OpenRaiser/Intern-Atlas huggingface dataset:
IBNorm: Information-Bottleneck Inspired Normalization for Representation Learning
Venue: arXiv cs.LG 2026
Year: 2026

Normalization is fundamental to deep learning, but existing approaches such as BatchNorm, LayerNorm, and RMSNorm are variance-centric by enforcing zero mean and unit variance, stabilizing training without controlling how representations capture task-relevant information. We propose IB-Inspired Normalization (IBNorm), a simple yet powerful family of methods grounded in the Information Bottleneck principle. IBNorm introduces bounded compression operations that encourage embeddings to preserve predictive information while suppressing nuisance variability, yielding more informative representations while retaining the stability and compatibility of standard normalization. Theoretically, we prove that IBNorm achieves a higher IB value and tighter generalization bounds than variance-centric methods. Empirically, IBNorm consistently outperforms BatchNorm, LayerNorm, and RMSNorm across large-scale language models (LLaMA, GPT-2) and vision models (ResNet, ViT), with mutual information analysis confirming superior information bottleneck behavior. Code will be released publicly.
An Aristotelian ontology of instrumental goals: Structural features to be managed and not failures to be eliminated
Venue: arXiv cs.AI 2026
Year: 2026

Instrumental goals such as resource acquisition, power-seeking, and self-preservation are key to contemporary AI alignment research, yet the phenomenon's ontology remains under-theorised. This article develops an ontological account of instrumental goals and draws out governance-relevant distinctions for advanced AI systems. After systematising the dominant alignment literature on instrumental goals we offer an exploratory Aristotelian framework that treats advanced AI systems as complex artefacts whose ends are externally imposed through design, training and deployment. On a structural reading, Aristotle's notion of hypothetical necessity explains why, given an imposed end pursued over extended horizons in particular environments, certain enabling conditions become conditionally required, thereby yielding robust instrumental tendencies. On a contingent reading, accidental causation and chance-like intersections among training regimes, user inputs, infrastructure and deployment contexts can generate instrumental-goal-like behaviours not entailed by the imposed end-structure. This dual-aspect ontology motivates for governance and management approaches that treat instrumental goals as features of advanced AI systems to be managed rather than anomalies eliminable by technical interventions.
Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills
Venue: arXiv cs.RO 2026
Year: 2026

Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical framework that frames this challenge as an integrated skill planning & scheduling problem, going beyond purely sequential decision-making to support simultaneous skill invocation. Our approach is built upon a library of single-arm and bimanual primitive skills, each trained using Reinforcement Learning (RL) in GPU-accelerated simulation. We then train a Transformer-based planner on a dataset of skill compositions to act as a high-level scheduler, simultaneously predicting the discrete schedule of skills as well as their continuous parameters. We demonstrate that our method achieves higher success rates on complex, contact-rich tasks than end-to-end RL approaches and produces more efficient, coordinated behaviors than traditional sequential-only planners.
The Tool Decathlon: Benchmarking Language Agents for Diverse, Realistic, and Long-Horizon Task Execution
Venue: arXiv cs.CL 2026
Year: 2026

Real-world language agents must handle complex, multi-step workflows across diverse Apps. For instance, an agent may manage emails by coordinating with calendars and file systems, or monitor a production database to detect anomalies and generate reports following an operating manual. However, existing language agent benchmarks often focus on narrow domains or simplified tasks that lack the diversity, realism, and long-horizon complexity required to evaluate agents' real-world performance. To address this gap, we introduce the Tool Decathlon (dubbed as Toolathlon), a benchmark for language agents offering diverse Apps and tools, realistic environment setup, and reliable execution-based evaluation. Toolathlon spans 32 software applications and 604 tools, ranging from everyday platforms such as Google Calendar and Notion to professional ones like WooCommerce, Kubernetes, and BigQuery. Most of the tools are based on a high-quality set of Model Context Protocol (MCP) servers that we may have revised or implemented ourselves. Unlike prior works, which primarily ensure functional realism but offer limited environment state diversity, we provide realistic initial environment states from real software, such as Canvas courses with dozens of students or real financial spreadsheets. This benchmark includes 108 manually sourced or crafted tasks in total, requiring interacting with multiple Apps over around 20 turns on average to complete. Each task is strictly verifiable through dedicated evaluation scripts. Comprehensive evaluation of SOTA models highlights their significant shortcomings: the best-performing model, Claude-4.5-Sonnet, achieves only a 38.6% success rate with 20.2 tool calling turns on average, while the top open-weights model DeepSeek-V3.2-Exp reaches 20.1%. We expect Toolathlon to drive the development of more capable language agents for real-world, long-horizon task execution.
Metis-SPECS: Decoupling Multimodal Learning via Self-distilled Preference-based Cold Start
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement learning (RL) with verifiable rewards has recently catalyzed a wave of "MLLM-r1" approaches that bring RL to vision language models. Most representative paradigms begin with a cold start, typically employing supervised fine-tuning (SFT), to initialize the policy before RL. However, SFT-based cold start adopts the reasoning paradigm intertwined with task solution and output format, which may induce instruction-style overfitting, weakens out-of-distribution generalization, and ultimately affects downstream RL. We revisit the cold start along two views, its training method and data construction, and introduce the Generalization Factor (GF) coefficient to quantify the generalization capability under different methods. Our empirical study finds that preference-based training methods (e.g. DPO) generalizes better than SFT-based methods in cold start. Motivated by this, we propose SPECS-a Self-distilled, Preference-based Cold Start framework that decouples multimodal learning: (1) generates introspective preference data pairs via self-distillation, avoiding reliance on larger teachers or manual annotation; (2) performs preference-based training to learn, focusing on shallow, transferable surface-form criteria (format, structure, style) rather than memorizing content; and (3) hands off to RL with verifiable rewards for deep reasoning results. Experimental results across multiple multimodal benchmarks show that our decoupling learning framework yields consistent performance gains over strong baselines, improving MEGA-Bench by 4.1% and MathVista by 12.2%. Additional experiments indicate that SPECS contributes to reducing in-distribution "stuckness," improving exploration, stabilizing training, and raising the performance ceiling. Project Page: https://kwen-chen.github.io/SPECS-VL/
Synthesizing High-Quality Visual Question Answering from Medical Documents with Generator-Verifier LMMs
Venue: arXiv cs.LG 2026
Year: 2026

Large Multimodal Models (LMMs) are increasingly capable of answering medical questions that require joint reasoning over images and text, yet training general medical VQA systems is impeded by the lack of large, openly usable, high-quality corpora. We present MedVLSynther, a rubric-guided generator-verifier framework that synthesizes high-quality multiple-choice VQA items directly from open biomedical literature by conditioning on figures, captions, and in-text references. The generator produces self-contained stems and parallel, mutually exclusive options under a machine-checkable JSON schema; a multi-stage verifier enforces essential gates (self-containment, single correct answer, clinical validity, image-text consistency), awards fine-grained positive points, and penalizes common failure modes before acceptance. Applying this pipeline to PubMed Central yields MedSynVQA: 13,087 audited questions over 14,803 images spanning 13 imaging modalities and 28 anatomical regions. Training open-weight LMMs with reinforcement learning using verifiable rewards improves accuracy across six medical VQA benchmarks, achieving averages of 55.85 (3B) and 58.15 (7B), with up to 77.57 on VQA-RAD and 67.76 on PathVQA, outperforming strong medical LMMs. A Ablations verify that both generation and verification are necessary and that more verified data consistently helps, and a targeted contamination analysis detects no leakage from evaluation suites. By operating entirely on open literature and open-weight models, MedVLSynther offers an auditable, reproducible, and privacy-preserving path to scalable medical VQA training data.
$π_\texttt{RL}$: Online RL Fine-tuning for Flow-based Vision-Language-Action Models
Venue: arXiv cs.LG 2026
Year: 2026

Vision-Language-Action (VLA) models enable robots to understand and perform complex tasks from multimodal input. Although recent work explores using reinforcement learning (RL) to automate the laborious data collection process in scaling supervised fine-tuning (SFT), applying RL to large-scale flow-based VLAs (\eg, $π_0$, $π_{0.5}$) remains challenging due to intractable action log-likelihoods raised from flow matching. We address this challenge with $π_{\texttt{RL}}$, featuring two technical approaches: (1) \textbf{Flow-Noise} models the denoising process as a discrete-time MDP with a learnable noise network for exact log-likelihood computation. (2) \textbf{Flow-SDE} integrates denoising with agent-environment interaction, formulating a two-layer MDP that employs ODE-to-SDE conversion for efficient RL exploration. We evaluate $π_{\texttt{RL}}$ across various benchmarks, with experiments demonstrating that RL yields significant performance improvements in both in-distribution and out-of-distribution settings.
SymCode: A Neurosymbolic Approach to Mathematical Reasoning via Verifiable Code Generation
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) often struggle with complex mathematical reasoning, where prose-based generation leads to unverified and arithmetically unsound solutions. Current prompting strategies like Chain of Thought still operate within this unreliable medium, lacking a mechanism for deterministic verification. To address these limitations, we introduce SymCode, a neurosymbolic framework that reframes mathematical problem-solving as a task of verifiable code generation using the SymPy library. We evaluate SymCode on challenging benchmarks, including MATH-500 and OlympiadBench, demonstrating significant accuracy improvements of up to 13.6 percentage points over baselines. Our analysis shows that SymCode is not only more token-efficient but also fundamentally shifts model failures from opaque logical fallacies towards transparent, programmatic errors. By grounding LLM reasoning in a deterministic symbolic engine, SymCode represents a key step towards more accurate and trustworthy AI in formal domains.
A Zero Added Loss Multiplexing (ZALM) Source Simulation
Venue: arXiv cs.NI 2026
Year: 2026

Zero Added Loss Multiplexing (ZALM) offers broadband, per channel heralded EPR pairs, with a rich parameter space that allows its performance to be tailored for specific applications. We present a modular ZALM simulator that demonstrates how design choices affect output rate and fidelity. Built in NetSquid with QSI controllers, it exposes 20+ tunable parameters, supports IDEAL and REALISTIC modes, and provides reusable components for Spontaneous Parametric Down Conversion (SPDC) sources, interference, Dense Wavelength Division Multiplexing (DWDM) filtering, fiber delay, active polarization gates, detectors, and lossy fiber. Physics based models capture Hong Ou Mandel (HOM) visibility, insertion loss, detector efficiency, gate errors, and attenuation. Using this tool, we map trade offs among fidelity, link distance, and entangled pairs per use, and show how SPDC bandwidth and DWDM grid spacing steer performance. Using the default configuration settings, average fidelity remains constant at 0.83 but the ebit rate decreases from 0.0175 at the source to 0.0 at 50 km; narrowing the SPDC degeneracy bandwidth increases the ebit rate significantly without affecting fidelity. The simulator enables codesign of source, filtering, and feedforward settings for specific quantum memories and integrates as a building block for end to end quantum network studies.
Kinodynamic Task and Motion Planning using VLM-guided and Interleaved Sampling
Venue: arXiv cs.RO 2026
Year: 2026

Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they lack 3D spatial reasoning and cannot ensure geometric or dynamic feasibility. We propose a kinodynamic TAMP planner based on a hybrid state tree that uniformly represents symbolic and numeric states during planning, enabling task and motion decisions to be jointly decided. Kinodynamic constraints embedded in the TAMP problem are verified by an off-the-shelf motion planner and physics simulator, and a VLM guides exploring a TAMP solution and backtracks the search based on visual rendering of the states. Experiments on the simulated domains and in the real world show 32.14% - 1166.67% increased average success rates compared to traditional and LLM-based TAMP planners and reduced planning time on complex problems, with ablations further highlighting the benefits of VLM backtracking. More details are available at https://graphics.ewha.ac.kr/kinodynamicTAMP/.
The FM Agent
Venue: arXiv cs.AI 2026
Year: 2026

Large language models (LLMs) are catalyzing the development of autonomous AI research agents for scientific and engineering discovery. We present FM Agent, a novel and general-purpose multi-agent framework that leverages a synergistic combination of LLM-based reasoning and large-scale evolutionary search to address complex real-world challenges. The core of FM Agent integrates several key innovations: 1) a cold-start initialization phase incorporating expert guidance, 2) a novel evolutionary sampling strategy for iterative optimization, 3) domain-specific evaluators that combine correctness, effectiveness, and LLM-supervised feedback, and 4) a distributed, asynchronous execution infrastructure built on Ray. Demonstrating broad applicability, our system has been evaluated across diverse domains, including operations research, machine learning, GPU kernel optimization, and classical mathematical problems. FM Agent reaches state-of-the-art results autonomously, without human interpretation or tuning -- 1976.3 on ALE-Bench (+5.2\%), 43.56\% on MLE-Bench (+4.0pp), up to 20x speedups on KernelBench, and establishes new state-of-the-art(SOTA) results on several classical mathematical problems. Beyond academic benchmarks, FM Agent shows considerable promise for both large-scale enterprise R\&D workflows and fundamental scientific research, where it can accelerate innovation, automate complex discovery processes, and deliver substantial engineering and scientific advances with broader societal impact.
Modeling strategies for speech enhancement in the latent space of a neural audio codec
Venue: arXiv cs.SD 2026
Year: 2026

Neural audio codecs (NACs) provide compact latent speech representations in the form of sequences of continuous vectors or discrete tokens. In this work, we investigate how these two types of speech representations compare when used as training targets for supervised speech enhancement. We consider both autoregressive and non-autoregressive speech enhancement models based on the Conformer architecture, as well as a simple baseline where the NAC encoder is simply fine-tuned for speech enhancement. Our experiments reveal three key findings: predicting continuous latent representations consistently outperforms discrete token prediction; autoregressive models achieve higher quality but at the expense of intelligibility and efficiency, making non-autoregressive models more attractive in practice; and adding encoder fine-tuning yields the strongest enhancement metrics overall, though at the cost of degraded codec reconstruction. The code and audio samples are available online.
Diffusion-Aided Bandwidth-Efficient Semantic Communication with Adaptive Requests
Venue: arXiv cs.IT 2026
Year: 2026

Semantic communication focuses on conveying the task-relevant meaning rather than exact bitwise recovery. For image transmission with a generative receiver, relying only on text descriptions can be insufficient to preserve instance-specific visual evidence, whereas sending dense latent representations can incur substantial overhead. This paper presents a receiver-driven closed-loop scheme that transmits a short caption together with an initial sparse subset of latent blocks, and then uses feedback to request additional blocks only when needed. At each round, the receiver reconstructs the image via latent diffusion inpainting and applies a semantic consistency check between a caption generated from the reconstruction and the received caption, using a lightweight language similarity score such as ROUGE-L. The receiver stops early once a target consistency level is met, and otherwise requests a small number of additional latent blocks to refine the reconstruction. Experiments on Flickr30k over AWGN channels demonstrate a controllable rate-quality tradeoff. Adaptive feedback achieves the strongest semantic alignment and the lowest failure rate, outperforming budget-matched one-shot transmission while typically using fewer latent blocks than always-on retransmission.
Enhancing ECG Classification Robustness with Lightweight Unsupervised Anomaly Detection Filters
Venue: arXiv cs.LG 2026
Year: 2026

Continuous electrocardiogram (ECG) monitoring via wearable devices is vital for early cardiovascular disease detection. However, deploying deep learning models on resource-constrained microcontrollers faces reliability challenges, particularly from Out-of-Distribution (OOD) pathologies and noise. Standard classifiers often yield high-confidence errors on such data. Existing OOD detection methods either neglect computational constraints or address noise and unseen classes separately. This paper investigates Unsupervised Anomaly Detection (UAD) as a lightweight, upstream filtering mechanism. We perform a Neural Architecture Search (NAS) on six UAD approaches, including Deep Support Vector Data Description (Deep SVDD), input reconstruction with (Variational-)Autoencoders (AE/VAE), Masked Anomaly Detection (MAD), Normalizing Flows (NFs) and Denoising Diffusion Probabilistic Models (DDPM) under strict hardware constraints ($\leq$512k parameters), suitable for microcontrollers. Evaluating on the PTB-XL and BUT QDB datasets, we demonstrate that a NAS-optimized Deep SVDD offers the superior Pareto efficiency between detection performance and model size. In a simulated deployment, this lightweight filter improves the accuracy of a diagnostic classifier by up to 21.0 percentage points, demonstrating that optimized UAD filters can safeguard ECG analysis on wearables.
LLMs as In-Context Meta-Learners for Model and Hyperparameter Selection
Venue: arXiv cs.LG 2026
Year: 2026

Model and hyperparameter selection are critical but challenging in machine learning, typically requiring expert intuition or expensive automated search. We investigate whether large language models (LLMs) can act as in-context meta-learners for this task. By converting each dataset into interpretable metadata, we prompt an LLM to recommend both model families and hyperparameters. We study two prompting strategies: (1) a zero-shot mode relying solely on pretrained knowledge, and (2) a meta-informed mode augmented with examples of models and their performance on past tasks. Across synthetic and real-world benchmarks, we show that LLMs can exploit dataset metadata to recommend competitive models and hyperparameters without search, and that improvements from meta-informed prompting demonstrate their capacity for in-context meta-learning. These results highlight a promising new role for LLMs as lightweight, general-purpose assistants for model selection and hyperparameter optimization.
Inference-Cost-Aware Dynamic Tree Construction for Efficient Inference in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) face significant inference latency challenges stemming from their autoregressive design and large size. To address this, speculative decoding emerges as a solution, enabling the simultaneous generation and validation of multiple tokens. While recent approaches like EAGLE-2 and EAGLE-3 improve speculative decoding using dynamic tree structures, they often neglect the impact of crucial system variables such as GPU devices and batch sizes. Therefore, we introduce a new dynamic tree decoding approach called CAST that takes into account inference costs, including factors such as GPU configurations and batch sizes, to dynamically refine the tree structure. Through comprehensive experimentation across six diverse tasks and utilizing six distinct LLMs, our methodology demonstrates remarkable results, achieving speeds up to 5.2 times faster than conventional decoding methods. Moreover, it generally outperforms existing state-of-the-art techniques from 5 % to 20%. The code is available at https://github.com/EAGLE-Research/sglang-eagle4.
All You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion and Multimodal LLMs/VLMs in Autonomous Vehicles
Venue: arXiv cs.CV 2026
Year: 2026

Autonomous Vehicles (AVs) are transforming the future of transportation through advances in intelligent perception, decision-making, and control systems. However, their success is tied to one core capability, reliable object detection in complex and multimodal environments. While recent breakthroughs in Computer Vision (CV) and Artificial Intelligence (AI) have driven remarkable progress, the field still faces a critical challenge as knowledge remains fragmented across multimodal perception, contextual reasoning, and cooperative intelligence. This survey bridges that gap by delivering a forward-looking analysis of object detection in AVs, emphasizing emerging paradigms such as Vision-Language Models (VLMs), Large Language Models (LLMs), and Generative AI rather than re-examining outdated techniques. We begin by systematically reviewing the fundamental spectrum of AV sensors (camera, ultrasonic, LiDAR, and Radar) and their fusion strategies, highlighting not only their capabilities and limitations in dynamic driving environments but also their potential to integrate with recent advances in LLM/VLM-driven perception frameworks. Next, we introduce a structured categorization of AV datasets that moves beyond simple collections, positioning ego-vehicle, infrastructure-based, and cooperative datasets (e.g., V2V, V2I, V2X, I2I), followed by a cross-analysis of data structures and characteristics. Ultimately, we analyze cutting-edge detection methodologies, ranging from 2D and 3D pipelines to hybrid sensor fusion, with particular attention to emerging transformer-driven approaches powered by Vision Transformers (ViTs), Large and Small Language Models (SLMs), and VLMs. By synthesizing these perspectives, our survey delivers a clear roadmap of current capabilities, open challenges, and future opportunities.