OpenRaiser/Intern-Atlas huggingface dataset:
Learning Event-Based Shooter Models from Virtual Reality Experiments
Venue: arXiv cs.AI 2026
Year: 2026

Virtual reality (VR) has emerged as a powerful tool for evaluating school security measures in high-risk scenarios such as school shootings, offering experimental control and high behavioral fidelity. However, assessing new interventions in VR requires recruiting new participant cohorts for each condition, making large-scale or iterative evaluation difficult. These limitations are especially restrictive when attempting to learn effective intervention strategies, which typically require many training episodes. To address this challenge, we develop a data-driven discrete-event simulator (DES) that models shooter movement and in-region actions as stochastic processes learned from participant behavior in VR studies. We use the simulator to examine the impact of a robot-based shooter intervention strategy. Once shown to reproduce key empirical patterns, the DES enables scalable evaluation and learning of intervention strategies that are infeasible to train directly with human subjects. Overall, this work demonstrates a high-to-mid fidelity simulation workflow that provides a scalable surrogate for developing and evaluating autonomous school-security interventions.
V-Retrver: Evidence-Driven Agentic Reasoning for Universal Multimodal Retrieval
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal Large Language Models (MLLMs) have recently been applied to universal multimodal retrieval, where Chain-of-Thought (CoT) reasoning improves candidate reranking. However, existing approaches remain largely language-driven, relying on static visual encodings and lacking the ability to actively verify fine-grained visual evidence, which often leads to speculative reasoning in visually ambiguous cases. We propose V-Retrver, an evidence-driven retrieval framework that reformulates multimodal retrieval as an agentic reasoning process grounded in visual inspection. V-Retrver enables an MLLM to selectively acquire visual evidence during reasoning via external visual tools, performing a multimodal interleaved reasoning process that alternates between hypothesis generation and targeted visual verification.To train such an evidence-gathering retrieval agent, we adopt a curriculum-based learning strategy combining supervised reasoning activation, rejection-based refinement, and reinforcement learning with an evidence-aligned objective. Experiments across multiple multimodal retrieval benchmarks demonstrate consistent improvements in retrieval accuracy (with 23.0% improvements on average), perception-driven reasoning reliability, and generalization.
InterPrior: Scaling Generative Control for Physics-Based Human-Object Interactions
Venue: arXiv cs.CV 2026
Year: 2026

Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated balance, contact, and manipulation can emerge naturally from underlying physical and motor priors. Scaling such priors is key to enabling humanoids to compose and generalize loco-manipulation skills across diverse contexts while maintaining physically coherent whole-body coordination. To this end, we introduce InterPrior, a scalable framework that learns a unified generative controller through large-scale imitation pretraining and post-training by reinforcement learning. InterPrior first distills a full-reference imitation expert into a versatile, goal-conditioned variational policy that reconstructs motion from multimodal observations and high-level intent. While the distilled policy reconstructs training behaviors, it does not generalize reliably due to the vast configuration space of large-scale human-object interactions. To address this, we apply data augmentation with physical perturbations, and then perform reinforcement learning finetuning to improve competence on unseen goals and initializations. Together, these steps consolidate the reconstructed latent skills into a valid manifold, yielding a motion prior that generalizes beyond the training data, e.g., it can incorporate new behaviors such as interactions with unseen objects. We further demonstrate its effectiveness for user-interactive control and its potential for real robot deployment.
Pseudo-Invertible Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

The Moore-Penrose Pseudo-inverse (PInv) serves as the fundamental solution for linear systems. In this paper, we propose a natural generalization of PInv to the nonlinear regime in general and to neural networks in particular. We introduce Surjective Pseudo-invertible Neural Networks (SPNN), a class of architectures explicitly designed to admit a tractable non-linear PInv. The proposed non-linear PInv and its implementation in SPNN satisfy fundamental geometric properties. One such property is null-space projection or "Back-Projection", $x' = x + A^\dagger(y-Ax)$, which moves a sample $x$ to its closest consistent state $x'$ satisfying $Ax=y$. We formalize Non-Linear Back-Projection (NLBP), a method that guarantees the same consistency constraint for non-linear mappings $f(x)=y$ via our defined PInv. We leverage SPNNs to expand the scope of zero-shot inverse problems. Diffusion-based null-space projection has revolutionized zero-shot solving for linear inverse problems by exploiting closed-form back-projection. We extend this method to non-linear degradations. Here, "degradation" is broadly generalized to include any non-linear loss of information, spanning from optical distortions to semantic abstractions like classification. This approach enables zero-shot inversion of complex degradations and allows precise semantic control over generative outputs without retraining the diffusion prior.
Shared LoRA Subspaces for almost Strict Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Adapting large pretrained models to new tasks efficiently and continually is crucial for real-world deployment but remains challenging due to catastrophic forgetting and the high cost of retraining. While parameter-efficient tuning methods like low rank adaptation (LoRA) reduce computational demands, they lack mechanisms for strict continual learning and knowledge integration, without relying on data replay, or multiple adapters. We propose Share, a novel approach to parameter efficient continual finetuning that learns and dynamically updates a single, shared low-rank subspace, enabling seamless adaptation across multiple tasks and modalities. Share constructs a foundational subspace that extracts core knowledge from past tasks and incrementally integrates new information by identifying essential subspace directions. Knowledge from each new task is incorporated into this evolving subspace, facilitating forward knowledge transfer, while minimizing catastrophic interference. This approach achieves up to 100x parameter reduction and 281x memory savings over traditional LoRA methods, maintaining performance comparable to jointly trained models. A single Share model can replace hundreds of task-specific LoRA adapters, supporting scalable, asynchronous continual learning. Experiments across image classification, natural language understanding, 3D pose estimation, and text-to-image generation validate its effectiveness, making Share a practical and scalable solution for lifelong learning in large-scale AI systems.
Rethinking Memory Mechanisms of Foundation Agents in the Second Half: A Survey
Venue: arXiv cs.CL 2026
Year: 2026

The research of artificial intelligence is undergoing a paradigm shift from prioritizing model innovations over benchmark scores towards emphasizing problem definition and rigorous real-world evaluation. As the field enters the "second half," the central challenge becomes real utility in long-horizon, dynamic, and user-dependent environments, where agents face context explosion and must continuously accumulate, manage, and selectively reuse large volumes of information across extended interactions. Memory, with hundreds of papers released this year, therefore emerges as the critical solution to fill the utility gap. In this survey, we provide a unified view of foundation agent memory along three dimensions: memory substrate (internal and external), cognitive mechanism (episodic, semantic, sensory, working, and procedural), and memory subject (agent- and user-centric). We then analyze how memory is instantiated and operated under different agent topologies and highlight learning policies over memory operations. Finally, we review evaluation benchmarks and metrics for assessing memory utility, and outline various open challenges and future directions.
UAV-Mounted Aerial Relays in Military Communications: A Comprehensive Survey
Venue: arXiv cs.IT 2026
Year: 2026

Relays are pivotal in military communication networks, expanding coverage and ensuring reliable connectivity in challenging operational environments. While traditional terrestrial relays (TR) are constrained by fixed locations and vulnerability to physical obstructions, unmanned aerial vehicle (UAV)-mounted aerial relays (AR) offer a dynamic and flexible alternative by operating above obstacles and adapting to changing battlefield conditions. This paper provides a comprehensive survey of AR systems in military communications, presenting a detailed comparison between AR and TR paradigms and examining two specific AR technologies: active aerial relays (AAR) and aerial reconfigurable intelligent surface (ARIS) relays. The survey delves into their operation, benefits, challenges, and military applications, supported by a qualitative analysis across metrics such as coverage, flexibility, security, and cost. A novel multi-dimensional metric, the mission-critical relay effectiveness score (MCRES), is introduced as a quantitative method for evaluating relay suitability based on mission-specific weights for critical attributes like mobility, jamming resilience, deployment speed, stealth, coverage, and autonomy. Furthermore, we present Algorithm 1, a decision-making framework that leverages the MCRES to guide the systematic selection of the optimal relay type, AR or TR, and subsequently AAR or ARIS, tailored to the unique demands of a given military scenario, such as dynamic battlefield operations, electronic warfare, or covert missions. Finally, the paper addresses current implementation challenges and outlines promising future research directions to advance the deployment of robust and resilient UAV-mounted relay systems in contested military environments.
Allocate Marginal Reviews to Borderline Papers Using LLM Comparative Ranking
Venue: arXiv cs.DL 2026
Year: 2026

This paper argues that large ML conferences should allocate marginal review capacity primarily to papers near the acceptance boundary, rather than spreading extra reviews via random or affinity-driven heuristics. We propose using LLM-based comparative ranking (via pairwise comparisons and a Bradley--Terry model) to identify a borderline band \emph{before} human reviewing and to allocate \emph{marginal} reviewer capacity at assignment time. Concretely, given a venue-specific minimum review target (e.g., 3 or 4), we use this signal to decide which papers receive one additional review (e.g., a 4th or 5th), without conditioning on any human reviews and without using LLM outputs for accept/reject. We provide a simple expected-impact calculation in terms of (i) the overlap between the predicted and true borderline sets ($ρ$) and (ii) the incremental value of an extra review near the boundary ($Δ$), and we provide retrospective proxies to estimate these quantities.
Canzona: A Unified, Asynchronous, and Load-Balanced Framework for Distributed Matrix-based Optimizers
Venue: arXiv cs.DC 2026
Year: 2026

The scaling of Large Language Models (LLMs) drives interest in matrix-based optimizers (e.g., Shampoo, Muon, SOAP) for their convergence efficiency; yet their requirement for holistic updates conflicts with the tensor fragmentation in distributed frameworks like Megatron. Existing solutions are suboptimal: synchronous approaches suffer from computational redundancy, while layer-wise partitioning fails to reconcile this conflict without violating the geometric constraints of efficient communication primitives. To bridge this gap, we propose Canzona, a Unified, Asynchronous, and Load-Balanced framework that decouples logical optimizer assignment from physical parameter distribution. For Data Parallelism, we introduce an alpha-Balanced Static Partitioning strategy that respects atomicity while neutralizing the load imbalance. For Tensor Parallelism, we design an Asynchronous Compute pipeline utilizing Micro-Group Scheduling to batch fragmented updates and hide reconstruction overhead. Extensive evaluations on the Qwen3 model family (up to 32B parameters) on 256 GPUs demonstrate that our approach preserves the efficiency of established parallel architectures, achieving a 1.57x speedup in end-to-end iteration time and reducing optimizer step latency by 5.8x compared to the baseline.
Dynamic Modeling, Parameter Identification and Numerical Analysis of Flexible Cables in Flexibly Connected Dual-AUV Systems
Venue: arXiv cs.RO 2026
Year: 2026

This research presents a dynamic modeling framework and parameter identification methods for describing the highly nonlinear behaviors of flexibly connected dual-AUV systems. The modeling framework is established based on the lumped mass method, integrating axial elasticity, bending stiffness, added mass and hydrodynamic forces, thereby accurately capturing the time-varying response of the forces and cable configurations. To address the difficulty of directly measuring material-related and hydrodynamic coefficients, this research proposes a parameter identification method that combines the physical model with experimental data. High-precision inversion of the equivalent Youngs modulus and hydrodynamic coefficients is performed through tension experiments under multiple configurations, effectively demonstrating that the identified model maintains predictive consistency in various operational conditions. Further numerical analysis indicates that the dynamic properties of flexible cable exhibit significant nonlinear characteristics, which are highly dependent on material property variations and AUV motion conditions. This nonlinear dynamic behavior results in two typical response states, slack and taut, which are jointly determined by boundary conditions and hydrodynamic effects, significantly affecting the cable configuration and endpoint loads. In this research, the dynamics of flexible cables under complex boundary conditions is revealed, providing a theoretical foundation for the design, optimization and further control research of similar systems.
Jackpot: Optimal Budgeted Rejection Sampling for Extreme Actor-Policy Mismatch Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Reinforcement learning (RL) for large language models (LLMs) remains expensive, particularly because the rollout is expensive. Decoupling rollout generation from policy optimization (e.g., leveraging a more efficient model to rollout) could enable substantial efficiency gains, yet doing so introduces a severe distribution mismatch that destabilizes learning. We propose Jackpot, a framework that leverages Optimal Budget Rejection Sampling (OBRS) to directly reduce the discrepancy between the rollout model and the evolving policy. Jackpot integrates a principled OBRS procedure, a unified training objective that jointly updates the policy and rollout models, and an efficient system implementation enabled by top-$k$ probability estimation and batch-level bias correction. Our theoretical analysis shows that OBRS consistently moves the rollout distribution closer to the target distribution under a controllable acceptance budget. Empirically, \sys substantially improves training stability compared to importance-sampling baselines, achieving performance comparable to on-policy RL when training Qwen3-8B-Base for up to 300 update steps of batchsize 64. Taken together, our results show that OBRS-based alignment brings us a step closer to practical and effective decoupling of rollout generation from policy optimization for RL for LLMs.
Tempora: Characterising the Time-Contingent Utility of Online Test-Time Adaptation
Venue: arXiv cs.LG 2026
Year: 2026

Test-time adaptation (TTA) offers a compelling remedy for machine learning (ML) models that degrade under domain shifts, improving generalisation on-the-fly with only unlabelled samples. This flexibility suits real deployments, yet conventional evaluations unrealistically assume unbounded processing time, overlooking the accuracy-latency trade-off. As ML increasingly underpins latency-sensitive and user-facing use-cases, temporal pressure constrains the viability of adaptable inference; predictions arriving too late to act on are futile. We introduce Tempora, a framework for evaluating TTA under this pressure. It consists of temporal scenarios that model deployment constraints, evaluation protocols that operationalise measurement, and time-contingent utility metrics that quantify the accuracy-latency trade-off. We instantiate the framework with three such metrics: (1) discrete utility for asynchronous streams with hard deadlines, (2) continuous utility for interactive settings where value decays with latency, and (3) amortised utility for budget-constrained deployments. Applying Tempora to seven TTA methods on ImageNet-C across 240 temporal evaluations reveals rank instability: conventional rankings do not predict rankings under temporal pressure; ETA, a state-of-the-art method in the conventional setting, falls short in 41.2% of evaluations. The highest-utility method varies with corruption type and temporal pressure, with no clear winner. By enabling systematic evaluation across diverse temporal constraints for the first time, Tempora reveals when and why rankings invert, offering practitioners a lens for method selection and researchers a target for deployable adaptation.
EgoAVU: Egocentric Audio-Visual Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Understanding egocentric videos plays a vital role for embodied intelligence. Recent multi-modal large language models (MLLMs) can accept both visual and audio inputs. However, due to the challenge of obtaining text labels with coherent joint-modality information, whether MLLMs can jointly understand both modalities in egocentric videos remains under-explored. To address this problem, we introduce EgoAVU, a scalable data engine to automatically generate egocentric audio-visual narrations, questions, and answers. EgoAVU enriches human narrations with multimodal context and generates audio-visual narrations through cross-modal correlation modeling. Token-based video filtering and modular, graph-based curation ensure both data diversity and quality. Leveraging EgoAVU, we construct EgoAVU-Instruct, a large-scale training dataset of 3M samples, and EgoAVU-Bench, a manually verified evaluation split covering diverse tasks. EgoAVU-Bench clearly reveals the limitations of existing MLLMs: they bias heavily toward visual signals, often neglecting audio cues or failing to correspond audio with the visual source. Finetuning MLLMs on EgoAVU-Instruct effectively addresses this issue, enabling up to 113% performance improvement on EgoAVU-Bench. Such benefits also transfer to other benchmarks such as EgoTempo and EgoIllusion, achieving up to 28% relative performance gain. Code will be released to the community.
MetaSSP: Enhancing Semi-supervised Implicit 3D Reconstruction through Meta-adaptive EMA and SDF-aware Pseudo-label Evaluation
Venue: arXiv cs.CV 2026
Year: 2026

Implicit SDF-based methods for single-view 3D reconstruction achieve high-quality surfaces but require large labeled datasets, limiting their scalability. We propose MetaSSP, a novel semi-supervised framework that exploits abundant unlabeled images. Our approach introduces gradient-based parameter importance estimation to regularize adaptive EMA updates and an SDF-aware pseudo-label weighting mechanism combining augmentation consistency with SDF variance. Beginning with a 10% supervised warm-up, the unified pipeline jointly refines labeled and unlabeled data. On the Pix3D benchmark, our method reduces Chamfer Distance by approximately 20.61% and increases IoU by around 24.09% compared to existing semi-supervised baselines, setting a new state of the art.
M3: High-fidelity Text-to-Image Generation via Multi-Modal, Multi-Agent and Multi-Round Visual Reasoning
Venue: arXiv cs.CV 2026
Year: 2026

Generative models have achieved impressive fidelity in text-to-image synthesis, yet struggle with complex compositional prompts involving multiple constraints. We introduce \textbf{M3 (Multi-Modal, Multi-Agent, Multi-Round)}, a training-free framework that systematically resolves these failures through iterative inference-time refinement. M3 orchestrates off-the-shelf foundation models in a robust multi-agent loop: a Planner decomposes prompts into verifiable checklists, while specialized Checker, Refiner, and Editor agents surgically correct constraints one at a time, with a Verifier ensuring monotonic improvement. Applied to open-source models, M3 achieves remarkable results on the challenging OneIG-EN benchmark, with our Qwen-Image+M3 surpassing commercial flagship systems including Imagen4 (0.515) and Seedream 3.0 (0.530), reaching state-of-the-art performance (0.532 overall). This demonstrates that intelligent multi-agent reasoning can elevate open-source models beyond proprietary alternatives. M3 also substantially improves GenEval compositional metrics, effectively doubling spatial reasoning performance on hardened test sets. As a plug-and-play module compatible with any pre-trained T2I model, M3 establishes a new paradigm for compositional generation without costly retraining.
Unsupervised Anomaly Detection of Diseases in the Female Pelvis for Real-Time MR Imaging
Venue: arXiv cs.CV 2026
Year: 2026

Pelvic diseases in women of reproductive age represent a major global health burden, with diagnosis frequently delayed due to high anatomical variability, complicating MRI interpretation. Existing AI approaches are largely disease-specific and lack real-time compatibility, limiting generalizability and clinical integration. To address these challenges, we establish a benchmark framework for disease- and parameter-agnostic, real-time-compatible unsupervised anomaly detection in pelvic MRI. The method uses a residual variational autoencoder trained exclusively on healthy sagittal T2-weighted scans acquired across diverse imaging protocols to model normal pelvic anatomy. During inference, reconstruction error heatmaps indicate deviations from learned healthy structure, enabling detection of pathological regions without labeled abnormal data. The model is trained on 294 healthy scans and augmented with diffusion-generated synthetic data to improve robustness. Quantitative evaluation on the publicly available Uterine Myoma MRI Dataset yields an average area-under-the-curve (AUC) value of 0.736, with 0.828 sensitivity and 0.692 specificity. Additional inter-observer clinical evaluation extends analysis to endometrial cancer, endometriosis, and adenomyosis, revealing the influence of anatomical heterogeneity and inter-observer variability on performance interpretation. With a reconstruction time of approximately 92.6 frames per second, the proposed framework establishes a baseline for unsupervised anomaly detection in the female pelvis and supports future integration into real-time MRI. Code is available upon request (https://github.com/AniKnu/UADPelvis), prospective data sets are available for academic collaboration.