or geometric distances, which often fail to capture weak couplings across material interfaces or align with anisotropy directions, ultimately leading to poor convergence. The proposed approach directly incorporates material tensor information into the coarsening process, enabling a reliable detection of weak connections and ensuring that coarse levels preserve the true structure of the underlying problem. As a result, smooth error components are represented properly and sharp coefficient jumps or directional anisotropies are handled consistently. A wide range of academic tests and real-world applications, including thermally activated batteries and solar cells, demonstrate that the proposed method maintains robustness across material contrasts, anisotropies, and mesh variations. Scalability and parallel performance of the algebraic multigrid method highlight the suitability for large-scale, high-performance computing environments.
Exploring AI-Augmented Sensemaking of Patient-Generated Health Data: A Mixed-Method Study with Healthcare Professionals in Cardiac Risk Reduction
Venue: arXiv cs.HC 2026
Year: 2026

Individuals are increasingly generating substantial personal health and lifestyle data, e.g. through wearables and smartphones. While such data could transform preventative care, its integration into clinical practice is hindered by its scale, heterogeneity and the time pressure and data literacy of healthcare professionals (HCPs). We explore how large language models (LLMs) can support sensemaking of patient-generated health data (PGHD) with automated summaries and natural language data exploration. Using cardiovascular disease (CVD) risk reduction as a use case, 16 HCPs reviewed multimodal PGHD in a mixed-methods study with a prototype that integrated common charts, LLM-generated summaries, and a conversational interface. Findings show that AI summaries provided quick overviews that anchored exploration, while conversational interaction supported flexible analysis and bridged data-literacy gaps. However, HCPs raised concerns about transparency, privacy, and overreliance. We contribute empirical insights and sociotechnical design implications for integrating AI-driven summarization and conversation into clinical workflows to support PGHD sensemaking.
Consensus-Aligned Neuron Efficient Fine-Tuning Large Language Models for Multi-Domain Machine Translation
Venue: arXiv cs.CL 2026
Year: 2026

Multi-domain machine translation (MDMT) aims to build a unified model capable of translating content across diverse domains. Despite the impressive machine translation capabilities demonstrated by large language models (LLMs), domain adaptation still remains a challenge for LLMs. Existing MDMT methods such as in-context learning and parameter-efficient fine-tuning often suffer from domain shift, parameter interference and limited generalization. In this work, we propose a neuron-efficient fine-tuning framework for MDMT that identifies and updates consensus-aligned neurons within LLMs. These neurons are selected by maximizing the mutual information between neuron behavior and domain features, enabling LLMs to capture both generalizable translation patterns and domain-specific nuances. Our method then fine-tunes LLMs guided by these neurons, effectively mitigating parameter interference and domain-specific overfitting. Comprehensive experiments on three LLMs across ten German-English and Chinese-English translation domains evidence that our method consistently outperforms strong PEFT baselines on both seen and unseen domains, achieving state-of-the-art performance.
Fix Representation (Optimally) Before Fairness: Finite-Sample Shrinkage Population Correction and the True Price of Fairness Under Subpopulation Shift
Venue: arXiv cs.LG 2026
Year: 2026

Machine learning practitioners frequently observe tension between predictive accuracy and group fairness constraints -- yet sometimes fairness interventions appear to improve accuracy. We show that both phenomena can be artifacts of training data that misrepresents subgroup proportions. Under subpopulation shift (stable within-group distributions, shifted group proportions), we establish: (i) full importance-weighted correction is asymptotically unbiased but finite-sample suboptimal; (ii) the optimal finite-sample correction is a shrinkage reweighting that interpolates between target and training mixtures; (iii) apparent "fairness helps accuracy" can arise from comparing fairness methods to an improperly-weighted baseline. We provide an actionable evaluation protocol: fix representation (optimally) before fairness -- compare fairness interventions against a shrinkage-corrected baseline to isolate the true, irreducible price of fairness. Experiments on synthetic and real-world benchmarks (Adult, COMPAS) validate our theoretical predictions and demonstrate that this protocol eliminates spurious tradeoffs, revealing the genuine fairness-utility frontier.
Evaluating the impact of word embeddings on similarity scoring in practical information retrieval
Venue: arXiv cs.IR 2026
Year: 2026

Search behaviour is characterised using synonymy and polysemy as users often want to search information based on meaning. Semantic representation strategies represent a move towards richer associative connections that can adequately capture this complex usage of language. Vector Space Modelling (VSM) and neural word embeddings play a crucial role in modern machine learning and Natural Language Processing (NLP) pipelines. Embeddings use distributional semantics to represent words, sentences, paragraphs or entire documents as vectors in high dimensional spaces. This can be leveraged by Information Retrieval (IR) systems to exploit the semantic relatedness between queries and answers. This paper evaluates an alternative approach to measuring query statement similarity that moves away from the common similarity measure of centroids of neural word embeddings. Motivated by the Word Movers Distance (WMD) model, similarity is evaluated using the distance between individual words of queries and statements. Results from ranked query and response statements demonstrate significant gains in accuracy using the combined approach of similarity ranking through WMD with the word embedding techniques. The top performing WMD + GloVe combination outperforms all other state-of-the-art retrieval models including Doc2Vec and the baseline LSA model. Along with the significant gains in performance of similarity ranking through WMD, we conclude that the use of pre-trained word embeddings, trained on vast amounts of data, result in domain agnostic language processing solutions that are portable to diverse business use-cases.
Learning to Inject: Automated Prompt Injection via Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Prompt injection is one of the most critical vulnerabilities in LLM agents; yet, effective automated attacks remain largely unexplored from an optimization perspective. Existing methods heavily depend on human red-teamers and hand-crafted prompts, limiting their scalability and adaptability. We propose AutoInject, a reinforcement learning framework that generates universal, transferable adversarial suffixes while jointly optimizing for attack success and utility preservation on benign tasks. Our black-box method supports both query-based optimization and transfer attacks to unseen models and tasks. Using only a 1.5B parameter adversarial suffix generator, we successfully compromise frontier systems including GPT 5 Nano, Claude Sonnet 3.5, and Gemini 2.5 Flash on the AgentDojo benchmark, establishing a stronger baseline for automated prompt injection research.