OpenRaiser/Intern-Atlas huggingface dataset:
Grasp to Act: Dexterous Grasping for Tool Use in Dynamic Settings
Venue: arXiv cs.RO 2026
Year: 2026

Achieving robust grasping with dexterous hands remains challenging, especially when manipulation involves dynamic forces such as impacts, torques, and continuous resistance--situations common in real-world tool use. Existing methods largely optimize grasps for static geometric stability and often fail once external forces arise during manipulation. We present Grasp-to-Act, a hybrid system that combines physics-based grasp optimization with reinforcement-learning-based grasp adaptation to maintain stable grasps throughout functional manipulation tasks. Our method synthesizes robust grasp configurations informed by human demonstrations and employs an adaptive controller that residually issues joint corrections to prevent in-hand slip while tracking the object trajectory. Grasp-to-Act enables robust zero-shot sim-to-real transfer across five dynamic tool-use tasks--hammering, sawing, cutting, stirring, and scooping--consistently outperforming baselines. Across simulation and real-world hardware trials with a 16-DoF dexterous hand, our method reduces translational and rotational in-hand slip and achieves the highest task completion rates, demonstrating stable functional grasps under dynamic, contact-rich conditions.
CGSTA: Cross-Scale Graph Contrast with Stability-Aware Alignment for Multivariate Time-Series Anomaly Detection
Venue: arXiv cs.LG 2026
Year: 2026

Multivariate time-series anomaly detection is essential for reliable industrial control, telemetry, and service monitoring. However, the evolving inter-variable dependencies and inevitable noise render it challenging. Existing methods often use single-scale graphs or instance-level contrast. Moreover, learned dynamic graphs can overfit noise without a stable anchor, causing false alarms or misses. To address these challenges, we propose the CGSTA framework with two key innovations. First, Dynamic Layered Graph Construction (DLGC) forms local, regional, and global views of variable relations for each sliding window; rather than contrasting whole windows, Contrastive Discrimination across Scales (CDS) contrasts graph representations within each view and aligns the same window across views to make learning structure-aware. Second, Stability-Aware Alignment (SAA) maintains a per-scale stable reference learned from normal data and guides the current window's fast-changing graphs toward it to suppress noise. We fuse the multi-scale and temporal features and use a conditional density estimator to produce per-time-step anomaly scores. Across four benchmarks, CGSTA delivers optimal performance on PSM and WADI, and is comparable to the baseline methods on SWaT and SMAP.
Wireless Federated Multi-Task LLM Fine-Tuning via Sparse-and-Orthogonal LoRA
Venue: arXiv cs.LG 2026
Year: 2026

Decentralized federated learning (DFL) based on low-rank adaptation (LoRA) enables mobile devices with multi-task datasets to collaboratively fine-tune a large language model (LLM) by exchanging locally updated parameters with a subset of neighboring devices via wireless connections for knowledge integration.However, directly aggregating parameters fine-tuned on heterogeneous datasets induces three primary issues across the DFL life-cycle: (i) \textit{catastrophic knowledge forgetting during fine-tuning process}, arising from conflicting update directions caused by data heterogeneity; (ii) \textit{inefficient communication and convergence during model aggregation process}, due to bandwidth-intensive redundant model transmissions; and (iii) \textit{multi-task knowledge interference during inference process}, resulting from incompatible knowledge representations coexistence during inference. To address these issues in a fully decentralized scenario, we first propose a sparse-and-orthogonal LoRA that ensures orthogonality between model updates to eliminate direction conflicts during fine-tuning.Then, we analyze how device connection topology affects multi-task performance, prompting a cluster-based topology design during aggregation.Finally, we propose an implicit mixture of experts (MoE) mechanism to avoid the coexistence of incompatible knowledge during inference. Simulation results demonstrate that the proposed approach effectively reduces communication resource consumption by up to $73\%$ and enhances average performance by $5\%$ compared with the traditional LoRA method.
CAD-Prompted SAM3: Geometry-Conditioned Instance Segmentation for Industrial Objects
Venue: arXiv cs.CV 2026
Year: 2026

Verbal-prompted segmentation is inherently limited by the expressiveness of natural language and struggles with uncommon, instance-specific, or difficult-to-describe objects: scenarios frequently encountered in manufacturing and 3D printing environments. While image exemplars provide an alternative, they primarily encode appearance cues such as color and texture, which are often unrelated to a part's geometric identity. In industrial settings, a single component may be produced in different materials, finishes, or colors, making appearance-based prompting unreliable. In contrast, such objects are typically defined by precise CAD models that capture their canonical geometry. We propose a CAD-prompted segmentation framework built on SAM3 that uses canonical multi-view renderings of a CAD model as prompt input. The rendered views provide geometry-based conditioning independent of surface appearance. The model is trained using synthetic data generated from mesh renderings in simulation under diverse viewpoints and scene contexts. Our approach enables single-stage, CAD-prompted mask prediction, extending promptable segmentation to objects that cannot be robustly described by language or appearance alone.
A Granularity Characterization of Task Scheduling Effectiveness
Venue: arXiv cs.DC 2026
Year: 2026

Task-based runtime systems provide flexible load balancing and portability for parallel scientific applications, but their strong scaling is highly sensitive to task granularity. As parallelism increases, scheduling overhead may transition from negligible to dominant, leading to rapid drops in performance for some algorithms, while remaining negligible for others. Although such effects are widely observed empirically, there is a general lack of understanding how algorithmic structure impacts whether dynamic scheduling is always beneficial. In this work, we introduce a granularity characterization framework that directly links scheduling overhead growth to task-graph dependency topology. We show that dependency structure, rather than problem size alone, governs how overhead scales with parallelism. Based on this observation, we characterize execution behavior using a simple granularity measure that indicates when scheduling overhead can be amortized by parallel computation and when scheduling overhead dominates performance. Through experimental evaluation on representative parallel workloads with diverse dependency patterns, we demonstrate that the proposed characterization explains both gradual and abrupt strong-scaling breakdowns observed in practice. We further show that overhead models derived from dependency topology accurately predict strong-scaling limits and enable a practical runtime decision rule for selecting dynamic or static execution without requiring exhaustive strong-scaling studies or extensive offline tuning.
Long-Term Multi-Session 3D Reconstruction Under Substantial Appearance Change
Venue: arXiv cs.CV 2026
Year: 2026

Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous image capture and limited appearance change, and therefore fail when applied to long-term monitoring scenarios such as coral reef surveys, where substantial visual and structural change is common. In this paper, we show that the primary limitation of current approaches lies in their reliance on post-hoc alignment of independently reconstructed sessions, which is insufficient under large temporal appearance change. We address this limitation by enforcing cross-session correspondences directly within a joint SfM reconstruction. Our approach combines complementary handcrafted and learned visual features to robustly establish correspondences across large temporal gaps, enabling the reconstruction of a single coherent 3D model from imagery captured years apart, where standard independent and joint SfM pipelines break down. We evaluate our method on long-term coral reef datasets exhibiting significant real-world change, and demonstrate consistent joint reconstruction across sessions in cases where existing methods fail to produce coherent reconstructions. To ensure scalability to large datasets, we further restrict expensive learned feature matching to a small set of likely cross-session image pairs identified via visual place recognition, which reduces computational cost and improves alignment robustness.
QEDBENCH: Quantifying the Alignment Gap in Automated Evaluation of University-Level Mathematical Proofs
Venue: arXiv cs.LG 2026
Year: 2026

As Large Language Models (LLMs) saturate elementary benchmarks, the research frontier has shifted from generation to the reliability of automated evaluation. We demonstrate that standard "LLM-as-a-Judge" protocols suffer from a systematic Alignment Gap when applied to upper-undergraduate to early graduate level mathematics. To quantify this, we introduce QEDBench, the first large-scale dual-rubric alignment benchmark to systematically measure alignment with human experts on university-level math proofs by contrasting course-specific rubrics against expert common knowledge criteria. By deploying a dual-evaluation matrix (7 judges x 5 solvers) against 1,000+ hours of human evaluation, we reveal that certain frontier evaluators like Claude Opus 4.5, DeepSeek-V3, Qwen 2.5 Max, and Llama 4 Maverick exhibit significant positive bias (up to +0.18, +0.20, +0.30, +0.36 mean score inflation, respectively). Furthermore, we uncover a critical reasoning gap in the discrete domain: while Gemini 3.0 Pro achieves state-of-the-art performance (0.91 average human evaluation score), other reasoning models like GPT-5 Pro and Claude Sonnet 4.5 see their performance significantly degrade in discrete domains. Specifically, their average human evaluation scores drop to 0.72 and 0.63 in Discrete Math, and to 0.74 and 0.50 in Graph Theory. In addition to these research results, we also release QEDBench as a public benchmark for evaluating and improving AI judges. Our benchmark is publicly published at https://github.com/qqliu/Yale-QEDBench.
Insertion Correcting Capability for Quantum Deletion-Correcting Codes
Venue: arXiv cs.IT 2026
Year: 2026

This paper proves that any quantum t-deletion-correcting codes also correct a total of t insertion and deletion errors under a certain condition. Here, this condition is that a set of quantum states is defined as a quantum error-correcting code if the error spheres of its states are disjoint, as classical coding theory. In addition, this paper proposes the quantum indel distance and describes insertion and deletion errors correcting capability of quantum codes by this distance.
Robot Local Planner: A Periodic Sampling-Based Motion Planner with Minimal Waypoints for Home Environments
Venue: arXiv cs.RO 2026
Year: 2026

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan and execute actions accordingly. We propose a periodic sampling-based whole-body trajectory planning method, called the "Robot Local Planner (RLP)." This method leverages unique features of home environments to enhance computational efficiency, motion optimality, and robustness against recognition and control errors, all while ensuring safety. The RLP minimizes computation time by planning with minimal waypoints and generating safe trajectories. Furthermore, overall motion optimality is improved by periodically executing trajectory planning to select more optimal motions. This approach incorporates inverse kinematics that are robust to base position errors, further enhancing robustness. Evaluation experiments demonstrated that the RLP outperformed existing methods in terms of motion planning time, motion duration, and robustness, confirming its effectiveness in home environments. Moreover, application experiments using a tidy-up task achieved high success rates and short operation times, thereby underscoring its practical feasibility.
Vision-Language Models for Ergonomic Assessment of Manual Lifting Tasks: Estimating Horizontal and Vertical Hand Distances from RGB Video
Venue: arXiv cs.CV 2026
Year: 2026

Manual lifting tasks are a major contributor to work-related musculoskeletal disorders, and effective ergonomic risk assessment is essential for quantifying physical exposure and informing ergonomic interventions. The Revised NIOSH Lifting Equation (RNLE) is a widely used ergonomic risk assessment tool for lifting tasks that relies on six task variables, including horizontal (H) and vertical (V) hand distances; such distances are typically obtained through manual measurement or specialized sensing systems and are difficult to use in real-world environments. We evaluated the feasibility of using innovative vision-language models (VLMs) to non-invasively estimate H and V from RGB video streams. Two multi-stage VLM-based pipelines were developed: a text-guided detection-only pipeline and a detection-plus-segmentation pipeline. Both pipelines used text-guided localization of task-relevant regions of interest, visual feature extraction from those regions, and transformer-based temporal regression to estimate H and V at the start and end of a lift. For a range of lifting tasks, estimation performance was evaluated using leave-one-subject-out validation across the two pipelines and seven camera view conditions. Results varied significantly across pipelines and camera view conditions, with the segmentation-based, multi-view pipeline consistently yielding the smallest errors, achieving mean absolute errors of approximately 6-8 cm when estimating H and 5-8 cm when estimating V. Across pipelines and camera view configurations, pixel-level segmentation reduced estimation error by approximately 20-30% for H and 35-40% for V relative to the detection-only pipeline. These findings support the feasibility of VLM-based pipelines for video-based estimation of RNLE distance parameters.
Recursive Belief Vision Language Action Models
Venue: arXiv cs.AI 2026
Year: 2026

Vision-language-action models must enable agents to execute long-horizon tasks under partial observability. However, most existing approaches remain observation-driven, relying on short context windows or repeated queries to vision-language models (VLMs). This leads to loss of task progress, action repetition under perceptual aliasing, and high inference latency. While semantic grounding is important, long-horizon manipulation fundamentally requires persistent, action-conditioned state representations. Current VLAs lack such representations and exhibit limited temporal and physical reasoning, making them ill-suited for multi-stage control. This paper introduces RB-VLA, a belief-centric architecture trained with self-supervised world-model objectives that maintains a compact latent state encoding task-relevant history, dynamics, and object interactions. Queried once per task, the VLM provides high-level intent, while the belief tracks task progress and enables phase-aware, causally grounded control under partial observability without storing raw observations or scaling memory with time. The belief and intent jointly condition a diffusion policy for robust closed-loop execution. RB-VLA outperforms prior VLAs on long-horizon benchmarks, achieving 52.5 percent and 37.5 percent higher success rates on multi-stage pick-and-place and stacking tasks, respectively, compared to pi_0. It also reduces inference latency by up to five times relative to baselines and eliminates memory growth across timesteps observed in existing VLAs. Ablations show the belief module is the primary driver of performance, increasing success rates from 32.5 percent without belief to 77.5 percent with belief.
CAMEL: Confidence-Gated Reflection for Reward Modeling
Venue: arXiv cs.CL 2026
Year: 2026

Reward models play a fundamental role in aligning large language models with human preferences. Existing methods predominantly follow two paradigms: scalar discriminative preference models, which are efficient but lack interpretability, and generative judging models, which offer richer reasoning at the cost of higher computational overhead. We observe that the log-probability margin between verdict tokens strongly correlates with prediction correctness, providing a reliable proxy for instance difficulty without additional inference cost. Building on this insight, we propose CAMEL, a confidence-gated reflection framework that performs a lightweight single-token preference decision first and selectively invokes reflection only for low-confidence instances. To induce effective self-correction, we train the model via reinforcement learning with counterfactual prefix augmentation, which exposes the model to diverse initial verdicts and encourages genuine revision. Empirically, CAMEL achieves state-of-the-art performance on three widely used reward-model benchmarks with 82.9% average accuracy, surpassing the best prior model by 3.2% and outperforming 70B-parameter models using only 14B parameters, while establishing a strictly better accuracy-efficiency Pareto frontier.
PRECTR-V2:Unified Relevance-CTR Framework with Cross-User Preference Mining, Exposure Bias Correction, and LLM-Distilled Encoder Optimization
Venue: arXiv cs.IR 2026
Year: 2026

In search systems, effectively coordinating the two core objectives of search relevance matching and click-through rate (CTR) prediction is crucial for discovering users' interests and enhancing platform revenue. In our prior work PRECTR, we proposed a unified framework to integrate these two subtasks,thereby eliminating their inconsistency and leading to mutual benefit.However, our previous work still faces three main challenges. First, low-active users and new users have limited search behavioral data, making it difficult to achieve effective personalized relevance preference modeling. Second, training data for ranking models predominantly come from high-relevance exposures, creating a distribution mismatch with the broader candidate space in coarse-ranking, leading to generalization bias. Third, due to the latency constraint, the original model employs an Emb+MLP architecture with a frozen BERT encoder, which prevents joint optimization and creates misalignment between representation learning and CTR fine-tuning. To solve these issues, we further reinforce our method and propose PRECTR-V2. Specifically, we mitigate the low-activity users' sparse behavior problem by mining global relevance preferences under the specific query, which facilitates effective personalized relevance modeling for cold-start scenarios. Subsequently, we construct hard negative samples through embedding noise injection and relevance label reconstruction, and optimize their relative ranking against positive samples via pairwise loss, thereby correcting exposure bias. Finally, we pretrain a lightweight transformer-based encoder via knowledge distillation from LLM and SFT on the text relevance classification task. This encoder replaces the frozen BERT module, enabling better adaptation to CTR fine-tuning and advancing beyond the traditional Emb+MLP paradigm.
Agile V: A Compliance-Ready Framework for AI-Augmented Engineering -- From Concept to Audit-Ready Delivery
Venue: arXiv cs.SE 2026
Year: 2026

Current AI-assisted engineering workflows lack a built-in mechanism to maintain task-level verification and regulatory traceability at machine-speed delivery. Agile V addresses this gap by embedding independent verification and audit artifact generation into each task cycle. The framework merges Agile iteration with V-Model verification into a continuous Infinity Loop, deploying specialized AI agents for requirements, design, build, test, and compliance, governed by mandatory human approval gates. We evaluate three hypotheses: (H1) audit-ready artifacts emerge as a by-product of development, (H2) 100% requirement-level verification is achievable with independent test generation, and (H3) verified increments can be delivered with single-digit human interactions per cycle. A feasibility case study on a Hardware-in-the-Loop system (about 500 LOC, 8 requirements, 54 tests) supports all three hypotheses: audit-ready documentation was generated automatically (H1), 100% requirement-level pass rate was achieved (H2), and only 6 prompts per cycle were required (H3), yielding an estimated 10-50x cost reduction versus a COCOMO II baseline (sensitivity range from pessimistic to optimistic assumptions). We invite independent replication to validate generalizability.
MatchED: Crisp Edge Detection Using End-to-End, Matching-based Supervision
Venue: arXiv cs.CV 2026
Year: 2026

Generating crisp, i.e., one-pixel-wide, edge maps remains one of the fundamental challenges in edge detection, affecting both traditional and learning-based methods. To obtain crisp edges, most existing approaches rely on two hand-crafted post-processing algorithms, Non-Maximum Suppression (NMS) and skeleton-based thinning, which are non-differentiable and hinder end-to-end optimization. Moreover, all existing crisp edge detection methods still depend on such post-processing to achieve satisfactory results. To address this limitation, we propose \MethodLPP, a lightweight, only $\sim$21K additional parameters, and plug-and-play matching-based supervision module that can be appended to any edge detection model for joint end-to-end learning of crisp edges. At each training iteration, \MethodLPP performs one-to-one matching between predicted and ground-truth edges based on spatial distance and confidence, ensuring consistency between training and testing protocols. Extensive experiments on four popular datasets demonstrate that integrating \MethodLPP substantially improves the performance of existing edge detection models. In particular, \MethodLPP increases the Average Crispness (AC) metric by up to 2--4$\times$ compared to baseline models. Under the crispness-emphasized evaluation (CEval), \MethodLPP further boosts baseline performance by up to 20--35\% in ODS and achieves similar gains in OIS and AP, achieving SOTA performance that matches or surpasses standard post-processing for the first time. Code is available at https://cvpr26-matched.github.io.
The Careless Coupon Collector's Problem
Venue: arXiv cs.DM 2026
Year: 2026

We initiate the study of the Careless Coupon Collector's Problem (CCCP), a novel variation of the classical coupon collector, that we envision as a model for information systems such as web crawlers, dynamic caches, and fault-resilient networks. In CCCP, a collector attempts to gather $n$ distinct coupon types by obtaining one coupon type uniformly at random in each discrete round, however the collector is \textit{careless}: at the end of each round, each collected coupon type is independently lost with probability $p$. We analyze the number of rounds required to complete the collection as a function of $n$ and $p$. In particular, we show that it transitions from $Θ(n \ln n)$ when $p = o\big(\frac{\ln n}{n^2}\big)$ up to $Θ\big((\frac{np}{1-p})^n\big)$ when $p=ω\big(\frac{1}{n}\big)$ in multiple distinct phases. Interestingly, when $p=\frac{c}{n}$, the process remains in a metastable phase, where the fraction of collected coupon types is concentrated around $\frac{1}{1+c}$ with probability $1-o(1)$, for a time window of length $e^{Θ(n)}$. Finally, we give an algorithm that computes the expected completion time of CCCP in $O(n^2)$ time.