OpenRaiser/Intern-Atlas huggingface dataset:
Is Human Annotation Necessary? Iterative MBR Distillation for Error Span Detection in Machine Translation
Venue: arXiv cs.CL 2026
Year: 2026

Error Span Detection (ESD) is a crucial subtask in Machine Translation (MT) evaluation, aiming to identify the location and severity of translation errors. While fine-tuning models on human-annotated data improves ESD performance, acquiring such data is expensive and prone to inconsistencies among annotators. To address this, we propose a novel self-evolution framework based on Minimum Bayes Risk (MBR) decoding, named Iterative MBR Distillation for ESD, which eliminates the reliance on human annotations by leveraging an off-the-shelf LLM to generate pseudo-labels.Extensive experiments on the WMT Metrics Shared Task datasets demonstrate that models trained solely on these self-generated pseudo-labels outperform both unadapted base model and supervised baselines trained on human annotations at the system and span levels, while maintaining competitive sentence-level performance.
Route Fragmentation Based on Resource-centric Prioritisation for Efficient Multi-Robot Path Planning in Agricultural Environments
Venue: arXiv cs.RO 2026
Year: 2026

Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP) approaches resolve conflicts from the perspective of agents, rather than from the resources under contention. Further, the density of such contentions limits the capabilities of spatial interleaving, a concept that many planners rely on to achieve high throughput. In this work, two variants of the priority-based Fragment Planner (FP) are presented as resource-centric MRPP algorithms that leverage route fragmentation to enable partial route progression and limit the impact of binary-based waiting. These approaches are evaluated in lifelong simulation over a 3.6km topological map representing a commercial polytunnel environment. Their performances are contrasted against 5 baseline algorithms with varying robotic fleet sizes. The Fragment Planners achieved significant gains in throughput compared with Prioritised Planning (PP) and Priority-Based Search (PBS) algorithms. They further demonstrated a task throughput of 95% of the optimal task throughput over the same time period. This work shows that, for long-term deployment of agricultural robots in corridor-dominant agricultural environments, resource-centric MRPP approaches are a necessity for high-efficacy operational planning.
Dependency-Aware Parallel Decoding via Attention for Diffusion LLMs
Venue: arXiv cs.LG 2026
Year: 2026

Parallel decoding for diffusion LLMs (dLLMs) is difficult because each denoising step provides only token-wise marginal distributions, while unmasking multiple tokens simultaneously requires accounting for inter-token dependencies. We propose Dependency-Aware Parallel Decoding (DAPD), a simple, training-free decoding method that uses self-attention to induce a conditional dependency graph over masked tokens. At each iteration, edges in this graph capture strong token interactions, while non-edges indicate weak dependence. Parallel decoding is then reduced to selecting an independent set on the graph and unmasking the selected tokens in parallel. This avoids co-updating strongly coupled tokens without auxiliary models or retraining. Experiments on LLaDA and Dream show that DAPD improves the accuracy-steps trade-off over existing methods and enables more globally distributed parallel updates that better exploit the any-order generation capability of dLLMs.
From Passive Monitoring to Active Defence: Resilient Control of Manipulators Under Cyberattacks
Venue: arXiv cs.RO 2026
Year: 2026

Cyber-physical robotic systems are vulnerable to false data injection attacks (FDIAs), in which an adversary corrupts sensor signals while evading residual-based passive anomaly detectors such as the chi-squared test. Such stealthy attacks can induce substantial end-effector deviations without triggering alarms. This paper studies the resilience of redundant manipulators to stealthy FDIAs and advances the architecture from passive monitoring to active defence. We formulate a closed-loop model comprising a feedback-linearized manipulator, a steady-state Kalman filter, and a chi-squared-based anomaly detector. Building on this passive monitoring layer, we propose an active control-level defence that attenuates the control input through a monotone function of an anomaly score generated by a novel actuation-projected, measurement-free state predictor. The proposed design provides probabilistic guarantees on nominal actuation loss and preserves closed-loop stability. From the attacker perspective, we derive a convex QCQP for computing one-step optimal stealthy attacks. Simulations on a 6-DOF planar manipulator show that the proposed defence significantly reduces attack-induced end-effector deviation while preserving nominal task performance in the absence of attacks.
Structured Distillation for Personalized Agent Memory: 11x Token Reduction with Retrieval Preservation
Venue: arXiv cs.AI 2026
Year: 2026

Long conversations with an AI agent create a simple problem for one user: the history is useful, but carrying it verbatim is expensive. We study personalized agent memory: one user's conversation history with an agent, distilled into a compact retrieval layer for later search. Each exchange is compressed into a compound object with four fields (exchange_core, specific_context, thematic room_assignments, and regex-extracted files_touched). The searchable distilled text averages 38 tokens per exchange. Applied to 4,182 conversations (14,340 exchanges) from 6 software engineering projects, the method reduces average exchange length from 371 to 38 tokens, yielding 11x compression. We evaluate whether personalized recall survives that compression using 201 recall-oriented queries, 107 configurations spanning 5 pure and 5 cross-layer search modes, and 5 LLM graders (214,519 consensus-graded query-result pairs). The best pure distilled configuration reaches 96% of the best verbatim MRR (0.717 vs 0.745). Results are mechanism-dependent. All 20 vector search configurations remain non-significant after Bonferroni correction, while all 20 BM25 configurations degrade significantly (effect sizes |d|=0.031-0.756). The best cross-layer setup slightly exceeds the best pure verbatim baseline (MRR 0.759). Structured distillation compresses single-user agent memory without uniformly sacrificing retrieval quality. At 1/11 the context cost, thousands of exchanges fit within a single prompt while the verbatim source remains available for drill-down. We release the implementation and analysis pipeline as open-source software.
Support is Search
Venue: arXiv cs.LO 2026
Year: 2026

Sandqvist's base-extension semantics for intuitionistic propositional logic defines a support relation parametrised by atomic bases, with validity identified as support in every base. Sandqvist's completeness theorem answers the global question: which formulae are valid? This paper addresses the local question: given a fixed base, what does support in that base correspond to? We show that support in a fixed base coincides with proof-search in a second-order hereditary Harrop logic program, via an encoding of formulae as logic-programming goals. This encoding proceeds by reading the semantic clauses in continuation-passing style, revealing that the universal quantifiers over base extensions and atoms appearing in those clauses are not domain-ranging quantifiers over a completed totality, but eigenvariables governed by a standard freshness discipline. Base-extension semantics thereby admits a fully constructive and computationally transparent interpretation: support is proof-search. The result complements Sandqvist's global theorem with a local correspondence, vindicates the anti-realist foundations of the framework on its own terms, and opens the way for implementing the semantics in modelling tasks.
SAW: Toward a Surgical Action World Model via Controllable and Scalable Video Generation
Venue: arXiv cs.CV 2026
Year: 2026

A surgical world model capable of generating realistic surgical action videos with precise control over tool-tissue interactions can address fundamental challenges in surgical AI and simulation -- from data scarcity and rare event synthesis to bridging the sim-to-real gap for surgical automation. However, current video generation methods, the very core of such surgical world models, require expensive annotations or complex structured intermediates as conditioning signals at inference, limiting their scalability. Other approaches exhibit limited temporal consistency across complex laparoscopic scenes and do not possess sufficient realism. We propose Surgical Action World (SAW) -- a step toward surgical action world modeling through video diffusion conditioned on four lightweight signals: language prompts encoding tool-action context, a reference surgical scene, tissue affordance mask, and 2D tool-tip trajectories. We design a conditional video diffusion approach that reformulates video-to-video diffusion into trajectory-conditioned surgical action synthesis. The backbone diffusion model is fine-tuned on a custom-curated dataset of 12,044 laparoscopic clips with lightweight spatiotemporal conditioning signals, leveraging a depth consistency loss to enforce geometric plausibility without requiring depth at inference. SAW achieves state-of-the-art temporal consistency (CD-FVD: 199.19 vs. 546.82) and strong visual quality on held-out test data. Furthermore, we demonstrate its downstream utility for (a) surgical AI, where augmenting rare actions with SAW-generated videos improves action recognition (clipping F1-score: 20.93% to 43.14%; cutting: 0.00% to 8.33%) on real test data, and (b) surgical simulation, where rendering tool-tissue interaction videos from simulator-derived trajectory points toward a visually faithful simulation engine.
Multimodal OCR: Parse Anything from Documents
Venue: arXiv cs.CV 2026
Year: 2026

We present Multimodal OCR (MOCR), a document parsing paradigm that jointly parses text and graphics into unified textual representations. Unlike conventional OCR systems that focus on text recognition and leave graphical regions as cropped pixels, our method, termed dots.mocr, treats visual elements such as charts, diagrams, tables, and icons as first-class parsing targets, enabling systems to parse documents while preserving semantic relationships across elements. It offers several advantages: (1) it reconstructs both text and graphics as structured outputs, enabling more faithful document reconstruction; (2) it supports end-to-end training over heterogeneous document elements, allowing models to exploit semantic relations between textual and visual components; and (3) it converts previously discarded graphics into reusable code-level supervision, unlocking multimodal supervision embedded in existing documents. To make this paradigm practical at scale, we build a comprehensive data engine from PDFs, rendered webpages, and native SVG assets, and train a compact 3B-parameter model through staged pretraining and supervised fine-tuning. We evaluate dots.mocr from two perspectives: document parsing and structured graphics parsing. On document parsing benchmarks, it ranks second only to Gemini 3 Pro on our OCR Arena Elo leaderboard, surpasses existing open-source document parsing systems, and sets a new state of the art of 83.9 on olmOCR Bench. On structured graphics parsing, dots.mocr achieves higher reconstruction quality than Gemini 3 Pro across image-to-SVG benchmarks, demonstrating strong performance on charts, UI layouts, scientific figures, and chemical diagrams. These results show a scalable path toward building large-scale image-to-code corpora for multimodal pretraining. Code and models are publicly available at https://github.com/rednote-hilab/dots.mocr.
Mending the Holes: Mitigating Reward Hacking in Reinforcement Learning for Multilingual Translation
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) have demonstrated remarkable capability in machine translation on high-resource language pairs, yet their performance on low-resource translation still lags behind. Existing post-training methods rely heavily on high-quality parallel data, which are often scarce or unavailable for low-resource languages. In this paper, we introduce WALAR, a reinforcement training method using only monolingual text to elevate LLMs' translation capabilities on massive low-resource languages while retaining their performance on high-resource languages. Our key insight is based on the observation of failure modes (or "holes") in existing source-based multilingual quality estimation (QE) models. Reinforcement learning (RL) using these QE models tends to amplify such holes, resulting in poorer multilingual LLMs. We develop techniques including word alignment and language alignment to mitigate such holes in WALAR's reward for RL training. We continually trained an LLM supporting translation of 101 languages using WALAR. The experiments show that our new model outperforms LLaMAX, one of the strongest open-source multilingual LLMs by a large margin on 1400 language directions on Flores-101 dataset.
BenDFM: A taxonomy and synthetic CAD dataset for manufacturability assessment in sheet metal bending
Venue: arXiv cs.CV 2026
Year: 2026

Predicting the manufacturability of CAD designs early, in terms of both feasibility and required effort, is a key goal of Design for Manufacturing (DFM). Despite advances in deep learning for CAD and its widespread use in manufacturing process selection, learning-based approaches for predicting manufacturability within a specific process remain limited. Two key challenges limit progress: inconsistency across prior work in how manufacturability is defined and consequently in the associated learning targets, and a scarcity of suitable datasets. Existing labels vary significantly: they may reflect intrinsic design constraints or depend on specific manufacturing capabilities (such as available tools), and they range from discrete feasibility checks to continuous complexity measures. Furthermore, industrial datasets typically contain only manufacturable parts, offering little signal for infeasible cases, while existing synthetic datasets focus on simple geometries and subtractive processes. To address these gaps, we propose a taxonomy of manufacturability metrics along the axes of configuration dependence and measurement type, allowing clearer scoping of generalizability and learning objectives. Next, we introduce BenDFM, the first synthetic dataset for manufacturability assessment in sheet metal bending. BenDFM contains 20,000 parts, both manufacturable and unmanufacturable, generated with process-aware bending simulations, providing both folded and unfolded geometries and multiple manufacturability labels across the taxonomy, enabling systematic study of previously unexplored learning-based DFM challenges. We benchmark two state-of-the-art 3D learning architectures on BenDFM, showing that graph-based representations that capture relationships between part surfaces achieve better accuracy, and that predicting metrics that depend on specific manufacturing setups remains more challenging.
ZO-SAM: Zero-Order Sharpness-Aware Minimization for Efficient Sparse Training
Venue: arXiv cs.LG 2026
Year: 2026

Deep learning models, despite their impressive achievements, suffer from high computational costs and memory requirements, limiting their usability in resource-constrained environments. Sparse neural networks significantly alleviate these constraints by dramatically reducing parameter count and computational overhead. However, existing sparse training methods often experience chaotic and noisy gradient signals, severely hindering convergence and generalization performance, particularly at high sparsity levels. To tackle this critical challenge, we propose Zero-Order Sharpness-Aware Minimization (ZO-SAM), a novel optimization framework that strategically integrates zero-order optimization within the SAM approach. Unlike traditional SAM, ZO-SAM requires only a single backpropagation step during perturbation, selectively utilizing zero-order gradient estimations. This innovative approach reduces the backpropagation computational cost by half compared to conventional SAM, significantly lowering gradient variance and effectively eliminating associated computational overhead. By harnessing SAM's capacity for identifying flat minima, ZO-SAM stabilizes the training process and accelerates convergence. These efficiency gains are particularly important in sparse training scenarios, where computational cost is the primary bottleneck that limits the practicality of SAM. Moreover, models trained with ZO-SAM exhibit improved robustness under distribution shift, further broadening its practicality in real-world deployments.
Memory Printer: Exploring Everyday Reminiscing by Combining Slow Design with Generative AI-based Image Creation
Venue: arXiv cs.HC 2026
Year: 2026

Generative Artificial Intelligence (GAI) offers new opportunities for reconstructing these unrecorded memory scenes, yet existing web-based tools undermine users' sense of agency through disengaging and unpredictable interactions. In this work, we advance three design arguments about how slow, tangible interaction can reshape human-AI relationships by making temporality, embodied agency, and generative processes experientially legible. We instantiate these arguments by presenting Memory Printer, a tangible design that combines silk-screen printing metaphors with text-to-image generation. The design features layered reconstruction that decomposes image generation into incremental steps, a physical wooden scraper enabling embodied control over image revelation, and built-in printing that produces tangible photos. We examine these arguments through a comparative study with 24 participants, exploring how participants engage with, interpret, and respond to this interaction stance. The study surfaces both opportunities -- such as vivid memory evocation, heightened sense of control, and creative exploration -- and critical tensions, including risks of false memory formation, algorithmic bias, and data privacy. Together, these findings articulate important boundaries for deploying generative AI in emotionally sensitive contexts.
Semantic Invariance in Agentic AI
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) increasingly serve as autonomous reasoning agents in decision support, scientific problem-solving, and multi-agent coordination systems. However, deploying LLM agents in consequential applications requires assurance that their reasoning remains stable under semantically equivalent input variations, a property we term semantic invariance.Standard benchmark evaluations, which assess accuracy on fixed, canonical problem formulations, fail to capture this critical reliability dimension. To address this shortcoming, in this paper we present a metamorphic testing framework for systematically assessing the robustness of LLM reasoning agents, applying eight semantic-preserving transformations (identity, paraphrase, fact reordering, expansion, contraction, academic context, business context, and contrastive formulation) across seven foundation models spanning four distinct architectural families: Hermes (70B, 405B), Qwen3 (30B-A3B, 235B-A22B), DeepSeek-R1, and gpt-oss (20B, 120B). Our evaluation encompasses 19 multi-step reasoning problems across eight scientific domains. The results reveal that model scale does not predict robustness: the smaller Qwen3-30B-A3B achieves the highest stability (79.6% invariant responses, semantic similarity 0.91), while larger models exhibit greater fragility.
Towards Spatio-Temporal World Scene Graph Generation from Monocular Videos
Venue: arXiv cs.CV 2026
Year: 2026

Spatio-temporal scene graphs provide a principled representation for modeling evolving object interactions, yet existing methods remain fundamentally frame-centric: they reason only about currently visible objects, discard entities upon occlusion, and operate in 2D. To address this, we first introduce ActionGenome4D, a dataset that upgrades Action Genome videos into 4D scenes via feed-forward 3D reconstruction, world-frame oriented bounding boxes for every object involved in actions, and dense relationship annotations including for objects that are temporarily unobserved due to occlusion or camera motion. Building on this data, we formalize World Scene Graph Generation (WSGG), the task of constructing a world scene graph at each timestamp that encompasses all interacting objects in the scene, both observed and unobserved. We then propose three complementary methods, each exploring a different inductive bias for reasoning about unobserved objects: PWG (Persistent World Graph), which implements object permanence via a zero-order feature buffer; MWAE (Masked World Auto-Encoder), which reframes unobserved-object reasoning as masked completion with cross-view associative retrieval; and 4DST (4D Scene Transformer), which replaces the static buffer with differentiable per-object temporal attention enriched by 3D motion and camera-pose features. We further design and evaluate the performance of strong open-source Vision-Language Models on the WSGG task via a suite of Graph RAG-based approaches, establishing baselines for unlocalized relationship prediction. WSGG thus advances video scene understanding toward world-centric, temporally persistent, and interpretable scene reasoning.
MoEKD: Mixture-of-Experts Knowledge Distillation for Robust and High-Performing Compressed Code Models
Venue: arXiv cs.SE 2026
Year: 2026

Large language models for code have achieved strong performance across diverse software analytics tasks, yet their real-world adoption remains limited by high computational demands, slow inference speeds, significant energy consumption, and environmental impact. Knowledge distillation (KD) offers a practical solution by transferring knowledge from a large model to a smaller and more efficient model. Despite its effectiveness, recent studies show that models distilled from a single source often exhibit degraded adversarial robustness, even when robustness-aware distillation techniques are employed. These observations suggest a fundamental limitation of single-source distillation in simultaneously transferring high-quality and robust knowledge. To overcome this limitation, we propose Mixture of Experts Knowledge Distillation (MoEKD), a KD framework that leverages a Mixture of Experts (MoE) architecture to enable more effective and robust knowledge transfer from multiple specialized experts into a compact model. MoEKD decomposes the distillation process into expert and router training, aggregation of expert knowledge through a learned routing mechanism, and distillation from the aggregated knowledge. We evaluate MoEKD on the vulnerability detection task using CodeBERT and GraphCodeBERT models. Experimental results show that MoEKD not only improves adversarial robustness by up to 35.8%, but also enhances predictive performance by up to 13%, compared to state-of-the-art KD baselines, including Compressor and AVATAR. Furthermore, an ablation study demonstrates that aggregating expert knowledge enables ultra-compact models to maintain competitive performance even when their size is reduced by approximately half. Overall, these results highlight the effectiveness of multi-expert knowledge aggregation in addressing key limitations of existing single-source KD approaches.