OpenRaiser/Intern-Atlas huggingface dataset:
HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation
Venue: arXiv cs.RO 2026
Year: 2026

Vision-and-Language Navigation (VLN) is shifting from rigid, step-by-step instruction following toward open-vocabulary, goal-oriented autonomy. Achieving this transition without exhaustive routing prompts requires agents to leverage structural priors. While prior work often assumes computationally heavy 2D/3D metric maps, we instead exploit a lightweight, text-based osmAG (OpenStreetMap Area Graph), a floorplan-level topological representation that is easy to obtain and maintain. However, global planning over a prior map alone is brittle in real-world deployments, where local connectivity can change (e.g., closed doors or crowded passages), leading to execution-time failures. To address this gap, we propose a hierarchical navigation framework HaltNav that couples the robust global planning of osmAG with the local exploration and instruction-grounding capability of VLN. Our approach features an MLLM-based brain module, which is capable of high-level task grounding and obstruction awareness. Conditioned on osmAG, the brain converts the global route into a sequence of localized execution snippets, providing the VLN executor with prior-grounded, goal-centric sub-instructions. Meanwhile, it detects local anomalies via a mechanism we term Reactive Visual Halting (RVH), which interrupts the local control loop, updates osmAG by invalidating the corresponding topology, and triggers replanning to orchestrate a viable detour. To train this halting capability efficiently, we introduce a data synthesis pipeline that leverages generative models to inject realistic obstacles into otherwise navigable scenes, substantially enriching hard negative samples. Extensive experiments demonstrate that our hierarchical framework outperforms several baseline methods without tedious language instructions, and significantly improves robustness for long-horizon vision-language navigation under environmental changes.
Design-Specification Tiling for ICL-based CAD Code Generation
Venue: arXiv cs.SE 2026
Year: 2026

Large language models (LLMs) have demonstrated remarkable capabilities in code generation, yet they underperform on domain-specific tasks such as Computer-Aided Design (CAD) code generation due to scarce training data. In-Context Learning (ICL) offers a training-free alternative through task-specific exemplars. However, existing selection strategies prioritize similarity or point-wise diversity, often producing redundant selections that fail to satisfy the compositional requirements of complex CAD design specifications. In this work, we propose knowledge sufficiency as a principled objective for exemplar selection that aims to maximally satisfy all requirements within design specifications. To realize this objective, we introduce Design-Specification Tiling (DST), which quantifies knowledge sufficiency through a surrogate tiling ratio by extracting multi-granular design components and measuring the proportion of query components covered by selected exemplars. We demonstrate that maximizing this objective constitutes submodular maximization and provide a polynomial-time greedy algorithm with a (1-1/e)-approximation guarantee. Extensive experiments demonstrate that DST substantially improves CAD code generation quality, consistently outperforming existing exemplar selection strategies in ICL.
CMHANet: A Cross-Modal Hybrid Attention Network for Point Cloud Registration
Venue: arXiv cs.CV 2026
Year: 2026

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance of established learning-based methods often degrades in complex, real world scenarios characterized by incomplete data, sensor noise, and low overlap regions. To address these limitations, we propose CMHANet, a novel Cross-Modal Hybrid Attention Network. Our method integrates the fusion of rich contextual information from 2D images with the geometric detail of 3D point clouds, yielding a comprehensive and resilient feature representation. Furthermore, we introduce an innovative optimization function based on contrastive learning, which enforces geometric consistency and significantly improves the model's robustness to noise and partial observations. We evaluated CMHANet on the 3DMatch and the challenging 3DLoMatch datasets. \rev{Additionally, zero-shot evaluations on the TUM RGB-D SLAM dataset verify the model's generalization capability to unseen domains.} The experimental results demonstrate that our method achieves substantial improvements in both registration accuracy and overall robustness, outperforming current techniques. We also release our code in \href{https://github.com/DongXu-Zhang/CMHANet}{https://github.com/DongXu-Zhang/CMHANet}.
CognitionCapturerPro: Towards High-Fidelity Visual Decoding from EEG/MEG via Multi-modal Information and Asymmetric Alignment
Venue: arXiv cs.CV 2026
Year: 2026

Visual stimuli reconstruction from EEG remains challenging due to fidelity loss and representation shift. We propose CognitionCapturerPro, an enhanced framework that integrates EEG with multi-modal priors (images, text, depth, and edges) via collaborative training. Our core contributions include an uncertainty-weighted similarity scoring mechanism to quantify modality-specific fidelity and a fusion encoder for integrating shared representations. By employing a simplified alignment module and a pre-trained diffusion model, our method significantly outperforms the original CognitionCapturer on the THINGS-EEG dataset, improving Top-1 and Top-5 retrieval accuracy by 25.9% and 10.6%, respectively. Code is available at: https://github.com/XiaoZhangYES/CognitionCapturerPro.
SciDesignBench: Benchmarking and Improving Language Models for Scientific Inverse Design
Venue: arXiv cs.LG 2026
Year: 2026

Many of the most important problems in science and engineering are inverse problems: given a desired outcome, find a design that achieves it. Evaluating whether a candidate meets the spec is often routine; a binding energy can be computed, a reactor yield simulated, a pharmacokinetic profile predicted. But searching a combinatorial design space for inputs that satisfy those targets is fundamentally harder. We introduce SciDesignBench, a benchmark of 520 simulator-grounded tasks across 14 scientific domains and five settings spanning single-shot design, short-horizon feedback, long-horizon refinement, and seed-design optimization. On the 10-domain shared-core subset, the best zero-shot model reaches only 29.0% success despite substantially higher parse rates. Simulator feedback helps, but the leaderboard changes with horizon: Sonnet 4.5 is strongest in one-turn de novo design, whereas Opus 4.6 is strongest after 20 turns of simulator-grounded refinement. Providing a starting seed design reshuffles the leaderboard again, demonstrating that constrained modification requires a fundamentally different capability from unconstrained de novo generation. We then introduce RLSF, a simulator-feedback training recipe. An RLSF-tuned 8B model raises single-turn success rates by 8-17 percentage points across three domains. Together, these results position simulator-grounded inverse design as both a benchmark for scientific reasoning and a practical substrate for amortizing expensive test-time compute into model weights.
TaoBench: Do Automated Theorem Prover LLMs Generalize Beyond MathLib?
Venue: arXiv cs.LG 2026
Year: 2026

Automated theorem proving (ATP) benchmarks largely consist of problems formalized in MathLib, so current ATP training and evaluation are heavily biased toward MathLib's definitional framework. However, frontier mathematics is often exploratory and prototype-heavy, relying on bespoke constructions that deviate from standard libraries. In this work, we evaluate the robustness of current ATP systems when applied to a novel definitional framework, specifically examining the performance gap between standard library problems and bespoke mathematical constructions. We introduce TaoBench, an undergraduate-level benchmark derived from Terence Tao's Analysis I, which formalizes analysis by constructing core mathematical concepts from scratch, without relying on standard Mathlib definitions, as well as by mixing from-scratch and MathLib constructions. For fair evaluation, we build an agentic pipeline that automatically extracts a compilable, self-contained local environment for each problem. To isolate the effect of definitional frameworks, we additionally translate every problem into a mathematically equivalent Mathlib formulation, yielding paired TaoBench-Mathlib statements for direct comparison. While state-of-the-art ATP models perform capably within the MathLib framework, performance drops by an average of roughly 26% on the definitionally equivalent Tao formulation. This indicates that the main bottleneck is limited generalization across definitional frameworks rather than task difficulty. TaoBench thus highlights a gap between benchmark performance and applicability, and provides a concrete foundation for developing and testing provers better aligned with research mathematics.
SAP: Segment Any 4K Panorama
Venue: arXiv cs.CV 2026
Year: 2026

Promptable instance segmentation is widely adopted in embodied and AR systems, yet the performance of foundation models trained on perspective imagery often degrades on 360° panoramas. In this paper, we introduce Segment Any 4K Panorama (SAP), a foundation model for 4K high-resolution panoramic instance-level segmentation. We reformulate panoramic segmentation as fixed-trajectory perspective video segmentation, decomposing a panorama into overlapping perspective patches sampled along a continuous spherical traversal. This memory-aligned reformulation preserves native 4K resolution while restoring the smooth viewpoint transitions required for stable cross-view propagation. To enable large-scale supervision, we synthesize 183,440 4K-resolution panoramic images with instance segmentation labels using the InfiniGen engine. Trained under this trajectory-aligned paradigm, SAP generalizes effectively to real-world 360° images, achieving +17.2 zero-shot mIoU gain over vanilla SAM2 of different sizes on real-world 4K panorama benchmark.
The RIGID Framework: Research-Integrated, Generative AI-Mediated Instructional Design
Venue: arXiv cs.CY 2026
Year: 2026

Instructional Design (ID) often faces challenges in incorporating research-based knowledge and pedagogical best practices. Although educational researchers and government agencies emphasize grounding ID in evidence, integrating research findings into everyday design workflows is often complex, as it requires considering multiple context-specific demands and constraints. To address this persistent gap, this paper explores how research in the learning sciences (LS) can be systematically integrated across ID workflows and how recent advances in generative AI can help operationalize this integration. While ID and LS share a commitment to improving learning experiences through design-oriented approaches in authentic contexts, structured integration between the two fields remains limited, leaving their complementary insights underutilized. We present RIGID (Research-Integrated, Generative AI-Mediated Instructional Design), a unified framework that integrates LS research across ID workflows spanning analysis, design, implementation, and evaluation phases, while leveraging generative AI to mediate this integration at each stage. The RIGID framework provides a systematic approach for enabling research-integrated instructional design that is both operational and context-sensitive, while preserving the central role of human expertise.
Upper Bounds for Local Learning Coefficients of Three-Layer Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

Three-layer neural networks are known to form singular learning models, and their Bayesian asymptotic behavior is governed by the learning coefficient, or real log canonical threshold. Although this quantity has been clarified for regular models and for some special singular models, broadly applicable methods for evaluating it in neural networks remain limited. Recently, a formula for the local learning coefficient of semiregular models was proposed, yielding an upper bound on the learning coefficient. However, this formula applies only to nonsingular points in the set of realization parameters and cannot be used at singular points. In particular, for three-layer neural networks, the resulting upper bound has been shown to differ substantially from learning coefficient values already known in some cases. In this paper, we derive an upper-bound formula for the local learning coefficient at singular points in three-layer neural networks. This formula can be interpreted as a counting rule under budget constraints and demand-supply constraints, and is applicable to general analytic activation functions. In particular, it covers the swish function and polynomial functions, extending previous results to a wider class of activation functions. We further show that, when the input dimension is one, the upper bound obtained here coincides with the already known learning coefficient, thereby partially resolving the discrepancy above. Our result also provides a systematic perspective on how the weight parameters of three-layer neural networks affect the learning coefficient.
CellE: Automated Standard Cell Library Extension via Equality Saturation
Venue: arXiv cs.AR 2026
Year: 2026

Automated standard cell library extension is crucial for maximizing Quality of Results (QoR) in modern VLSI design. We introduce CellE, a novel framework that leverages formal methods to achieve exhaustive discovery of functionally equivalent subcircuits. CellE applies equality saturation to the post-mapping netlist, generating an e-graph to cluster all functionally equivalent implementations. This canonical representation enables an efficient pattern mining algorithm to select the most area-optimal standard cells. Experimental results show a 15.41% average area reduction (up to 23.64% over prior work). Furthermore, characterization in a commercial flow demonstrates an 8.00% average delay reduction, confirming CellE's superior QoR optimization capabilities.
What Makes VLMs Robust? Towards Reconciling Robustness and Accuracy in Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Achieving adversarial robustness in Vision-Language Models (VLMs) inevitably compromises accuracy on clean data, presenting a long-standing and challenging trade-off. In this work, we revisit this trade-off by investigating a fundamental question: What makes VLMs robust? Through a detailed analysis of adversarially fine-tuned models, we examine how robustness mechanisms function internally and how they interact with clean accuracy. Our analysis reveals that adversarial robustness is not uniformly distributed across network depth. Instead, unexpectedly, it is primarily localized within the shallow layers, driven by a low-frequency spectral bias and input-insensitive attention patterns. Meanwhile, updates to the deep layers tend to undermine both clean accuracy and robust generalization. Motivated by these insights, we propose Adversarial Robustness Adaptation (R-Adapt), a simple yet effective framework that freezes all pre-trained weights and introduces minimal, insight-driven adaptations only in the initial layers. This design achieves an exceptional balance between adversarial robustness and clean accuracy. R-Adapt further supports training-free, model-guided, and data-driven paradigms, offering flexible pathways to seamlessly equip standard models with robustness. Extensive evaluations on 18 datasets and diverse tasks demonstrate our state-of-the-art performance under various attacks. Notably, R-Adapt generalizes efficiently to large vision-language models (e.g., LLaVA and Qwen-VL) to enhance their robustness. Our project page is available at https://summu77.github.io/R-Adapt.
Reinforcement Learning for Elliptical Cylinder Motion Control Tasks
Venue: arXiv cs.RO 2026
Year: 2026

The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this work, we are focused on the elliptical cylinder and its motion under limited torque. The inspiration of the problem is from untethered magnetic devices, which due to distance have to operate with limited input torque. In this work, the main goal is to define the control problem of elliptic cylinder with limited input torque and solve it by Reinforcement Learning. As a classical baseline, we evaluate a two-stage controller composed of an energy-shaping swing-up law and a local Linear Quadratic Regulator (LQR) stabilizer around the target equilibrium. The swing-up controller increases the system's mechanical energy to drive the state toward a neighborhood of the desired equilibrium, a linearization of the nonlinear model yields an LQR that regulates the angle and angular-rate states to the target orientation with bounded input. This swing-up + LQR policy is a strong, interpretable reference for underactuated system and serves a point of comparison to the learned policy under identical limits and parameters. The solution shows that the learning is possible however, the different cases like stabilization in upward position or rotating of half turn are very difficult for increasing mass or ellipses with a strongly unequal perimeter ratio.
OARS: Process-Aware Online Alignment for Generative Real-World Image Super-Resolution
Venue: arXiv cs.CV 2026
Year: 2026

Aligning generative real-world image super-resolution models with human visual preference is challenging due to the perception--fidelity trade-off and diverse, unknown degradations. Prior approaches rely on offline preference optimization and static metric aggregation, which are often non-interpretable and prone to pseudo-diversity under strong conditioning. We propose OARS, a process-aware online alignment framework built on COMPASS, a MLLM-based reward that evaluates the LR to SR transition by jointly modeling fidelity preservation and perceptual gain with an input-quality-adaptive trade-off. To train COMPASS, we curate COMPASS-20K spanning synthetic and real degradations, and introduce a three-stage perceptual annotation pipeline that yields calibrated, fine-grained training labels. Guided by COMPASS, OARS performs progressive online alignment from cold-start flow matching to full-reference and finally reference-free RL via shallow LoRA optimization for on-policy exploration. Extensive experiments and user studies demonstrate consistent perceptual improvements while maintaining fidelity, achieving state-of-the-art performance on Real-ISR benchmarks.
Residual SODAP: Residual Self-Organizing Domain-Adaptive Prompting with Structural Knowledge Preservation for Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Continual learning (CL) suffers from catastrophic forgetting, which is exacerbated in domain-incremental learning (DIL) where task identifiers are unavailable and storing past data is infeasible. While prompt-based CL (PCL) adapts representations with a frozen backbone, we observe that prompt-only improvements are often insufficient due to suboptimal prompt selection and classifier-level instability under domain shifts. We propose Residual SODAP, which jointly performs prompt-based representation adaptation and classifier-level knowledge preservation. Our framework combines $α$-entmax sparse prompt selection with residual aggregation, data-free distillation with pseudo-feature replay, prompt-usage--based drift detection, and uncertainty-aware multi-loss balancing. Across three DIL benchmarks without task IDs or extra data storage, Residual SODAP achieves state-of-the-art AvgACC/AvgF of 0.850/0.047 (DR), 0.760/0.031 (Skin Cancer), and 0.995/0.003 (CORe50).
Are Dependent Types in Set Theory Feasible?
Venue: arXiv cs.LO 2026
Year: 2026

Following the types-as-sets paradigm, we present a mechanized embedding of dependent function types with a hierarchy of universes into schematic first-order logic with equality, with axiom schemas of Tarski-Grothendieck set theory. We carry this embedding in the Lisa proof assistant. On top of this foundation, we implement a proof-producing bidirectional type-checking tactic to compute proofs for typing judgements, with partial support for subtyping. We present examples showing how our approach enables automated reasoning for dependent types that is fully verified from set-theoretic axioms and deduction rules for schematic first-order logic with equality. Because types are merely sets, the resulting formalism supports equality that applies to all types and values and permits the usual substitution rules.
Serving Hybrid LLM Loads with SLO Guarantees Using CPU-GPU Attention Piggybacking
Venue: arXiv cs.DC 2026
Year: 2026

Nowadays, service providers often deploy multiple types of LLM services within shared clusters. While the service colocation improves resource utilization, it introduces significant interference risks for latency-sensitive (LS) services-which have strict SLO requirements for inference latency-and severely constrain the service capacity of best-effort (BE) services due to limited available memory. To address interference, existing systems typically rely on reserving headroom to constrain BE resource usage. However, this approach's coarse granularity compromises the SLO compliance of the latency-sensitive service and unnecessarily restricts the generation potential of the best effort service. In this paper, we propose OmniServe, a novel LLM serving system that efficiently harnesses both CPU and GPU resources to mitigate interference and improve throughput. Central to OmniServe is the Attention Piggybacking mechanism, which effectively offloads the Attention computation of BE services to CPUs on the fly. This mechanism also facilitates asynchronous communication between CPU and GPU streams, preventing GPUs from being blocked while aggregating Attention results. Additionally, OmniServe incorporates a dynamic batching control policy to adapt to fluctuating request arrivals, facilitating Dense module computation using layer-wise batching. Experimental results show that OmniServe improves the SLO attainment rate for LS services by up to $1.48\times$ while enhancing BE serving throughput by up to $9.85\times$ compared to state-of-the-art systems.
Mask2Flow-TSE: Two-Stage Target Speaker Extraction with Masking and Flow Matching
Venue: arXiv cs.SD 2026
Year: 2026

Target speaker extraction (TSE) extracts the target speaker's voice from overlapping speech mixtures given a reference utterance. Existing approaches typically fall into two categories: discriminative and generative. Discriminative methods apply time-frequency masking for fast inference but often over-suppress the target signal, while generative methods synthesize high-quality speech at the cost of numerous iterative steps. We propose Mask2Flow-TSE, a two-stage framework combining the strengths of both paradigms. The first stage applies discriminative masking for coarse separation, and the second stage employs flow matching to refine the output toward target speech. Unlike generative approaches that synthesize speech from Gaussian noise, our method starts from the masked spectrogram, enabling high-quality reconstruction in a single inference step. Experiments show that Mask2Flow-TSE achieves comparable performance to existing generative TSE methods with approximately 85M parameters.