OpenRaiser/Intern-Atlas huggingface dataset:
BADiff: Bandwidth Adaptive Diffusion Model
Venue: arXiv cs.CV 2026
Year: 2026

In this work, we propose a novel framework to enable diffusion models to adapt their generation quality based on real-time network bandwidth constraints. Traditional diffusion models produce high-fidelity images by performing a fixed number of denoising steps, regardless of downstream transmission limitations. However, in practical cloud-to-device scenarios, limited bandwidth often necessitates heavy compression, leading to loss of fine textures and wasted computation. To address this, we introduce a joint end-to-end training strategy where the diffusion model is conditioned on a target quality level derived from the available bandwidth. During training, the model learns to adaptively modulate the denoising process, enabling early-stop sampling that maintains perceptual quality appropriate to the target transmission condition. Our method requires minimal architectural changes and leverages a lightweight quality embedding to guide the denoising trajectory. Experimental results demonstrate that our approach significantly improves the visual fidelity of bandwidth-adapted generations compared to naive early-stopping, offering a promising solution for efficient image delivery in bandwidth-constrained environments. Code is available at: https://github.com/xzhang9308/BADiff.
AURASeg: Attention-guided Upsampling with Residual-Assistive Boundary Refinement for Onboard Robot Drivable-Area Segmentation
Venue: arXiv cs.RO 2026
Year: 2026

Free space ground segmentation is essential to navigate autonomous robots, recognize drivable zones, and traverse efficiently. Fine-grained features remain challenging for existing segmentation models, particularly for robots in indoor, outdoor and road-scene environments. These difficulties arise from ineffective multi-scale processing, sub-optimal boundary refinement, and limited feature representation. To address this, we propose Attention-guided Upsampling with Residual-Assistive Boundary Refinement (AURASeg), a ground-plane drivable area segmentation framework designed to improve boundary precision while preserving strong region accuracy under edge-deployment constraints. Built on ResNet backbone, we propose (i) a Residual Boundary Refinement Module (RBRM) that enhances edge delineation through boundary-assistive feature refinement, and (ii) Attention Progressive Upsampling Decoder (APUD) blocks that fuse multi-level features using residual fusion of attention modules; additionally, we integrate (iii) a lightweight ASPPLite module to capture multi-scale context with minimal overhead. Extensive experiments on CARL-D, the Ground Mobile Robot Perception (GMRPD) dataset, and a custom Gazebo indoor dataset show that AURASeg consistently outperforms strong baselines, with notable gains in boundary metrics. Finally, we demonstrate on-device deployment on a Jetson Nano powered Kobuki TurtleBot, validating practical edge-inference feasibility. Code is omitted for anonymity and will be released upon acceptance.
Accelerating Data Generation for Nonlinear temporal PDEs via homologous perturbation in solution space
Venue: arXiv cs.LG 2026
Year: 2026

Data-driven deep learning methods like neural operators have advanced in solving nonlinear temporal partial differential equations (PDEs). However, these methods require large quantities of solution pairs\u2014the solution functions and right-hand sides (RHS) of the equations. These pairs are typically generated via traditional numerical methods, which need thousands of time steps iterations far more than the dozens required for training, creating heavy computational and temporal overheads. To address these challenges, we propose a novel data generation algorithm, called HOmologous Perturbation in Solution Space (HOPSS), which directly generates training datasets with fewer time steps rather than following the traditional approach of generating large time steps datasets. This algorithm simultaneously accelerates dataset generation and preserves the approximate precision required for model training. Specifically, we first obtain a set of base solution functions from a reliable solver, usually with thousands of time steps, and then align them in time steps with training datasets by downsampling. Subsequently, we propose a "homologous perturbation" approach: by combining two solution functions (one as the primary function, the other as a homologous perturbation term scaled by a small scalar) with random noise, we efficiently generate comparable-precision PDE data points. Finally, using these data points, we compute the variation in the original equation's RHS to form new solution pairs. Theoretical and experimental results show HOPSS lowers time complexity. For example, on the Navier-Stokes equation, it generates 10,000 samples in approximately 10% of traditional methods' time, with comparable model training performance.
DeepAgent: A General Reasoning Agent with Scalable Toolsets
Venue: arXiv cs.AI 2026
Year: 2026

Large reasoning models have demonstrated strong problem-solving abilities, yet real-world tasks often require external tools and long-horizon interactions. Existing agent frameworks typically follow predefined workflows, which limit autonomous and global task completion. In this paper, we introduce DeepAgent, an end-to-end deep reasoning agent that performs autonomous thinking, tool discovery, and action execution within a single, coherent reasoning process. To manage long-horizon interactions, we introduce an autonomous memory folding mechanism that compresses past interactions into structured episodic, working, and tool memories, reducing error accumulation while preserving critical information. To teach general-purpose tool use efficiently and stably, we develop an end-to-end reinforcement learning strategy, namely ToolPO, that leverages LLM-simulated APIs and applies tool-call advantage attribution to assign fine-grained credit to the tool invocation tokens. Extensive experiments on eight benchmarks, including general tool-use tasks (ToolBench, API-Bank, TMDB, Spotify, ToolHop) and downstream applications (ALFWorld, WebShop, GAIA, HLE), demonstrate that DeepAgent consistently outperforms baselines across both labeled-tool and open-set tool retrieval scenarios. The code and demo are available at https://github.com/RUC-NLPIR/DeepAgent.
Quantifying Multimodal Imbalance: A GMM-Guided Adaptive Loss for Audio-Visual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal learning integrates diverse modalities but suffers from modality imbalance, where dominant modalities suppress weaker ones due to inconsistent convergence rates. Existing methods predominantly rely on static modulation or heuristics, overlooking sample-level distributional variations in prediction bias. Specifically, they fail to distinguish outlier samples where the modality gap is exacerbated by low data quality. We propose a framework to quantitatively diagnose and dynamically mitigate this imbalance at the sample level. We introduce the Modality Gap metric to quantify prediction discrepancies. Analysis reveals that this gap follows a bimodal distribution, indicating the coexistence of balanced and imbalanced sample subgroups. We employ a Gaussian Mixture Model (GMM) to explicitly model this distribution, leveraging Bayesian posterior probabilities for soft subgroup separation. Our two-stage framework comprises a Warm-up stage and an Adaptive Training stage. In the latter, a GMM-guided Adaptive Loss dynamically reallocates optimization priorities: it imposes stronger alignment penalties on imbalanced samples to rectify bias, while prioritizing fusion for balanced samples to maximize complementary information. Experiments on CREMA-D, AVE, and KineticSound demonstrate that our method significantly outperforms SOTA baselines. Furthermore, we show that fine-tuning on a GMM-filtered balanced subset serves as an effective data purification strategy, yielding substantial gains by eliminating extreme noisy samples even without the adaptive loss.
OpenEM: Large-scale multi-structural 3D datasets for electromagnetic methods
Venue: arXiv cs.LG 2026
Year: 2026

Electromagnetic methods have become one of the most widely used techniques in geological exploration. With the remarkable success of deep learning, applying such techniques to EM methods has emerged as a promising research direction to overcome the limitations of conventional approaches. The effectiveness of deep learning methods depends heavily on the quality of datasets, which directly influences model performance and generalization ability. Existing application studies often construct datasets from random one-dimensional or structurally simple three-dimensional models, which fail to represent the real geological environments. Furthermore, the absence of standardized, publicly 3D geoelectric datasets continues to hinder progress in deep learning based EM exploration. To address these limitations, we present OpenEM, a large-scale, multi-structural three-dimensional geoelectric dataset that encompasses a broad range of geologically plausible subsurface structures. OpenEM consists of nine categories of geoelectric models, spanning from simple configurations with anomalous bodies in half-space to more complex structures such as flat layers, folded layers, flat faults, curved faults, and their corresponding variants with anomalous bodies. Since three-dimensional forward modeling in electromagnetics is extremely time-consuming, we further developed a deep learning based fast forward modeling approach for OpenEM, enabling efficient and reliable forward modeling across the entire dataset. This capability allows OpenEM to be rapidly deployed for a wide range of tasks. OpenEM provides a unified, comprehensive, and large-scale dataset for common EM exploration systems to accelerate the application of deep learning in electromagnetic methods.The complete dataset is publicly available at https://doi.org/10.5281/zenodo.17141981.
ATLAS: Adaptive Transfer Scaling Laws for Multilingual Pretraining, Finetuning, and Decoding the Curse of Multilinguality
Venue: arXiv cs.CL 2026
Year: 2026

Scaling laws research has focused overwhelmingly on English -- yet the most prominent AI models explicitly serve billions of international users. In this work, we undertake the largest multilingual scaling laws study to date, totaling 774 multilingual training experiments, spanning 10M-8B model parameters, 400+ training languages and 48 evaluation languages. We introduce the Adaptive Transfer Scaling Law (ATLAS) for both monolingual and multilingual pretraining, which outperforms existing scaling laws' out-of-sample generalization often by more than 0.3 R^2. Our analyses of the experiments shed light on multilingual learning dynamics, transfer properties between languages, and the curse of multilinguality. First, we derive a cross-lingual transfer matrix, empirically measuring mutual benefit scores between 38 x 38=1444 language pairs. Second, we derive a language-agnostic scaling law that reveals how to optimally scale model size and data when adding languages without sacrificing performance. Third, we identify the computational crossover points for when to pretrain from scratch versus finetune from multilingual checkpoints. We hope these findings provide the scientific foundation for democratizing scaling laws across languages, and enable practitioners to efficiently scale models -- beyond English-first AI.
Human-Inspired Neuro-Symbolic World Modeling and Logic Reasoning for Interpretable Safe UAV Landing Site Assessment
Venue: arXiv cs.RO 2026
Year: 2026

Reliable assessment of safe landing sites in unstructured environments is essential for deploying Unmanned Aerial Vehicles (UAVs) in real-world applications such as delivery, inspection, and surveillance. Existing learning-based approaches often degrade under covariate shift and offer limited transparency, making their decisions difficult to interpret and validate on resource-constrained platforms. We present NeuroSymLand, a neuro-symbolic framework for marker-free UAV landing site safety assessment that explicitly separates perception-driven world modeling from logic-based safety reasoning. A lightweight segmentation model incrementally constructs a probabilistic semantic scene graph encoding objects, attributes, and spatial relations. Symbolic safety rules, synthesized offline via large language models with human-in-the-loop refinement, are executed directly over this world model at runtime to perform white-box reasoning, producing ranked landing candidates with human-readable explanations of the underlying safety constraints. Across 72 simulated and hardware-in-the-loop landing scenarios, NeuroSymLand achieves 61 successful assessments, outperforming four competitive baselines, which achieve between 37 and 57 successes. Qualitative analysis highlights its superior interpretability and transparent reasoning, while deployment incurs negligible edge overhead. Our results suggest that combining explicit world modeling with symbolic reasoning can support accurate, interpretable, and edge-deployable safety assessment in mobile systems, as demonstrated through UAV landing site assessment.
GSAlign: Geometric and Semantic Alignment Network for Aerial-Ground Person Re-Identification
Venue: arXiv cs.CV 2026
Year: 2026

Aerial-Ground person re-identification (AG-ReID) is an emerging yet challenging task that aims to match pedestrian images captured from drastically different viewpoints, typically from unmanned aerial vehicles (UAVs) and ground-based surveillance cameras. The task poses significant challenges due to extreme viewpoint discrepancies, occlusions, and domain gaps between aerial and ground imagery. While prior works have made progress by learning cross-view representations, they remain limited in handling severe pose variations and spatial misalignment. To address these issues, we propose a Geometric and Semantic Alignment Network (GSAlign) tailored for AG-ReID. GSAlign introduces two key components to jointly tackle geometric distortion and semantic misalignment in aerial-ground matching: a Learnable Thin Plate Spline (LTPS) Module and a Dynamic Alignment Module (DAM). The LTPS module adaptively warps pedestrian features based on a set of learned keypoints, effectively compensating for geometric variations caused by extreme viewpoint changes. In parallel, the DAM estimates visibility-aware representation masks that highlight visible body regions at the semantic level, thereby alleviating the negative impact of occlusions and partial observations in cross-view correspondence. A comprehensive evaluation on CARGO with four matching protocols demonstrates the effectiveness of GSAlign, achieving significant improvements of +18.8\% in mAP and +16.8\% in Rank-1 accuracy over previous state-of-the-art methods on the aerial-ground setting.
Uncertainty quantification in model discovery by distilling interpretable material constitutive models from Gaussian process posteriors
Venue: arXiv cs.LG 2026
Year: 2026

Constitutive model discovery refers to the task of identifying an appropriate model structure, usually from a predefined model library, while simultaneously inferring its material parameters. The data used for model discovery are measured in mechanical tests and are thus inevitably affected by noise which, in turn, induces uncertainties. Previously proposed methods for uncertainty quantification in model discovery either require the selection of a prior for the material parameters, are restricted to linear coefficients of the model library or are limited in the flexibility of the inferred parameter probability distribution. We therefore propose a partially Bayesian framework for uncertainty quantification in model discovery that does not require prior selection for the material parameters and also allows for the discovery of constitutive models with inner-non-linear parameters: First, we augment the available stress-deformation data with a Gaussian process. Second, we approximate the parameter distribution by a normalizing flow, which allows for modeling complex joint distributions. Third, we distill the parameter distribution by matching the distribution of stress-deformation functions induced by the parameters with the Gaussian process posterior. Fourth, we perform a Sobol' sensitivity analysis to obtain a sparse and interpretable model. We demonstrate the capability of our framework for both isotropic and experimental anisotropic data.
On the complexity of the free space of a translating box in R^3
Venue: arXiv cs.CG 2026
Year: 2026

Consider a convex polyhedral robot $B$ that can translate (without rotating) amidst a finite set of non-moving polyhedral obstacles in $\mathbb R^3$. The "free space" $\mathcal F$ of $B$ is the set of all positions in which $B$ is disjoint from the interior of every obstacle. Aronov and Sharir (1997) derived an upper bound of $O(n^2\log n)$ for the combinatorial complexity of $\mathcal F$, where $n$ is the total number of vertices of the obstacles, and the complexity of $B$ is assumed constant. Halperin and Yap (1993) showed that, if $B$ is either a box or a "flat" convex polygon, then a tighter bound of $O(n^2α(n))$ holds. Here $α(n)$ is the inverse Ackermann function. In this paper we prove that if $B$ is a box, then the complexity of $\mathcal F$ is $O(n^2)$. Furthermore, if $B$ is a convex polygon whose edges come in parallel pairs, then the complexity of $\mathcal F$ is $O(n^2)$ as well. These results settle the question of the asymptotical worst-case complexity of $\mathcal F$ for a box, as well as for all convex polygons.
Learning "Partner-Aware" Collaborators in Multi-Party Collaboration
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) are increasingly being deployed in agentic settings where they act as collaborators with humans. Therefore, it is increasingly important to be able to evaluate their abilities to collaborate effectively in multi-turn, multi-party tasks. In this paper, we build on the AI alignment and safe interruptibility literature to offer novel theoretical insights on collaborative behavior between LLM-driven collaborator agents and an intervention agent. Our goal is to learn an ideal partner-aware collaborator that increases the group's common-ground (CG) alignment on task-relevant propositions-by intelligently collecting information provided in interventions by a partner agent. We show how LLM agents trained using standard RLHF and related approaches are naturally inclined to ignore possibly well-meaning interventions, which makes increasing group common ground non-trivial in this setting. We employ a two-player Modified-Action MDP to examine this suboptimal behavior of standard AI agents, and propose Interruptible Collaborative Roleplayer (ICR)-a novel partner-aware learning algorithm to train CG-optimal collaborators. Experiments on multiple collaborative task environments show that ICR, on average, is more capable of promoting successful CG convergence and exploring more diverse solutions in such tasks.
Conjugate Relation Modeling for Few-Shot Knowledge Graph Completion
Venue: arXiv cs.CL 2026
Year: 2026

Few-shot Knowledge Graph Completion (FKGC) infers missing triples from limited support samples, tackling long-tail distribution challenges. Existing methods, however, struggle to capture complex relational patterns and mitigate data sparsity. To address these challenges, we propose a novel FKGC framework for conjugate relation modeling (CR-FKGC). Specifically, it employs a neighborhood aggregation encoder to integrate higher-order neighbor information, a conjugate relation learner combining an implicit conditional diffusion relation module with a stable relation module to capture stable semantics and uncertainty offsets, and a manifold conjugate decoder for efficient evaluation and inference of missing triples in manifold space. Experiments on three benchmarks demonstrate that our method achieves superior performance over state-of-the-art methods.
Step2Motion: Locomotion Reconstruction from Pressure Sensing Insoles
Venue: arXiv cs.GR 2026
Year: 2026

Human motion is fundamentally driven by continuous physical interaction with the environment. Whether walking, running, or simply standing, the forces exchanged between our feet and the ground provide crucial insights for understanding and reconstructing human movement. Recent advances in wearable insole devices offer a compelling solution for capturing these forces in diverse, real-world scenarios. Sensor insoles pose no constraint on the users' motion (unlike mocap suits) and are unaffected by line-of-sight limitations (in contrast to optical systems). These qualities make sensor insoles an ideal choice for robust, unconstrained motion capture, particularly in outdoor environments. Surprisingly, leveraging these devices with recent motion reconstruction methods remains largely unexplored. Aiming to fill this gap, we present Step2Motion, the first approach to reconstruct human locomotion from multi-modal insole sensors. Our method utilizes pressure and inertial data-accelerations and angular rates-captured by the insoles to reconstruct human motion. We evaluate the effectiveness of our approach across a range of experiments to show its versatility for diverse locomotion styles, from simple ones like walking or jogging up to moving sideways, on tiptoes, slightly crouching, or dancing.
SeeDNorm: Self-Rescaled Dynamic Normalization
Venue: arXiv cs.LG 2026
Year: 2026

Normalization layer constitutes an essential component in neural networks. In transformers, the predominantly used RMSNorm constrains vectors to a unit hypersphere, followed by dimension-wise rescaling through a learnable scaling coefficient $γ$ to maintain the representational capacity of the model. However, RMSNorm discards the input norm information in forward pass and a static scaling factor $γ$ may be insufficient to accommodate the wide variability of input data and distributional shifts, thereby limiting further performance improvements, particularly in zero-shot scenarios that large language models routinely encounter. To address this limitation, we propose SeeDNorm, which enhances the representational capability of the model by dynamically adjusting the scaling coefficient based on the current input, thereby preserving the input norm information and enabling data-dependent, self-rescaled dynamic normalization. During backpropagation, SeeDNorm retains the ability of RMSNorm to dynamically adjust gradient according to the input norm. We provide a detailed analysis of the training optimization for SeedNorm and proposed corresponding solutions to address potential instability issues that may arise when applying SeeDNorm. We validate the effectiveness of SeeDNorm across models of varying sizes in large language model pre-training as well as supervised and unsupervised computer vision tasks. By introducing a minimal number of parameters and with neglligible impact on model efficiency, SeeDNorm achieves consistently superior performance compared to previously commonly used normalization layers such as RMSNorm and LayerNorm, as well as element-wise activation alternatives to normalization layers like DyT.