OpenRaiser/Intern-Atlas huggingface dataset:
How DDAIR you? Disambiguated Data Augmentation for Intent Recognition
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) are effective for data augmentation in classification tasks like intent detection. In some cases, they inadvertently produce examples that are ambiguous with regard to untargeted classes. We present DDAIR (Disambiguated Data Augmentation for Intent Recognition) to mitigate this problem. We use Sentence Transformers to detect ambiguous class-guided augmented examples generated by LLMs for intent recognition in low-resource scenarios. We identify synthetic examples that are semantically more similar to another intent than to their target one. We also provide an iterative re-generation method to mitigate such ambiguities. Our findings show that sentence embeddings effectively help to (re)generate less ambiguous examples, and suggest promising potential to improve classification performance in scenarios where intents are loosely or broadly defined.
VLAgents: A Policy Server for Efficient VLA Inference
Venue: arXiv cs.RO 2026
Year: 2026

The rapid emergence of Vision-Language-Action models (VLAs) has a significant impact on robotics. However, their deployment remains complex due to the fragmented interfaces and the inherent communication latency in distributed setups. To address this, we introduce VLAgents, a modular policy server that abstracts VLA inferencing behind a unified Gymnasium-style protocol. Crucially, its communication layer transparently adapts to the context by supporting both zero-copy shared memory for high-speed simulation and compressed streaming for remote hardware. In this work, we present the architecture of VLAgents and validate it by integrating seven policies -- including OpenVLA and Pi Zero. In a benchmark with both local and remote communication, we further demonstrate how it outperforms the default policy servers provided by OpenVLA, OpenPi, and LeRobot. VLAgents is available at https://github.com/RobotControlStack/vlagents
One LLM to Train Them All: Multi-Task Learning Framework for Fact-Checking
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) are reshaping automated fact-checking (AFC) by enabling unified, end-to-end verification pipelines rather than isolated components. While large proprietary models achieve strong performance, their closed weights, complexity, and high costs limit sustainability. Fine-tuning smaller open weight models for individual AFC tasks can help but requires multiple specialized models resulting in high costs. We propose \textbf{multi-task learning (MTL)} as a more efficient alternative that fine-tunes a single model to perform claim detection, evidence ranking, and stance detection jointly. Using small decoder-only LLMs (e.g., Qwen3-4b), we explore three MTL strategies: classification heads, causal language modeling heads, and instruction-tuning, and evaluate them across model sizes, task orders, and standard non-LLM baselines. While multitask models do not universally surpass single-task baselines, they yield substantial improvements, achieving up to \textbf{44\%}, \textbf{54\%}, and \textbf{31\%} relative gains for claim detection, evidence re-ranking, and stance detection, respectively, over zero-/few-shot settings. Finally, we also provide practical, empirically grounded guidelines to help practitioners apply MTL with LLMs for automated fact-checking.
Unlocking the Potentials of Retrieval-Augmented Generation for Diffusion Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion Language Models (DLMs) have recently demonstrated remarkable capabilities in natural language processing tasks. However, the potential of Retrieval-Augmented Generation (RAG), which shows great successes for enhancing large language models (LLMs), has not been well explored, due to the fundamental difference between LLM and DLM decoding. To fill this critical gap, we systematically test the performance of DLMs within the RAG framework. Our findings reveal that DLMs coupled with RAG show promising potentials with stronger dependency on contextual information, but suffer from limited generation precision. We identify a key underlying issue: Response Semantic Drift (RSD), where the generated answer progressively deviates from the query's original semantics, leading to low precision content. We trace this problem to the denoising strategies in DLMs, which fail to maintain semantic alignment with the query throughout the iterative denoising process. To address this, we propose Semantic-Preserving REtrieval-Augmented Diffusion (SPREAD), a novel framework that introduces a query-relevance-guided denoising strategy. By actively guiding the denoising trajectory, SPREAD ensures the generation remains anchored to the query's semantics and effectively suppresses drift. Experimental results demonstrate that SPREAD significantly enhances the precision and effectively mitigates RSD of generated answers within the RAG framework.
How Much Would a Clinician Edit This Draft? Evaluating LLM Alignment for Patient Message Response Drafting
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) show promise in drafting responses to patient portal messages, yet their integration into clinical workflows raises various concerns, including whether they would actually save clinicians time and effort in their portal workload. We investigate LLM alignment with individual clinicians through a comprehensive evaluation of the patient message response drafting task. We develop a novel taxonomy of thematic elements in clinician responses and propose a novel evaluation framework for assessing clinician editing load of LLM-drafted responses at both content and theme levels. We release an expert-annotated dataset and conduct large-scale evaluations of local and commercial LLMs using various adaptation techniques including thematic prompting, retrieval-augmented generation, supervised fine-tuning, and direct preference optimization. Our results reveal substantial epistemic uncertainty in aligning LLM drafts with clinician responses. While LLMs demonstrate capability in drafting certain thematic elements, they struggle with clinician-aligned generation in other themes, particularly question asking to elicit further information from patients. Theme-driven adaptation strategies yield improvements across most themes. Our findings underscore the necessity of adapting LLMs to individual clinician preferences to enable reliable and responsible use in patient-clinician communication workflows.
RITA: A Tool for Automated Requirements Classification and Specification from Online User Feedback
Venue: arXiv cs.SE 2026
Year: 2026

Context and motivation. Online user feedback is a valuable resource for requirements engineering, but its volume and noise make analysis difficult. Existing tools support individual feedback analysis tasks, but their capabilities are rarely integrated into end-to-end support. Problem. The lack of end-to-end integration limits the practical adoption of existing RE tools and makes it difficult to assess their real-world usefulness. Solution. To address this challenge, we present RITA, a tool that integrates lightweight open-source large language models into a unified workflow for feedback-driven RE. RITA supports automated request classification, non-functional requirement identification, and natural-language requirements specification generation from online feedback via a user-friendly interface, and integrates with Jira for seamless transfer of requirements specifications to development tools. Results and conclusions. RITA exploits previously evaluated LLM-based RE techniques to efficiently transform raw user feedback into requirements artefacts, helping bridge the gap between research and practice. A demonstration is available at: https://youtu.be/8meCLpwQWV8.
Reward Modeling for Scientific Writing Evaluation
Venue: arXiv cs.CL 2026
Year: 2026

Scientific writing is an expert-domain task that demands deep domain knowledge, task-specific requirements and reasoning capabilities that leverage the domain knowledge to satisfy the task specifications. While scientific text generation has been widely studied, its evaluation remains a challenging and open problem. It is critical to develop models that can be reliably deployed for evaluating diverse open-ended scientific writing tasks while adhering to their distinct requirements. However, existing LLM-based judges and reward models are primarily optimized for general-purpose benchmarks with fixed scoring rubrics and evaluation criteria. Consequently, they often fail to reason over sparse knowledge of scientific domains when interpreting task-dependent and multi-faceted criteria. Moreover, fine-tuning for each individual task is costly and impractical for low-resource settings. To bridge these gaps, we propose cost-efficient, open-source reward models tailored for scientific writing evaluation. We introduce a two-stage training framework that initially optimizes scientific evaluation preferences and then refines reasoning capabilities. Our multi-aspect evaluation design and joint training across diverse tasks enable fine-grained assessment and robustness to dynamic criteria and scoring rubrics. Experimental analysis shows that our training regime strongly improves LLM-based scientific writing evaluation. Our models generalize effectively across tasks and to previously unseen scientific writing evaluation settings, allowing a single trained evaluator to be reused without task-specific retraining.
X-raying the arXiv: A Large-Scale Analysis of arXiv Submissions' Source Files
Venue: arXiv cs.NI 2026
Year: 2026

arXiv is the largest open-access repository for scientific literature. When submitting a paper, authors upload the manuscript's source files, from which the final PDF is compiled. These source files are also publicly downloadable, potentially exposing data unrelated to the published paper -- such as figures, documents, or comments -- that may unintentionally reveal confidential information or simply waste storage space. We thus ask ourselves: "What can be found within the source files of arXiv submissions?" We present a longitudinal analysis of ~600,000 submissions appeared on arXiv between 2015--2025. For each submission, we examine the uploaded source files to quantify and characterize data not required for producing the respective PDF. On average, 27% of the data in each submission are unnecessary, totaling >580 GB of redundant content across our dataset. Qualitative inspection reveals the presence of offensive/inappropriate text (e.g., "WTF does this mean?") and experimental details that could disclose ongoing research. We have contacted arXiv's leadership team, as well as the authors of affected papers to alert them of these issues. Finally, we propose recommendations and an automated tool to detect and analyze arXiv submissions residual data at scale, aiming to improve data hygiene in the arXiv's ecosystem.
The Mini Wheelbot Dataset: High-Fidelity Data for Robot Learning
Venue: arXiv cs.RO 2026
Year: 2026

The development of robust learning-based control algorithms for unstable systems requires high-quality, real-world data, yet access to specialized robotic hardware remains a significant barrier for many researchers. This paper introduces a comprehensive dynamics dataset for the Mini Wheelbot, an open-source, quasi-symmetric balancing reaction wheel unicycle. The dataset provides 1 kHz synchronized data encompassing all onboard sensor readings, state estimates, ground-truth poses from a motion capture system, and third-person video logs. To ensure data diversity, we include experiments across multiple hardware instances and surfaces using various control paradigms, including pseudo-random binary excitation, nonlinear model predictive control, and reinforcement learning agents. We include several example applications in dynamics model learning, state estimation, and time-series classification to illustrate common robotics algorithms that can be benchmarked on our dataset.
Factored Value Functions for Graph-Based Multi-Agent Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Credit assignment is a core challenge in multi-agent reinforcement learning (MARL), especially in large-scale systems with structured, local interactions. Graph-based Markov decision processes (GMDPs) capture such settings via an influence graph, but standard critics are poorly aligned with this structure: global value functions provide weak per-agent learning signals, while existing local constructions can be difficult to estimate and ill-behaved in infinite-horizon settings. We introduce the Diffusion Value Function (DVF), a factored value function for GMDPs that assigns to each agent a value component by diffusing rewards over the influence graph with temporal discounting and spatial attenuation. We show that DVF is well-defined, admits a Bellman fixed point, and decomposes the global discounted value via an averaging property. DVF can be used as a drop-in critic in standard RL algorithms and estimated scalably with graph neural networks. Building on DVF, we propose Diffusion A2C (DA2C) and a sparse message-passing actor, Learned DropEdge GNN (LD-GNN), for learning decentralised algorithms under communication costs. Across the firefighting benchmark and three distributed computation tasks (vector graph colouring and two transmit power optimisation problems), DA2C consistently outperforms local and global critic baselines, improving average reward by up to 11%.
Sociotechnical Challenges of Machine Learning in Healthcare and Social Welfare
Venue: arXiv cs.HC 2026
Year: 2026

Sociotechnical challenges of machine learning in healthcare and social welfare are mismatches between how a machine learning tool functions and the structure of care practices. While prior research has documented many such issues, existing accounts often attribute them either to designers' limited social understanding or to inherent technical constraints, offering limited support for systematic description and comparison across settings. In this paper, we present a framework for conceptualizing sociotechnical challenges of machine learning grounded in qualitative fieldwork, a review of longitudinal deployment studies, and co-design workshops with healthcare and social welfare practitioners. The framework comprises (1) a categorization of eleven sociotechnical challenges organized along an ML-enabled care pathway, and (2) a process-oriented account of the conditions through which these challenges emerge across design and use. By providing a parsimonious vocabulary and an explanatory lens focused on practice, this work supports more precise analysis of how machine learning tools function and malfunction within real-world care delivery.
The Great March 100: 100 Detail-oriented Tasks for Evaluating Embodied AI Agents
Venue: arXiv cs.RO 2026
Year: 2026

Recently, with the rapid development of robot learning and imitation learning, numerous datasets and methods have emerged. However, these datasets and their task designs often lack systematic consideration and principles. This raises important questions: Do the current datasets and task designs truly advance the capabilities of robotic agents? Do evaluations on a few common tasks accurately reflect the differentiated performance of various methods proposed by different teams and evaluated on different tasks? To address these issues, we introduce the Great March 100 (\textbf{GM-100}) as the first step towards a robot learning Olympics. GM-100 consists of 100 carefully designed tasks that cover a wide range of interactions and long-tail behaviors, aiming to provide a diverse and challenging set of tasks to comprehensively evaluate the capabilities of robotic agents and promote diversity and complexity in robot dataset task designs. These tasks are developed through systematic analysis and expansion of existing task designs, combined with insights from human-object interaction primitives and object affordances. We collect a large amount of trajectory data on different robotic platforms and evaluate several baseline models. Experimental results demonstrate that the GM-100 tasks are 1) feasible to execute and 2) sufficiently challenging to effectively differentiate the performance of current VLA models. Our data and code are available at https://rhos.ai/research/gm-100.
GenDA: Generative Data Assimilation on Complex Urban Areas via Classifier-Free Diffusion Guidance
Venue: arXiv cs.LG 2026
Year: 2026

Urban wind flow reconstruction is essential for assessing air quality, heat dispersion, and pedestrian comfort, yet remains challenging when only sparse sensor data are available. We propose GenDA, a generative data assimilation framework that reconstructs high-resolution wind fields on unstructured meshes from limited observations. The model employs a multiscale graph-based diffusion architecture trained on computational fluid dynamics (CFD) simulations and interprets classifier-free guidance as a learned posterior reconstruction mechanism: the unconditional branch learns a geometry-aware flow prior, while the sensor-conditioned branch injects observational constraints during sampling. This formulation enables obstacle-aware reconstruction and generalization across unseen geometries, wind directions, and mesh resolutions without retraining. We consider both sparse fixed sensors and trajectory-based observations using the same reconstruction procedure. When evaluated against supervised graph neural network (GNN) baselines and classical reduced-order data assimilation methods, GenDA reduces the relative root-mean-square error (RRMSE) by 25-57% and increases the structural similarity index (SSIM) by 23-33% across the tested meshes. Experiments are conducted on Reynolds-averaged Navier-Stokes (RANS) simulations of a real urban neighbourhood in Bristol, United Kingdom, at a characteristic Reynolds number of $\mathrm{Re}\approx2\times10^{7}$, featuring complex building geometry and irregular terrain. The proposed framework provides a scalable path toward generative, geometry-aware data assimilation for environmental monitoring in complex domains.
When Are Two Scores Better Than One? Investigating Ensembles of Diffusion Models
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion models now generate high-quality, diverse samples, with an increasing focus on more powerful models. Although ensembling is a well-known way to improve supervised models, its application to unconditional score-based diffusion models remains largely unexplored. In this work we investigate whether it provides tangible benefits for generative modelling. We find that while ensembling the scores generally improves the score-matching loss and model likelihood, it fails to consistently enhance perceptual quality metrics such as FID on image datasets. We confirm this observation across a breadth of aggregation rules using Deep Ensembles, Monte Carlo Dropout, on CIFAR-10 and FFHQ. We attempt to explain this discrepancy by investigating possible explanations, such as the link between score estimation and image quality. We also look into tabular data through random forests, and find that one aggregation strategy outperforms the others. Finally, we provide theoretical insights into the summing of score models, which shed light not only on ensembling but also on several model composition techniques (e.g. guidance).
Interactive Narrative Analytics: Bridging Computational Narrative Extraction and Human Sensemaking
Venue: arXiv cs.HC 2026
Year: 2026

Information overload and misinformation create significant challenges in extracting meaningful narratives from large news collections. This paper defines the nascent field of Interactive Narrative Analytics (INA), which combines computational narrative extraction with interactive visual analytics to support sensemaking. INA approaches enable the interactive exploration of narrative structures through computational methods and visual interfaces that facilitate human interpretation. The field faces challenges in scalability, interactivity, knowledge integration, and evaluation standardization, yet offers promising opportunities across news analysis, intelligence, scientific literature exploration, and social media analysis. Through the combination of computational and human insight, INA addresses complex challenges in narrative sensemaking.
QUPID: A Partitioned Quantum Neural Network for Anomaly Detection in Smart Grid
Venue: arXiv cs.LG 2026
Year: 2026

Smart grid infrastructures have revolutionized energy distribution, but their day-to-day operations require robust anomaly detection methods to counter risks associated with cyber-physical threats and system faults potentially caused by natural disasters, equipment malfunctions, and cyber attacks. Conventional machine learning (ML) models are effective in several domains, yet they struggle to represent the complexities observed in smart grid systems. Furthermore, traditional ML models are highly susceptible to adversarial manipulations, making them increasingly unreliable for real-world deployment. Quantum ML (QML) provides a unique advantage, utilizing quantum-enhanced feature representations to model the intricacies of the high-dimensional nature of smart grid systems while demonstrating greater resilience to adversarial manipulation. In this work, we propose QUPID, a partitioned quantum neural network (PQNN) that outperforms traditional state-of-the-art ML models in anomaly detection. We extend our model to R-QUPID that even maintains its performance when including differential privacy (DP) for enhanced robustness. Moreover, our partitioning framework addresses a significant scalability problem in QML by efficiently distributing computational workloads, making quantum-enhanced anomaly detection practical in large-scale smart grid environments. Our experimental results across various scenarios exemplifies the efficacy of QUPID and R-QUPID to significantly improve anomaly detection capabilities and robustness compared to traditional ML approaches.
Do explanations generalize across large reasoning models?
Venue: arXiv cs.CL 2026
Year: 2026

Large reasoning models (LRMs) produce a textual chain of thought (CoT) in the process of solving a problem, which serves as a potentially powerful tool to understand the problem by surfacing a human-readable, natural-language explanation. However, it is unclear whether these explanations generalize, i.e. whether they capture general patterns about the underlying problem rather than patterns which are esoteric to the LRM. This is a crucial question in understanding or discovering new concepts, e.g. in AI for science. We study this generalization question by evaluating a specific notion of generalizability: whether explanations produced by one LRM induce the same behavior when given to other LRMs. We find that CoT explanations often exhibit this form of generalization (i.e. they increase consistency between LRMs) and that this increased generalization is correlated with human preference rankings and post-training with reinforcement learning. We further analyze the conditions under which explanations yield consistent answers and propose a straightforward, sentence-level ensembling strategy that improves consistency. Taken together, these results prescribe caution when using LRM explanations to yield new insights and outline a framework for characterizing LRM explanation generalization.