OpenRaiser/Intern-Atlas huggingface dataset:
Diffusion Probe: Generated Image Result Prediction Using CNN Probes
Venue: arXiv cs.CV 2026
Year: 2026

Text-to-image (T2I) diffusion models lack an efficient mechanism for early quality assessment, leading to costly trial-and-error in multi-generation scenarios such as prompt iteration, agent-based generation, and flow-grpo. We reveal a strong correlation between early diffusion cross-attention distributions and final image quality. Based on this finding, we introduce Diffusion Probe, a framework that leverages internal cross-attention maps as predictive signals. We design a lightweight predictor that maps statistical properties of early-stage cross-attention extracted from initial denoising steps to the final image's overall quality. This enables accurate forecasting of image quality across diverse evaluation metrics long before full synthesis is complete. We validate Diffusion Probe across a wide range of settings. On multiple T2I models, across early denoising windows, resolutions, and quality metrics, it achieves strong correlation (PCC > 0.7) and high classification performance (AUC-ROC > 0.9). Its reliability translates into practical gains. By enabling early quality-aware decisions in workflows such as prompt optimization, seed selection, and accelerated RL training, the probe supports more targeted sampling and avoids computation on low-potential generations. This reduces computational overhead while improving final output quality.Diffusion Probe is model-agnostic, efficient, and broadly applicable, offering a practical solution for improving T2I generation efficiency through early quality prediction.
Deep Sleep Scheduling for Satellite IoT via Simulation Based Optimization
Venue: arXiv cs.NI 2026
Year: 2026

The Satellite Internet of Things (S-IoT) enables global connectivity for remote sensing devices that must operate energy-efficiently over long time spans. We consider an S-IoT system consisting of a sender-receiver pair connected by a data channel and a feedback channel and capture its dynamics using a Markov Decision Process (MDP). To extend battery life, the sender has to decide on deep-sleep durations. Deep-sleep scheduling is the primary lever to reduce energy consumption, since sleeping devices consume only a fraction of their idle power. By choosing its deep-sleep duration online, the sender has to find a trade-off between energy consumption and data quality degradation at the receiver, captured by a weighted sum of costs. We quantify data quality degradation via the recently introduced Goal-Oriented Tensor (GoT) metric, which can take both age and content of delivered data into account. We assume a Markovian observed process and Markov channels with time-varying delay and erasure rates. The challenge is that content awareness of the GoT metric makes periodic transmissions inherently inefficient. Additionally, optimal sleep durations depends on the (unknown) future states of the observed process and the channels, both of which must be inferred online. We propose a novel algorithm using probabilistic simulation-based optimization (PSBO). With PSBO, the sensor forecasts future states based on estimated transition probabilities, and uses these forecasts to select the optimal deep-sleep duration. Extensive simulations and experiments with S-IoT hardware demonstrate superior performance of PSBO under diverse conditions.
Fourier Angle Alignment for Oriented Object Detection in Remote Sensing
Venue: arXiv cs.CV 2026
Year: 2026

In remote sensing rotated object detection, mainstream methods suffer from two bottlenecks, directional incoherence at detector neck and task conflict at detecting head. Ulitising fourier rotation equivariance, we introduce Fourier Angle Alignment, which analyses angle information through frequency spectrum and aligns the main direction to a certain orientation. Then we propose two plug and play modules : FAAFusion and FAA Head. FAAFusion works at the detector neck, aligning the main direction of higher-level features to the lower-level features and then fusing them. FAA Head serves as a new detection head, which pre-aligns RoI features to a canonical angle and adds them to the original features before classification and regression. Experiments on DOTA-v1.0, DOTA-v1.5 and HRSC2016 show that our method can greatly improve previous work. Particularly, our method achieves new state-of-the-art results of 78.72% mAP on DOTA-v1.0 and 72.28% mAP on DOTA-v1.5 datasets with single scale training and testing, validating the efficacy of our approach in remote sensing object detection. The code is made publicly available at https://github.com/gcy0423/Fourier-Angle-Alignment .
Localising Stochasticity in Weighted Automata
Venue: arXiv cs.FL 2026
Year: 2026

Weighted automata over the nonnegative reals form a fundamental model for quantitative languages. We show that, up to scaling, this model collapses to probabilistic automata. Concretely, we prove that every weighted automaton whose transition matrix has spectral radius strictly less than one can be normalised, by a semantics-preserving rescaling of transition weights, into an equivalent locally stochastic probabilistic automaton. Thus, finite-mass weighted automata and probabilistic automata coincide up to normalisation. The construction is effective and relies on Perron-Frobenius theory. We further characterise probabilistic automata by stochastic regular expressions equipped with a geometrically weighted star. Beyond the finite-mass setting, we show that the behaviour of an arbitrary weighted automaton admits a decomposition into an exponential growth rate and a normalised probabilistic component, separating quantitative growth from stochastic structure.
Beyond State-Wise Mirror Descent: Offline Policy Optimization with Parameteric Policies
Venue: arXiv cs.LG 2026
Year: 2026

We investigate the theoretical aspects of offline reinforcement learning (RL) under general function approximation. While prior works (e.g., Xie et al., 2021) have established the theoretical foundations of learning a good policy from offline data via pessimism, existing algorithms that are computationally tractable (often in an oracle-efficient sense), such as PSPI, only apply to finite and small action spaces. Moreover, these algorithms rely on state-wise mirror descent and require actors to be implicitly induced from the critic functions, failing to accommodate standalone policy parameterization which is ubiquitous in practice. In this work, we address these limitations and extend the theoretical guarantees to parameterized policy classes over large or continuous action spaces. When extending mirror descent to parameterized policies, we identify contextual coupling as the core difficulty, and show how connecting mirror descent to natural policy gradient leads to novel analyses, guarantees, and algorithmic insights, including a surprising unification between offline RL and imitation learning.
GenDRAM:Hardware-Software Co-Design of General Platform in DRAM
Venue: arXiv cs.AR 2026
Year: 2026

Dynamic programming (DP) algorithms, such as All-Pairs Shortest Path (APSP) and genomic sequence alignment, are fundamental to many scientific domains but are severely bottlenecked by data movement on conventional architectures. While Processing-in-Memory (PIM) offers a promising solution, existing accelerators often address only a fraction of the work-flow, creating new system-level bottlenecks in host-accelerator communication and off-chip data streaming. In this work, we propose GenDRAM, a massively parallel PIM accelerator that overcomes these limitations. GenDRAM leverages the immense capacity and internal bandwidth of monolithic 3D DRAM(M3D DRAM) to integrate entire data-intensive pipelines, such as the full genomics workflow from seeding to alignment, onto a single heterogeneous chip. At its core is a novel architecture featuring specialized Search PUs for memory-intensive tasks and universal, multiplier-less Compute PUs for diverse DP calculations. This is enabled by a 3D-aware data mapping strategy that exploits the tiered latency of M3D DRAM for performance optimization. Through comprehensive simulation, we demonstrate that GenDRAM achieves a transformative performance leap, outperforming state-of-the-art GPU systems by over 68x on APSP and over 22x on the end-to-end genomics pipeline.
CLFEC: A New Task for Unified Linguistic and Factual Error Correction in paragraph-level Chinese Professional Writing
Venue: arXiv cs.CL 2026
Year: 2026

Chinese text correction has traditionally focused on spelling and grammar, while factual error correction is usually treated separately. However, in paragraph-level Chinese professional writing, linguistic (word/grammar/punctuation) and factual errors frequently co-occur and interact, making unified correction both necessary and challenging. This paper introduces CLFEC (Chinese Linguistic & Factual Error Correction), a new task for joint linguistic and factual correction. We construct a mixed, multi-domain Chinese professional writing dataset spanning current affairs, finance, law, and medicine. We then conduct a systematic study of LLM-based correction paradigms, from prompting to retrieval-augmented generation (RAG) and agentic workflows. The analysis reveals practical challenges, including limited generalization of specialized correction models, the need for evidence grounding for factual repair, the difficulty of mixed-error paragraphs, and over-correction on clean inputs. Results further show that handling linguistic and factual Error within the same context outperform decoupled processes, and that agentic workflows can be effective with suitable backbone models. Overall, our dataset and empirical findings provide guidance for building reliable, fully automatic proofreading systems in industrial settings.
Hybrid Offline-Online Reinforcement Learning for Sensorless, High-Precision Force Regulation in Surgical Robotic Grasping
Venue: arXiv cs.RO 2026
Year: 2026

Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and distal mechanics. Existing solutions typically rely on distal force sensing or analytical compensation, increasing hardware complexity or degrading performance under dynamic motion. We present a sensorless control framework that combines physics-consistent modeling and hybrid reinforcement learning to achieve high-precision distal force regulation in a proximally actuated surgical end-effector. We develop a first-principles digital twin of the da Vinci Xi grasping mechanism that captures coupled electrical, transmission, and jaw dynamics within a unified differential-algebraic formulation. To safely learn control policies in this stiff and highly nonlinear system, we introduce a three-stage pipeline:(i)a receding-horizon CMA-ES oracle that generates dynamically feasible expert trajectories,(ii)fully offline policy learning via Implicit Q-Learning to ensure stable initialization without unsafe exploration, and (iii)online refinement using TD3 for adaptation to on-policy dynamics. The resulting policy directly maps proximal measurements to motor voltages and requires no distal sensing. In simulation, the controller maintains grasp force within 1% of the desired reference during multi-harmonic jaw motion. Hardware experiments demonstrate average force errors below 4% across diverse trajectories, validating sim-to-real transfer. The learned policy contains approximately 71k param and executes at kH rates, enabling real-time deployment. These results demonstrate that high-fidelity modeling combined with structured offline-online RL can recover precise distal force behavior without additional sensing, offering a scalable and mechanically compatible solution for surgical robotic manipulation.
SelfOccFlow: Towards end-to-end self-supervised 3D Occupancy Flow prediction
Venue: arXiv cs.CV 2026
Year: 2026

Estimating 3D occupancy and motion at the vehicle's surroundings is essential for autonomous driving, enabling situational awareness in dynamic environments. Existing approaches jointly learn geometry and motion but rely on expensive 3D occupancy and flow annotations, velocity labels from bounding boxes, or pretrained optical flow models. We propose a self-supervised method for 3D occupancy flow estimation that eliminates the need for human-produced annotations or external flow supervision. Our method disentangles the scene into separate static and dynamic signed distance fields and learns motion implicitly through temporal aggregation. Additionally, we introduce a strong self-supervised flow cue derived from features' cosine similarities. We demonstrate the efficacy of our 3D occupancy flow method on SemanticKITTI, KITTI-MOT, and nuScenes.
SegMate: Asymmetric Attention-Based Lightweight Architecture for Efficient Multi-Organ Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

State-of-the-art models for medical image segmentation achieve excellent accuracy but require substantial computational resources, limiting deployment in resource-constrained clinical settings. We present SegMate, an efficient 2.5D framework that achieves state-of-the-art accuracy, while considerably reducing computational requirements. Our efficient design is the result of meticulously integrating asymmetric architectures, attention mechanisms, multi-scale feature fusion, slice-based positional conditioning, and multi-task optimization. We demonstrate the efficiency-accuracy trade-off of our framework across three modern backbones (EfficientNetV2-M, MambaOut-Tiny, FastViT-T12). We perform experiments on three datasets: TotalSegmentator, SegTHOR and AMOS22. Compared with the vanilla models, SegMate reduces computation (GFLOPs) by up to 2.5x and memory footprint (VRAM) by up to 2.1x, while generally registering performance gains of around 1%. On TotalSegmentator, we achieve a Dice score of 93.51% with only 295MB peak GPU memory. Zero-shot cross-dataset evaluations on SegTHOR and AMOS22 demonstrate strong generalization, with Dice scores of up to 86.85% and 89.35%, respectively. We release our open-source code at https://github.com/andreibunea99/SegMate.
Invariant-Driven Automated Testing
Venue: arXiv cs.SE 2026
Year: 2026

Microservice architectures are an emergent technology that builds business logic into a suite of small services. Each microservice runs in its process and the communication is made through lightweight mechanisms, usually HTTP resource API. These architectures are built upon independently deployable and, supposedly, reliable pieces of software that may, or may not, have been developed by the team using it. Nowadays, industries are dangerously migrating into microservice architectures without an effective and automatic process for testing the software being used. Furthermore, current API specification languages are not expressive enough to be used for testing purposes. To solve this problem it is necessary to extend currently broadly used API specification languages. APOSTL is a specification language to annotate APIs specifications based on first-order logic, with some restrictions. It has the purpose of extending the currently used API description languages with properties that can be useful for testing purposes, transforming these description documents into useful testing artefacts. Besides providing information needed for testing an application, APOSTL also provides an API with semantic. This additional information is then leveraged to automate microservice testing. The work developed in this thesis aims to fully automate the microservice testing process. It is achieved by the implementation of PETIT a tool able to test microservices when provided with an OpenAPI Specification document, written in JSON and properly annotated with the previously proposed specification language, APOSTL. The tool is able to analyze microservices independently from the source code availability.
Teleoperated Omni-directional Dual Arm Mobile Manipulation Robotic System with Shared Control for Retail Store
Venue: arXiv cs.RO 2026
Year: 2026

The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter challenges in adapting to the dynamic nature of retail products, often struggling to operate autonomously in novel situations. In this study, we introduce an omni-directional dual-arm mobile robot specifically tailored for use in retail environments. Additionally, we propose a tele-operation method that enables shared control between the robot and a human operator. This approach utilizes a Virtual Reality (VR) motion capture system to capture the operator's commands, which are then transmitted to the robot located remotely in a retail setting. Furthermore, the robot is equipped with heterogeneous grippers on both manipulators, facilitating the handling of a wide range of items. We validate the efficacy of the proposed system through testing in a mockup of retail environment, demonstrating its ability to manipulate various commonly encountered retail items using both single and dual-arm coordinated manipulation techniques.
Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets and obstacles, allowing the system to adapt more flexibly to environmental uncertainty and variations during the building process. A reinforcement learning (RL) policy, trained using deep Q-learning with successor features, serves as the decision-making component. As a proof of concept, we evaluate the approach on a benchmark of 15 2D robotic assembly tasks of discrete block construction. Experiments using a real-world closed-loop robotic setup demonstrate the feasibility of the method and its ability to handle construction noise. The results suggest that our framework offers a promising direction for more adaptable and robust robotic construction in real-world environments.
SwitchCraft: Training-Free Multi-Event Video Generation with Attention Controls
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in text-to-video diffusion models have enabled high-fidelity and temporally coherent videos synthesis. However, current models are predominantly optimized for single-event generation. When handling multi-event prompts, without explicit temporal grounding, such models often produce blended or collapsed scenes that break the intended narrative. To address this limitation, we present SwitchCraft, a training-free framework for multi-event video generation. Our key insight is that uniform prompt injection across time ignores the correspondence between events and frames. To this end, we introduce Event-Aligned Query Steering (EAQS), which steers frame-level attention to align with relevant event prompts. Furthermore, we propose Auto-Balance Strength Solver (ABSS), which adaptively balances steering strength to preserve temporal consistency and visual fidelity. Extensive experiments demonstrate that SwitchCraft substantially improves prompt alignment, event clarity, and scene consistency compared with existing baselines, offering a simple yet effective solution for multi-event video generation.
Ask don't tell: Reducing sycophancy in large language models
Venue: arXiv cs.HC 2026
Year: 2026

Sycophancy, the tendency of large language models to favour user-affirming responses over critical engagement, has been identified as an alignment failure, particularly in high-stakes advisory and social contexts. While prior work has documented conversational features correlated with sycophancy, we lack a systematic understanding of what provokes or prevents AI sycophancy. Here, we present a set of controlled experimental studies where we first isolate how input framing influences sycophancy, and second, leverage these findings to develop mitigation strategies. In a nested factorial design, we compare questions to various non-questions where we vary three orthogonal factors: epistemic certainty (statement, belief, conviction), perspective (I- vs user-perspective), and affirmation vs negation. We show that (1) sycophancy is substantially higher in response to non-questions compared to questions. Additionally, we find that (2) sycophancy increases monotonically with epistemic certainty conveyed by the user, and (3) is amplified by I-perspective framing. Building on this, we show that asking a model to convert non-questions into questions before answering significantly reduces sycophancy. Importantly, this effect is stronger than a simple baseline prompt asking models "not to be sycophantic". Our work offers a practical and effective input-level mitigation that both developers and users can easily adopt.
Robust Aggregation for Federated Sequential Recommendation with Sparse and Poisoned Data
Venue: arXiv cs.IR 2026
Year: 2026

Federated sequential recommendation distributes model training across user devices so that behavioural data remains local, reducing privacy risks. Yet, this setting introduces two intertwined difficulties. On the one hand, individual clients typically contribute only short and highly sparse interaction sequences, limiting the reliability of learned user representations. On the other hand, the federated optimisation process is vulnerable to malicious or corrupted client updates, where poisoned gradients can significantly distort the global model. These challenges are particularly severe in sequential recommendation, where temporal dynamics further complicate signal aggregation. To address this problem, we propose a robust aggregation framework tailored for federated sequential recommendation under sparse and adversarial conditions. Instead of relying on standard averaging, our method introduces a defence-aware aggregation mechanism that identifies and down-weights unreliable client updates while preserving informative signals from sparse but benign participants. The framework incorporates representation-level constraints to stabilise user and item embeddings, preventing poisoned or anomalous contributions from dominating the global parameter space. In addition, we integrate sequence-aware regularisation to maintain temporal coherence in user modelling despite limited local observations.
Foundation World Models for Agents that Learn, Verify, and Adapt Reliably Beyond Static Environments
Venue: arXiv cs.LG 2026
Year: 2026

The next generation of autonomous agents must not only learn efficiently but also act reliably and adapt their behavior in open worlds. Standard approaches typically assume fixed tasks and environments with little or no novelty, which limits world models' ability to support agents that must evolve their policies as conditions change. This paper outlines a vision for foundation world models: persistent, compositional representations that unify reinforcement learning, reactive/program synthesis, and abstraction mechanisms. We propose an agenda built around four components: (i) learnable reward models from specifications to support optimization with clear objectives; (ii) adaptive formal verification integrated throughout learning; (iii) online abstraction calibration to quantify the reliability of the model's predictions; and (iv) test-time synthesis and world-model generation guided by verifiers. Together, these components enable agents to synthesize verifiable programs, derive new policies from a small number of interactions, and maintain correctness while adapting to novelty. The resulting framework positions foundation world models as a substrate for learning, reasoning, and adaptation, laying the groundwork for agents that not only act well but can explain and justify the behavior they adopt.