OpenRaiser/Intern-Atlas huggingface dataset:
Space-efficient B-tree Implementation for Memory-Constrained Flash Embedded Devices
Venue: arXiv cs.DB 2026
Year: 2026

Small devices collecting data for agricultural, environmental, and industrial monitoring enable Internet of Things (IoT) applications. Given their critical role in data collection, there is a need for optimizations to improve on-device data processing. Edge device computing allows processing of the data closer to where it is collected and reduces the amount of network transmissions. The B-tree has been optimized for flash storage on servers and solid-state drives, but these optimizations often require hardware and memory resources not available on embedded devices. The contribution of this work is the development and experimental evaluation of multiple variants for B-trees on memory-constrained embedded devices. Experimental results demonstrate that even the smallest devices can perform efficient B-tree indexing, and there is a significant performance advantage for using storage-specific optimizations.
Control Lyapunov Functions for Underactuated Soft Robots
Venue: arXiv cs.RO 2026
Year: 2026

Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD control) often rely on the assumption of full actuation with no actuator limits. This paper presents a general control framework for task-space regulation and tracking of underactuated soft robots under bounded inputs. The method enforces a rapidly exponentially stabilizing control Lyapunov function as a convex inequality constraint while simultaneously satisfying underactuated full-body dynamics and actuator bounds. We validate the approach in simulation on several platforms spanning increasing underactuation: a simple two link tendon-driven "finger", a trimmed helicoid manipulator, and a highly underactuated spiral robot. We compare against a number of baseline methods from the literature. Results show improved task-space accuracy and consistent Lyapunov convergence under input limits, achieving superior set-point and trajectory-tracking performance.
Efficient Selection of Type Annotations for Performance Improvement in Gradual Typing
Venue: arXiv cs.PL 2026
Year: 2026

Gradual typing has gained popularity as a design choice for integrating static and dynamic typing within a single language. Several practical languages have adopted gradual typing to offer programmers the flexibility to annotate their programs as needed. Meanwhile there is a key challenge of unexpected performance degradation in partially typed programs. The execution speed may significantly decrease when simply adding more type annotations. Prior studies have investigated strategies of selectively adding type annotations for better performance. However, they are restricted in substantial compilation time, which impedes the practical usage. This paper presents a new technique to select a subset of type annotations derived by type inference for improving the execution performance of gradually typed programs. The advantage of the proposal is shorter compilation time by employing a lightweight, amortized approach. It selects type annotations along the data flows, which is expected to avoid expensive runtime casts caused by a value repeatedly crossing the boundaries between untyped and typed code. We demonstrate the applicability of our proposal, and conduct experiments to validate its effectiveness of improving the execution time on Reticulated Python. Our implementation supports a Python subset to select type annotations derived by an implemented, external type inference engine. Experiment results show that our proposal outperforms a naive strategy of using all type annotations derived by type inference among the benchmark programs. In comparison with an existing approach, the proposal achieves comparable execution speed and shows advantage of maintaining a more stable compilation time of deriving and selecting type annotations. Our results empirically indicate that the proposed technique is practical within Reticulated Python for mitigating the performance bottleneck of gradually typed programs.
Reinforcement Learning for Power-Flow Network Analysis
Venue: arXiv cs.LG 2026
Year: 2026

The power flow equations are non-linear multivariate equations that describe the relationship between power injections and bus voltages of electric power networks. Given a network topology, we are interested in finding network parameters with many equilibrium points. This corresponds to finding instances of the power flow equations with many real solutions. Current state-of-the art algorithms in computational algebra are not capable of answering this question for networks involving more than a small number of variables. To remedy this, we design a probabilistic reward function that gives a good approximation to this root count, and a state-space that mimics the space of power flow equations. We derive the average root count for a Gaussian model, and use this as a baseline for our RL agents. The agents discover instances of the power flow equations with many more solutions than the average baseline. This demonstrates the potential of RL for power-flow network design and analysis as well as the potential for RL to contribute meaningfully to problems that involve complex non-linear algebra or geometry. \footnote{Author order alphabetic, all authors contributed equally.
OWL: A Novel Approach to Machine Perception During Motion
Venue: arXiv cs.CV 2026
Year: 2026

We introduce a perception-related function, OWL, designed to address the complex challenges of 3D perception during motion. It derives its values directly from two fundamental visual motion cues, with one set of cue values per point per time instant. During motion, two visual motion cues relative to a fixation point emerge: 1) perceived local visual looming of points near the fixation point, and 2) perceived rotation of the rigid object relative to the fixation point. It also expresses the relation between two well-known physical quantities, the relative instantaneous directional range and directional translation in 3D between the camera and any visible 3D point, without explicitly requiring their measurement or prior knowledge of their individual values. OWL offers a unified, analytical time-based approach that enhances and simplifies key perception capabilities, including scaled 3D mapping and camera heading. Simulations demonstrate that OWL achieves geometric constancy of 3D objects over time and enables scaled 3D scene reconstruction from visual motion cues alone. By leveraging direct measurements from raw visual motion image sequences, OWL values can be obtained without prior knowledge of stationary environments, moving objects, or camera motion. This approach employs minimalistic, pixel-based, parallel computations, providing an alternative real-time representation for 3D points in relative motion. OWL bridges the gap between theoretical concepts and practical applications in robotics and autonomous navigation and may unlock new possibilities for real-time decision-making and interaction, potentially serving as a building block for next-generation autonomous systems. This paper offers an alternative perspective on machine perception, with implications that may extend to natural perception and contribute to a better understanding of behavioral psychology and neural functionality.
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Venue: arXiv cs.RO 2026
Year: 2026

Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and are highly sensitive to object geometry, frictional transitions, and slip. Recently, tactile-informed manipulation policies have shown promise. However, most use tactile signals as additional observations rather than modeling contact state or how their action outputs interact with low-level controller dynamics. We present Contact-Grounded Policy (CGP), a visuotactile policy that grounds multi-point contacts by predicting coupled trajectories of actual robot state and tactile feedback, and using a learned contact-consistency mapping to convert these predictions into executable target robot states for a compliance controller. CGP consists of two components: (i) a conditional diffusion model that forecasts future robot state and tactile feedback in a compressed latent space, and (ii) a learned contact-consistency mapping that converts the predicted robot state-tactile pair into executable targets for a compliance controller, enabling it to realize the intended contacts. We evaluate CGP using a physical four-finger Allegro V5 hand with Digit360 fingertip tactile sensors, and a simulated five-finger Tesollo DG-5F hand with dense whole-hand tactile arrays. Across a range of dexterous tasks including in-hand manipulation, delicate grasping, and tool use, CGP outperforms visuomotor and visuotactile diffusion-policy baselines.
FreeTxt-Vi: A Benchmarked Vietnamese-English Toolkit for Segmentation, Sentiment, and Summarisation
Venue: arXiv cs.CL 2026
Year: 2026

FreeTxt-Vi is a free and open source web based toolkit for creating and analysing bilingual Vietnamese English text collections. Positioned at the intersection of corpus linguistics and natural language processing NLP it enables users to build explore and interpret free text data without requiring programming expertise. The system combines corpus analysis features such as concordancing keyword analysis word relation exploration and interactive visualisation with transformer based NLP components for sentiment analysis and summarisation. A key contribution of this work is the design of a unified bilingual NLP pipeline that integrates a hybrid VnCoreNLP and Byte Pair Encoding BPE segmentation strategy a fine tuned TabularisAI sentiment classifier and a fine tuned Qwen2.5 model for abstractive summarisation. Unlike existing text analysis platforms FreeTxt Vi is evaluated as a set of language processing components. We conduct a three part evaluation covering segmentation sentiment analysis and summarisation and show that our approach achieves competitive or superior performance compared to widely used baselines in both Vietnamese and English. By reducing technical barriers to multilingual text analysis FreeTxt Vi supports reproducible research and promotes the development of language resources for Vietnamese a widely spoken but underrepresented language in NLP. The toolkit is applicable to domains including education digital humanities cultural heritage and the social sciences where qualitative text data are common but often difficult to process at scale.
Unlocking ImageNet's Multi-Object Nature: Automated Large-Scale Multilabel Annotation
Venue: arXiv cs.CV 2026
Year: 2026

The original ImageNet benchmark enforces a single-label assumption, despite many images depicting multiple objects. This leads to label noise and limits the richness of the learning signal. Multi-label annotations more accurately reflect real-world visual scenes, where multiple objects co-occur and contribute to semantic understanding, enabling models to learn richer and more robust representations. While prior efforts (e.g., ReaL, ImageNetv2) have improved the validation set, there has not yet been a scalable, high-quality multi-label annotation for the training set. To this end, we present an automated pipeline to convert the ImageNet training set into a multi-label dataset, without human annotations. Using self-supervised Vision Transformers, we perform unsupervised object discovery, select regions aligned with original labels to train a lightweight classifier, and apply it to all regions to generate coherent multi-label annotations across the dataset. Our labels show strong alignment with human judgment in qualitative evaluations and consistently improve performance across quantitative benchmarks. Compared to traditional single-label scheme, models trained with our multi-label supervision achieve consistently better in-domain accuracy across architectures (up to +2.0 top-1 accuracy on ReaL and +1.5 on ImageNet-V2) and exhibit stronger transferability to downstream tasks (up to +4.2 and +2.3 mAP on COCO and VOC, respectively). These results underscore the importance of accurate multi-label annotations for enhancing both classification performance and representation learning. Project code and the generated multi-label annotations are available at https://github.com/jchen175/MultiLabel-ImageNet.
Revisiting the (Sub)Optimality of Best-of-N for Inference-Time Alignment
Venue: arXiv cs.LG 2026
Year: 2026

Best-of-N (BoN) sampling is a widely used inference-time alignment method for language models, whereby N candidate responses are sampled from a reference model and the one with the highest predicted reward according to a learned reward model is selected. Despite its widespread practical use, recent theoretical work has suggested that it is statistically suboptimal and vulnerable to reward hacking, the process by which models exploit weaknesses in the learned reward model to achieve high estimated reward without genuinely improving performance. We revisit this question under assumptions that more closely reflect practice than that of prior work. In particular, in contradistinction to earlier analyses that focused on expected true reward, which may not be meaningful in many practical settings, we investigate how inference-time alignment affects the win-rate, a pairwise comparison-based metric more closely aligned with how reward models are trained and evaluated in practice. We demonstrate that, under minimal conditions on the quality of the reference model and learned reward model, properly tuned BoN is both computationally and statistically optimal in achieving high win-rate, partially explaining its widespread practical success. Because BoN remains susceptible to reward-hacking in this setting, we propose a simple and practical variant that provably eliminates reward-hacking while maintaining optimal statistical performance. Finally, we show that prior approaches are provably suboptimal when considering win-rate, highlighting the importance of choosing appropriate objectives when analyzing inference-time alignment methods.
CodeScout: Contextual Problem Statement Enhancement for Software Agents
Venue: arXiv cs.CL 2026
Year: 2026

Current AI-powered code assistance tools often struggle with poorly-defined problem statements that lack sufficient task context and requirements specification. Recent analysis of software engineering agents reveals that failures on such underspecified requests are highly correlated with longer trajectories involving either over-exploration or repeated attempts at applying the same fix without proper evolution or testing, leading to suboptimal outcomes across software development tasks. We introduce CodeScout, a contextual query refinement approach that systematically converts underspecified user requests into comprehensive, actionable problem statements through lightweight pre-exploration of the target codebase. Our key innovation is demonstrating that structured analysis before task execution can supplement existing agentic capabilities without requiring any modifications to their underlying scaffolds. CodeScout performs targeted context scoping, conducts multi-perspective analysis examining potential fixes and exploration opportunities, then synthesizes these insights into enhanced problem statements with reproduction steps, expected behaviors, and targeted exploration hints. This pre-exploration directly addresses the identified failure patterns by reducing non-converging agent trajectories while clarifying user intent in natural language space. We evaluate CodeScout using state-of-the-art agentic scaffolds and language models on SWEBench-Verified, demonstrating a 20\% improvement in resolution rates with up to 27 additional issues resolved compared to the default baseline method. Our results suggest that systematic query refinement through contextual analysis represents a promising direction for enhancing AI code assistance capabilities.
Vision-Language System using Open-Source LLMs for Gestures in Medical Interpreter Robots
Venue: arXiv cs.RO 2026
Year: 2026

Effective communication is vital in healthcare, especially across language barriers, where non-verbal cues and gestures are critical. This paper presents a privacy-preserving vision-language framework for medical interpreter robots that detects specific speech acts (consent and instruction) and generates corresponding robotic gestures. Built on locally deployed open-source models, the system utilizes a Large Language Model (LLM) with few-shot prompting for intent detection. We also introduce a novel dataset of clinical conversations annotated for speech acts and paired with gesture clips. Our identification module achieved 0.90 accuracy, 0.93 weighted precision, and a 0.91 weighted F1-Score. Our approach significantly improves computational efficiency and, in user studies, outperforms the speech-gesture generation baseline in human-likeness while maintaining comparable appropriateness.
MIRACL: A Diverse Meta-Reinforcement Learning for Multi-Objective Multi-Echelon Combinatorial Supply Chain Optimisation
Venue: arXiv cs.LG 2026
Year: 2026

Multi-objective reinforcement learning (MORL) is effective for multi-echelon combinatorial supply chain optimisation, where tasks involve high dimensionality, uncertainty, and competing objectives. However, its deployment in dynamic environments is hindered by the need for task-specific retraining and substantial computational cost. We introduce MIRACL (Meta multI-objective Reinforcement leArning with Composite Learning), a hierarchical Meta-MORL framework that allows for a few-shot generalisation across diverse tasks. MIRACL decomposes each task into structured subproblems for efficient policy adaptation and meta-learns a global policy across tasks using a Pareto-based adaptation strategy to encourage diversity in meta-training and fine-tuning. To our knowledge, this is the first integration of Meta-MORL with such mechanisms in combinatorial optimisation. Although validated in the supply chain domain, MIRACL is theoretically domain-agnostic and applicable to broader dynamic multi-objective decision-making problems. Empirical evaluations show that MIRACL outperforms conventional MORL baselines in simple to moderate tasks, achieving up to 10% higher hypervolume and 5% better expected utility. These results underscore the potential of MIRACL for robust, efficient adaptation in multi-objective problems.
StreamWise: Serving Multi-Modal Generation in Real-Time at Scale
Venue: arXiv cs.DC 2026
Year: 2026

Advances in multi-modal generative models are enabling new applications, from storytelling to automated media synthesis. Most current workloads generate simple outputs (e.g., image generation from a prompt) in batch mode, often requiring several seconds even for basic results. Serving real-time multi-modal workflows at scale is costly and complex, requiring efficient coordination of diverse models (each with unique resource needs) across language, audio, image, and video, all under strict latency and resource constraints. We tackle these challenges through the lens of real-time podcast video generation, integrating LLMs, text-to-speech, and video-audio generation. To meet tight SLOs, we design an adaptive, modular serving system, StreamWise, that dynamically manages quality (e.g., resolution, sharpness), model/content parallelism, and resource-aware scheduling. We leverage heterogeneous hardware to maximize responsiveness and efficiency. For example, the system can lower video resolution and allocate more resources to early scenes. We quantify the trade-offs between latency, cost, and quality. The cheapest setup generates a 10-minute podcast video on A100 GPUs in 1.4 hours (8.4x slower than the real-time) for less than \$25. StreamWise enables high-quality real-time streaming with a sub-second startup delay under $45.
EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Dynamic vision sensors, also known as event cameras, are rapidly rising in popularity for robotic and computer vision tasks due to their sparse activation and high-temporal resolution. Event cameras have been used in robotic navigation and localization tasks where accurate positioning needs to occur on small and frequent time scales, or when energy concerns are paramount. In this work, we present EventGeM, a state-of-the-art global to local feature fusion pipeline for event-based Visual Place Recognition. We use a pre-trained vision transformer (ViT-S/16) backbone to obtain global feature patch for initial match predictions embeddings from event histogram images. Local feature keypoints were then detected using a pre-trained MaxViT backbone for 2D-homography based re-ranking with RANSAC. For additional re-ranking refinement, we subsequently used a pre-trained vision foundation model for depth estimation to compare structural similarity between references and queries. Our work performs state-of-the-art localization when compared to the best currently available event-based place recognition method across several benchmark datasets and lighting conditions all whilst being fully capable of running in real-time when deployed across a variety of compute architectures. We demonstrate the capability of EventGeM in a real-world deployment on a robotic platform for online localization using event streams directly from an event camera. Project page: https://eventgemvpr.github.io/
Training-free Latent Inter-Frame Pruning with Attention Recovery
Venue: arXiv cs.CV 2026
Year: 2026

Current video generation models suffer from high computational latency, making real-time applications prohibitively costly. In this paper, we address this limitation by exploiting the temporal redundancy inherent in video latent patches. To this end, we propose the Latent Inter-frame Pruning with Attention Recovery (LIPAR) framework, which detects and skips recomputing duplicated latent patches. Additionally, we introduce a novel Attention Recovery mechanism that approximates the attention values of pruned tokens, thereby removing visual artifacts arising from naively applying the pruning method. Empirically, our method increases video editing throughput by $1.45\times$, on average achieving 12.2 FPS on an NVIDIA A6000 compared to the baseline 8.4 FPS. The proposed method does not compromise generation quality and can be seamlessly integrated with the model without additional training. Our approach effectively bridges the gap between traditional compression algorithms and modern generative pipelines.
OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator
Venue: arXiv cs.RO 2026
Year: 2026

Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remains challenging because of the diverse articulation types of the objects and the complex dynamics of the legged robot. Existing reinforcement learning (RL)-based approaches often rely on high-dimensional sensory inputs, leading to sample inefficiency. In this paper, we propose a robust and sample-efficient framework for opening heterogeneous articulated objects with a legged manipulator. In particular, we propose Sampling-based Abstracted Feature Extraction (SAFE), which encodes handle and panel geometry into a compact low-dimensional representation, improving cross-domain generalization. Additionally, Articulation Information Estimator (ArtIEst) is introduced to adaptively mix proprioception with exteroception to estimate opening direction and range of motion for each object. The proposed framework was deployed to manipulate various heterogeneous articulated objects in simulation and real-world robot systems. Videos can be found on the project website: https://openheart-icra.github.io/OpenHEART/