OpenRaiser/Intern-Atlas huggingface dataset:
Vision-Proprioception Fusion with Mamba2 in End-to-End Reinforcement Learning for Motion Control
Venue: arXiv cs.RO 2026
Year: 2026

End-to-end reinforcement learning (RL) for motion control trains policies directly from sensor inputs to motor commands, enabling unified controllers for different robots and tasks. However, most existing methods are either blind (proprioception-only) or rely on fusion backbones with unfavorable compute-memory trade-offs. Recurrent controllers struggle with long-horizon credit assignment, and Transformer-based fusion incurs quadratic cost in token length, limiting temporal and spatial context. We present a vision-driven cross-modal RL framework built on SSD-Mamba2, a selective state-space backbone that applies state-space duality (SSD) to enable both recurrent and convolutional scanning with hardware-aware streaming and near-linear scaling. Proprioceptive states and exteroceptive observations (e.g., depth tokens) are encoded into compact tokens and fused by stacked SSD-Mamba2 layers. The selective state-space updates retain long-range dependencies with markedly lower latency and memory use than quadratic self-attention, enabling longer look-ahead, higher token resolution, and stable training under limited compute. Policies are trained end-to-end under curricula that randomize terrain and appearance and progressively increase scene complexity. A compact, state-centric reward balances task progress, energy efficiency, and safety. Across diverse motion-control scenarios, our approach consistently surpasses strong state-of-the-art baselines in return, safety (collisions and falls), and sample efficiency, while converging faster at the same compute budget. These results suggest that SSD-Mamba2 provides a practical fusion backbone for resource-constrained robotic and autonomous systems in engineering informatics applications.
Building Large-Scale English-Romanian Literary Translation Resources with Open Models
Venue: arXiv cs.CL 2026
Year: 2026

Literary translation has recently gained attention as a distinct and complex task in machine translation research. However, the translation by small open models remains an open problem. We contribute to this ongoing research by introducing TINYFABULIST TRANSLATION FRAMEWORK (TF2), a unified framework for dataset creation, fine-tuning, and evaluation in English-Romanian literary translations, centred on the creation and open release of both a compact, fine-tuned language model (TF2-12B) and large-scale synthetic parallel datasets (DS-TF2-EN-RO-3M and DS-TF2-EN-RO-15K). Building on DS-TF1-EN-3M (TF1), the largest collection of synthetic English fables to date, we address the need for rich, high-quality literary datasets in low-resource languages such as Romanian. Our pipeline first generates 15k high-quality Romanian references from the TF1 pool using a high-performing LLM. We then apply a two-stage fine-tuning process to a 12B-parameter open-weight model: (i) instruction tuning to capture genre-specific narrative style, and (ii) adapter compression for efficient deployment. Evaluation combines corpus-level BLEU and a five-dimension LLM-based rubric (accuracy, fluency, coherence, style, cultural adaptation) to provide a nuanced assessment of translation quality. Results show that our fine-tuned model achieves strong fluency and adequacy, narrowing the gap to top-performing proprietary models under automated and human-anchored evaluation, while being open, accessible, and significantly more cost-effective. Alongside the finetuned model, and both datasets, we publicly release all scripts and evaluation prompts. TF2 thus provides an end-to-end, reproducible pipeline for research on cost-efficient translation, cross-lingual narrative generation, and the broad adoption of open models for culturally significant literary content in low-resource settings.
One Model for All Tasks: Leveraging Efficient World Models in Multi-Task Planning
Venue: arXiv cs.LG 2026
Year: 2026

In heterogeneous multi-task decision-making, tasks not only exhibit diverse observation and action spaces but also vary substantially in their underlying complexities. While conventional multi-task world models like UniZero excel in single-task settings, we find that when handling a broad and diverse suite of tasks, gradient conflicts and the loss of model plasticity often constrain their sample efficiency. In this work, we address these challenges from two complementary perspectives: the single learning iteration and the overall learning process. First, to mitigate the gradient conflicts, we systematically investigate key architectural designs for extending UniZero. Our investigation identifies a Mixture-of-Experts (MoE) architecture as the most effective approach. We demonstrate, both theoretically and empirically, that this architecture alleviates gradient conflicts by routing task-specific representations to specialized sub-networks. This finding leads to our proposed model, \textit{ScaleZero}. Second, to dynamically allocate model capacity throughout the learning process, we introduce an online Dynamic Parameter Scaling (DPS) strategy. This strategy progressively integrates LoRA adapters in response to task-specific progress, enabling adaptive knowledge retention and parameter expansion. Evaluations on a diverse set of standard benchmarks (Atari, DMC, Jericho) demonstrate that ScaleZero, utilizing solely online reinforcement learning with one model, performs on par with specialized single-task agents. With the DPS strategy, it remains competitive while using just 71.5% of the environment interactions. These findings underscore the potential of ScaleZero for effective multi-task planning. Our code is available at \textcolor{magenta}{https://github.com/opendilab/LightZero}.
Evolution and compression in LLMs: On the emergence of human-aligned categorization
Venue: arXiv cs.CL 2026
Year: 2026

Converging evidence suggests that human systems of semantic categories achieve near-optimal compression via the Information Bottleneck (IB) complexity-accuracy tradeoff. Large language models (LLMs) are not trained for this objective, which raises the question: are LLMs capable of evolving efficient human-aligned semantic systems? To address this question, we focus on color categorization -- a key testbed of cognitive theories of categorization with uniquely rich human data -- and replicate with LLMs two influential human studies. First, we conduct an English color-naming study, showing that LLMs vary widely in their complexity and English-alignment, with larger instruction-tuned models achieving better alignment and IB-efficiency. Second, to test whether these LLMs simply mimic patterns in their training data or actually exhibit a human-like inductive bias toward IB-efficiency, we simulate cultural evolution of pseudo color-naming systems in LLMs via a method we refer to as Iterated in-Context Language Learning (IICLL). We find that akin to humans, LLMs iteratively restructure initially random systems towards greater IB-efficiency. However, only a model with strongest in-context capabilities (Gemini 2.0) is able to recapitulate the wide range of near-optimal IB-tradeoffs observed in humans, while other state-of-the-art models converge to low-complexity solutions. These findings demonstrate how human-aligned semantic categories can emerge in LLMs via the same fundamental principle that underlies semantic efficiency in humans.
In-Context Learning Enhanced Credibility Transformer
Venue: arXiv cs.LG 2026
Year: 2026

The starting point of our network architecture is the Credibility Transformer which extends the classical Transformer architecture by a credibility mechanism to improve model learning and predictive performance. This Credibility Transformer learns credibilitized CLS tokens that serve as learned representations of the original input features. In this paper we present a new paradigm that augments this architecture by an in-context learning mechanism, i.e., we increase the information set by a context batch consisting of similar instances. This allows the model to enhance the CLS token representations of the instances by additional in-context information and fine-tuning. We empirically verify that this in-context learning enhances predictive accuracy by adapting to similar risk patterns. Moreover, this in-context learning also allows the model to generalize to new instances which, e.g., have feature levels in the categorical covariates that have not been present when the model was trained -- for a relevant example, think of a new vehicle model which has just been developed by a car manufacturer.
SINDI: an Efficient Index for Approximate Maximum Inner Product Search on Sparse Vectors
Venue: arXiv cs.DB 2026
Year: 2026

Sparse vector Maximum Inner Product Search (MIPS) is crucial in multi-path retrieval for Retrieval-Augmented Generation (RAG). Recent inverted index-based and graph-based algorithms have achieved high search accuracy with practical efficiency. However, their performance in production environments is often limited by redundant distance computations and frequent random memory accesses. Furthermore, the compressed storage format of sparse vectors hinders the use of SIMD acceleration. In this paper, we propose the sparse inverted non-redundant distance index (SINDI), which incorporates three key optimizations: (i) Efficient Inner Product Computation: SINDI leverages SIMD acceleration and eliminates redundant identifier lookups, enabling batched inner product computation; (ii) Memory-Friendly Design: SINDI replaces random memory accesses to original vectors with sequential accesses to inverted lists, substantially reducing memory-bound latency. (iii) Vector Pruning: SINDI retains only the high-magnitude non-zero entries of vectors, improving query throughput while maintaining accuracy. We evaluate SINDI on multiple real-world datasets. Experimental results show that SINDI achieves state-of-the-art performance across datasets of varying scales, languages, and models. On the MsMarco dataset, when Recall@50 exceeds 99%, SINDI delivers single-thread query-per-second (QPS) improvements ranging from 4.2$\times$ to 26.4$\times$ compared with SEISMIC and PyANNs. Notably, SINDI has been integrated into Ant Group's open-source vector search library, VSAG.
An upper bound of the silhouette validation metric for clustering
Venue: arXiv cs.LG 2026
Year: 2026

The silhouette coefficient quantifies, for each observation, the balance between within-cluster cohesion and between-cluster separation, taking values in the range [-1, 1]. The average silhouette width (ASW) is a widely used internal measure of clustering quality, with higher values indicating more cohesive and well-separated clusters. However, the dataset-specific maximum of ASW is typically unknown, and the standard upper limit of 1 is rarely attainable. In this work, we derive for each data point a sharp upper bound on its silhouette width and aggregate these to obtain a canonical upper bound of the ASW. This bound-often substantially below 1-enhances the interpretability of empirical ASW values by providing guidance on how close a given clustering result is to the best possible outcome for that dataset. We evaluate the usefulness of the upper bound on a variety of datasets and conclude that it can meaningfully enrich cluster quality evaluation; however, its practical relevance depends on the specific dataset. Finally, we extend the framework to establish an upper bound of the macro-averaged silhouette.
Fourier Learning Machines: Nonharmonic Fourier-Based Neural Networks for Scientific Machine Learning
Venue: arXiv cs.LG 2026
Year: 2026

We introduce the Fourier Learning Machine (FLM), a neural network (NN) architecture designed to represent a multidimensional nonharmonic Fourier series. The FLM uses a simple feedforward structure with cosine activation functions to learn the frequencies, amplitudes, and phase shifts of the series as trainable parameters. This design allows the model to create a problem-specific spectral basis adaptable to both periodic and nonperiodic functions. Unlike previous Fourier-inspired NN models, the FLM is the first architecture able to represent a multidimensional Fourier series with a complete set of basis functions in separable form, doing so by using a standard Multilayer Perceptron-like architecture. A one-to-one correspondence between the Fourier coefficients and amplitudes and phase-shifts is demonstrated, allowing for the translation between a full, separable basis form and the cosine phase-shifted one. Additionally, we evaluate the performance of FLMs on several scientific computing problems, including benchmark Partial Differential Equations (PDEs) and a family of Optimal Control Problems (OCPs). Computational experiments show that the performance of FLMs is comparable, and often superior, to that of established architectures like SIREN and vanilla feedforward NNs.
Toward a Multi-Echelon Cyber Warfare Theory: A Meta-Game-Theoretic Paradigm for Defense and Dominance
Venue: arXiv cs.GT 2026
Year: 2026

Cyber warfare has become a central element of modern conflict, especially within multi-domain operations. As both a distinct and critical domain, cyber warfare requires integrating defensive and offensive technologies into coherent strategies. While prior research has emphasized isolated tactics or fragmented technologies, a holistic understanding is essential for effective resource deployment and risk mitigation. Game theory offers a unifying framework for this purpose. It not only models attacker-defender interactions but also provides quantitative tools for equilibrium analysis, risk assessment, and strategic reasoning. Integrated with modern AI techniques, game-theoretic models enable the design and optimization of strategies across multiple levels of cyber warfare, from policy and strategy to operations, tactics, and technical implementations. These models capture the paradoxical logic of conflict, where more resources do not always translate into greater advantage, and where nonlinear dynamics govern outcomes. To illustrate the approach, this chapter examines RedCyber, a synthetic cyber conflict, demonstrating how game-theoretic methods capture the interdependencies of cyber operations. The chapter concludes with directions for future research on resilience, cros-echelon planning, and the evolving role of AI in cyber warfare.
An entropy formula for the Deep Linear Network
Venue: arXiv cs.LG 2026
Year: 2026

We study the Riemannian geometry of the Deep Linear Network (DLN) as a foundation for a thermodynamic description of the learning process. The main tools are the use of group actions to analyze overparametrization and the use of Riemannian submersion from the space of parameters to the space of observables. The foliation of the balanced manifold in the parameter space by group orbits is used to define and compute a Boltzmann entropy. We also show that the Riemannian geometry on the space of observables defined in [2] is obtained by Riemannian submersion of the balanced manifold. The main technical step is an explicit construction of an orthonormal basis for the tangent space of the balanced manifold using the theory of Jacobi matrices.
Explaining Tournament Solutions with Minimal Supports
Venue: arXiv cs.AI 2026
Year: 2026

Tournaments are widely used models to represent pairwise dominance between candidates, alternatives, or teams. We study the problem of providing certified explanations for why a candidate appears among the winners under various tournament rules. To this end, we identify minimal supports, minimal sub-tournaments in which the candidate is guaranteed to win regardless of how the rest of the tournament is completed (that is, the candidate is a necessary winner of the sub-tournament). This notion corresponds to an abductive explanation for the question,"Why does the winner win the tournament?", a central concept in formal explainable AI. We focus on common tournament solutions: the top cycle, the uncovered set, the Copeland rule, the Borda rule, the maximin rule, and the weighted uncovered set. For each rule we determine the size of the smallest minimal supports, and we present polynomial-time algorithms to compute them for all solutions except for the weighted uncovered set, for which the problem is NP-complete. Finally, we show how minimal supports can serve to produce compact, certified, and intuitive explanations for tournament solutions.
OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoning
Venue: arXiv cs.RO 2026
Year: 2026

Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction, as well as continuous spatial decision-making. Nevertheless, current MLLM-based embodied systems face two critical limitations. First, Geometric Adaptability Gap: models trained solely on 2D inputs or with hard-coded 3D geometry injection suffer from either insufficient spatial information or restricted 2D generalization, leading to poor adaptability across tasks with diverse spatial demands. Second, Embodiment Constraint Gap: prior work often neglects the physical constraints and capacities of real robots, resulting in task plans that are theoretically valid but practically infeasible. To address these gaps, we introduce OmniEVA -- an embodied versatile planner that enables advanced embodied reasoning and task planning through two pivotal innovations: (1) a Task-Adaptive 3D Grounding mechanism, which introduces a gated router to perform explicit selective regulation of 3D fusion based on contextual requirements, enabling context-aware 3D grounding for diverse embodied tasks. (2) an Embodiment-Aware Reasoning framework that jointly incorporates task goals and embodiment constraints into the reasoning loop, resulting in planning decisions that are both goal-directed and executable. Extensive experimental results demonstrate that OmniEVA not only achieves state-of-the-art general embodied reasoning performance, but also exhibits a strong ability across a wide range of downstream scenarios. Evaluations of a suite of proposed embodied benchmarks, including both primitive and composite tasks, confirm its robust and versatile planning capabilities. Project page: https://omnieva.github.io
The Illusion of Diminishing Returns: Measuring Long Horizon Execution in LLMs
Venue: arXiv cs.AI 2026
Year: 2026

Does continued scaling of large language models (LLMs) yield diminishing returns? In this work, we show that short-task benchmarks may give an illusion of slowing progress, as even marginal gains in single-step accuracy can compound into exponential improvements in the length of tasks a model can successfully complete. Then, we argue that failures of LLMs when simple tasks are made longer arise from mistakes in execution, rather than an inability to reason. So, we propose isolating execution capability, by explicitly providing the knowledge and plan needed to solve a long-horizon task. First, we find that larger models can correctly execute significantly more turns even when small models have near-perfect single-turn accuracy. We then observe that the per-step accuracy of models degrades as the number of steps increases. This is not just due to long-context limitations -- curiously, we observe a self-conditioning effect -- models become more likely to make mistakes when the context contains their errors from prior turns. Self-conditioning does not reduce by just scaling the model size. But, we find that thinking mitigates self-conditioning, and also enables execution of much longer tasks in a single turn. We conclude by benchmarking frontier thinking models on the length of tasks they can execute in a single turn. Overall, by focusing on the ability to execute, we hope to reconcile debates on how LLMs can solve complex reasoning problems yet fail at simple tasks when made longer, and highlight the massive benefits of scaling model size and sequential test-time compute for long-horizon tasks.
Synthetic Homes: An Accessible Multimodal Pipeline for Producing Residential Building Data with Generative AI
Venue: arXiv cs.AI 2026
Year: 2026

Computational models have emerged as powerful tools for multi-scale energy modeling research at the building level as well as urban scale. However, these models require a plethora of data on building parameters, some of which can be inaccessible, expensive, or can raise privacy concerns. We introduce a modular multimodal framework to synthetically produce this data from publicly accessible images and residential information using generative Artificial Intelligence (AI). Additionally, we provide a modeling pipeline demonstrating this framework and we evaluate its generative AI components for realism. Our experiments show that our framework's use of AI avoids common issues with generative models and produces realistic multimodal data at the building scale. Resulting datasets can be used for assessing influence of energy efficiency upgrades at the building scale, as well as to simulate larger patterns of energy consumption across regions. This work will support research in building and energy simulation by reducing dependence on costly or restricted data sources, and pave a path towards more accessible research in Machine Learning (ML) and other data-driven disciplines.
Designing and Evaluating AI Margin Notes in Document Reader Software
Venue: arXiv cs.HC 2026
Year: 2026

AI capabilities for document reader software are usually presented in separate chat interfaces. We explore integrating AI into document comments, a concept we formalize as AI margin notes. Three design parameters characterize this approach: margin notes are integrated with the text while chat interfaces are not; selecting text for a margin note can be automated through AI or manual; and the generation of a margin note can involve AI to various degrees. Two experiments investigate integration and selection automation, with results showing participants prefer integrated AI margin notes and manual selection. A third experiment explores human and AI involvement through six alternative techniques. Techniques with less AI involvement resulted in more psychological ownership, but faster and less effortful designs were generally preferred. Surprisingly, the degree of AI involvement had no measurable effect on reading comprehension. Our work shows that AI margin notes are desirable and contributes implications for their design.
Cost-Free Personalization via Information-Geometric Projection in Bayesian Federated Learning
Venue: arXiv cs.LG 2026
Year: 2026

Bayesian Federated Learning (BFL) combines uncertainty modeling with decentralized training, enabling the development of personalized and reliable models under data heterogeneity and privacy constraints. Existing approaches typically rely on Markov Chain Monte Carlo (MCMC) sampling or variational inference, often incorporating personalization mechanisms to better adapt to local data distributions. In this work, we propose an information-geometric projection framework for personalization in parametric BFL. By projecting the global model onto a neighborhood of the user's local model, our method enables a tunable trade-off between global generalization and local specialization. Under mild assumptions, we show that this projection step is equivalent to computing a barycenter on the statistical manifold, allowing us to derive closed-form solutions and achieve cost-free personalization. We apply the proposed approach to a variational learning setup using the Improved Variational Online Newton (IVON) optimizer and extend its application to general aggregation schemes in BFL. Empirical evaluations under heterogeneous data distributions confirm that our method effectively balances global and local performance with minimal computational overhead.