OpenRaiser/Intern-Atlas huggingface dataset:
A Novel Public Dataset for Strawberry (Fragaria x ananassa) Ripeness Detection and Comparative Evaluation of YOLO-Based Models
Venue: arXiv cs.CV 2026
Year: 2026

The strawberry (Fragaria x ananassa), known worldwide for its economic value and nutritional richness, is a widely cultivated fruit. Determining the correct ripeness level during the harvest period is crucial for both preventing losses for producers and ensuring consumers receive a quality product. However, traditional methods, i.e., visual assessments alone, can be subjective and have a high margin of error. Therefore, computer-assisted systems are needed. However, the scarcity of comprehensive datasets accessible to everyone in the literature makes it difficult to compare studies in this field. In this study, a new and publicly available strawberry ripeness dataset, consisting of 566 images and 1,201 labeled objects, prepared under variable light and environmental conditions in two different greenhouses in Turkey, is presented to the literature. Comparative tests conducted on the data set using YOLOv8, YOLOv9, and YOLO11-based models showed that the highest precision value was 90.94% in the YOLOv9c model, while the highest recall value was 83.74% in the YOLO11s model. In terms of the general performance criterion mAP@50, YOLOv8s was the best performing model with a success rate of 86.09%. The results show that small and medium-sized models work more balanced and efficiently on this type of dataset, while also establishing a fundamental reference point for smart agriculture applications.
Can Recommender Systems Teach Themselves? A Recursive Self-Improving Framework with Fidelity Control
Venue: arXiv cs.IR 2026
Year: 2026

The scarcity of high-quality training data presents a fundamental bottleneck to scaling machine learning models. This challenge is particularly acute in recommendation systems, where extreme sparsity in user interactions leads to rugged optimization landscapes and poor generalization. We propose the Recursive Self-Improving Recommendation (RSIR) framework, a paradigm in which a model bootstraps its own performance without reliance on external data or teacher models. RSIR operates in a closed loop: the current model generates plausible user interaction sequences, a fidelity-based quality control mechanism filters them for consistency with user's approximate preference manifold, and a successor model is augmented on the enriched dataset. Our theoretical analysis shows that RSIR acts as a data-driven implicit regularizer, smoothing the optimization landscape and guiding models toward more robust solutions. Empirically, RSIR yields consistent, cumulative gains across multiple benchmarks and architectures. Notably, even smaller models benefit, and weak models can generate effective training curricula for stronger ones. These results demonstrate that recursive self-improvement is a general, model-agnostic approach to overcoming data sparsity, suggesting a scalable path forward for recommender systems and beyond. Our anonymized code is available at https://anonymous.4open.science/r/RSIR-7C5B .
Relative Geometry of Neural Forecasters: Linking Accuracy and Alignment in Learned Latent Geometry
Venue: arXiv cs.LG 2026
Year: 2026

Neural networks can accurately forecast complex dynamical systems, yet how they internally represent underlying latent geometry remains poorly understood. We study neural forecasters through the lens of representational alignment, introducing anchor-based, geometry-agnostic relative embeddings that remove rotational and scaling ambiguities in latent spaces. Applying this framework across seven canonical dynamical systems - ranging from periodic to chaotic - we reveal reproducible family-level structure: multilayer perceptrons align with other MLPs, recurrent networks with RNNs, while transformers and echo-state networks achieve strong forecasts despite weaker alignment. Alignment generally correlates with forecasting accuracy, yet high accuracy can coexist with low alignment. Relative geometry thus provides a simple, reproducible foundation for comparing how model families internalize and represent dynamical structure.
Revisiting Northrop Frye's Four Myths Theory with Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Northrop Frye's theory of four fundamental narrative genres (comedy, romance, tragedy, satire) has profoundly influenced literary criticism, yet computational approaches to his framework have focused primarily on narrative patterns rather than character functions. In this paper, we present a new character function framework that complements pattern-based analysis by examining how archetypal roles manifest differently across Frye's genres. Drawing on Jungian archetype theory, we derive four universal character functions (protagonist, mentor, antagonist, companion) by mapping them to Jung's psychic structure components. These functions are then specialized into sixteen genre-specific roles based on prototypical works. To validate this framework, we conducted a multi-model study using six state-of-the-art Large Language Models (LLMs) to evaluate character-role correspondences across 40 narrative works. The validation employed both positive samples (160 valid correspondences) and negative samples (30 invalid correspondences) to evaluate whether models both recognize valid correspondences and reject invalid ones. LLMs achieved substantial performance (mean balanced accuracy of 82.5%) with strong inter-model agreement (Fleiss' $κ$ = 0.600), demonstrating that the proposed correspondences capture systematic structural patterns. Performance varied by genre (ranging from 72.7% to 89.9%) and role (52.5% to 99.2%), with qualitative analysis revealing that variations reflect genuine narrative properties, including functional distribution in romance and deliberate archetypal subversion in satire. This character-based approach demonstrates the potential of LLM-supported methods for computational narratology and provides a foundation for future development of narrative generation methods and interactive storytelling applications.
A universal LLM Framework for General Query Refinements
Venue: arXiv cs.DB 2026
Year: 2026

Numerous studies have explored the SQL query refinement problem, where the objective is to minimally modify an input query so that it satisfies a specified set of constraints. However, these works typically target restricted classes of queries or constraints. We present OmniTune, a general framework for refining arbitrary SQL queries using LLM-based optimization by prompting (OPRO). OmniTune employs a two-step OPRO scheme that explores promising refinement subspaces and samples candidates within them, supported by concise history and skyline summaries for effective feedback. Experiments on a comprehensive benchmark demonstrate that OmniTune handles both previously studied refinement tasks and more complex scenarios beyond the scope of existing solutions.
Estimating Human Muscular Fatigue in Dynamic Collaborative Robotic Tasks with Learning-Based Models
Venue: arXiv cs.RO 2026
Year: 2026

Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate fatigue in dynamic, cyclic pHRI using arm-mounted surface electromyography(sEMG). Subject-specific machine-learning regression models(Random Forest, XGBoost, and Linear Regression predict the fraction of cycles to fatigue(FCF) from three frequency-domain and one time-domain EMG features, and are benchmarked against a convolutional neural network(CNN) that ingests spectrograms of filtered EMG. Framing fatigue estimation as regression (rather than classification) captures continuous progression toward fatigue, supporting earlier detection, timely intervention, and adaptive robot control. In experiments with ten participants, a collaborative robot under admittance control guided repetitive lateral (left-right) end-effector motions until muscular fatigue. Average FCF RMSE across participants was 20.8+/-4.3% for the CNN, 23.3+/-3.8% for Random Forest, 24.8+/-4.5% for XGBoost, and 26.9+/-6.1% for Linear Regression. To probe cross-task generalization, one participant additionally performed unseen vertical (up-down) and circular repetitions; models trained only on lateral data were tested directly and largely retained accuracy, indicating robustness to changes in movement direction, arm kinematics, and muscle recruitment, while Linear Regression deteriorated. Overall, the study shows that both feature-based ML and spectrogram-based DL can estimate remaining work capacity during repetitive pHRI, with the CNN delivering the lowest error and the tree-based models close behind. The reported transfer to new motion patterns suggests potential for practical fatigue monitoring without retraining for every task, improving operator protection and enabling fatigue-aware shared autonomy, for safer fatigue-adaptive pHRI control.
Outer Diversity of Structured Domains
Venue: arXiv cs.GT 2026
Year: 2026

An ordinal preference domain is a subset of preference orders that the voters are allowed to cast in an election. We introduce and study the notion of outer diversity of a domain and evaluate its value for a number of well-known structured domains, such as the single-peaked, single-crossing, group-separable, and Euclidean ones.
TAC: Timestamped Audio Captioning
Venue: arXiv cs.SD 2026
Year: 2026

Large Audio Language Models struggle to disentangle overlapping events in complex acoustic scenes, yielding temporally inconsistent captions and frequent hallucinations. We introduce Timestamped Audio Captioner (TAC), a model that produces temporally grounded audio descriptions at varying degrees of detail and resolution. TAC is trained with a synthetic data pipeline that constructs challenging and dynamic mixtures from real-world audio sources, enabling robust learning under realistic polyphonic conditions. Across event detection and dense captioning, TAC outperforms all competing methods, with a low hallucination rate and accurate temporal grounding. We also introduce TAC-V, an audio-visual pipeline to generate semantically rich audio-visual descriptions. We then show that TAC and TAC-V serves as a "semantic bridge" for a text-only reasoner: a simple TAC$\rightarrow$LLM and TAC-V$\rightarrow$LLM cascade achieves state-of-the-art scores on benchmarks for both audio (MMAU-Pro, MMSU, MMAR) and audio-visual (DailyOmni, VideoHolmes) understanding and reasoning respectively.
ViTaB-A: Evaluating Multimodal Large Language Models on Visual Table Attribution
Venue: arXiv cs.CL 2026
Year: 2026

Multimodal Large Language Models (mLLMs) are often used to answer questions in structured data such as tables in Markdown, JSON, and images. While these models can often give correct answers, users also need to know where those answers come from. In this work, we study structured data attribution/citation, which is the ability of the models to point to the specific rows and columns that support an answer. We evaluate several mLLMs across different table formats and prompting strategies. Our results show a clear gap between question answering and evidence attribution. Although question answering accuracy remains moderate, attribution accuracy is much lower, near random for JSON inputs, across all models. We also find that models are more reliable at citing rows than columns, and struggle more with textual formats than images. Finally, we observe notable differences across model families. Overall, our findings show that current mLLMs are unreliable at providing fine-grained, trustworthy attribution for structured data, which limits their usage in applications requiring transparency and traceability.
Efficient Densest Flow Queries in Transaction Flow Networks (Complete Version)
Venue: arXiv cs.DB 2026
Year: 2026

Transaction flow networks are crucial in detecting illicit activities such as wash trading, credit card fraud, cashback arbitrage fraud, and money laundering. \revise{Our collaborator, Grab, a leader in digital payments in Southeast Asia, faces increasingly sophisticated fraud patterns in its transaction flow networks. In industry settings such as Grab's fraud detection pipeline, identifying fraudulent activities heavily relies on detecting dense flows within transaction networks. Motivated by this practical foundation,} we propose the \emph{\(S\)-\(T\) densest flow} (\SDMF{}) query. Given a transaction flow network \( G \), a source set \( \Src \), a sink set \( \Dst \), and a size threshold \( k \), the query outputs subsets \( \Src' \subseteq \Src \) and \( \Dst' \subseteq \Dst \) such that the maximum flow from \( \Src' \) to \( \Dst' \) is densest, with \(|\Src' \cup \Dst'| \geq k\). Recognizing the NP-hardness of the \SDMF{} query, we develop an efficient divide-and-conquer algorithm, CONAN. \revise{Driven by industry needs for scalable and efficient solutions}, we introduce an approximate flow-peeling algorithm to optimize the performance of CONAN, enhancing its efficiency in processing large transaction networks. \revise{Our approach has been integrated into Grab's fraud detection scenario, resulting in significant improvements in identifying fraudulent activities.} Experiments show that CONAN outperforms baseline methods by up to three orders of magnitude in runtime and more effectively identifies the densest flows. We showcase CONAN's applications in fraud detection on transaction flow networks from our industry partner, Grab, and on non-fungible tokens (NFTs).
Avey-B
Venue: arXiv cs.CL 2026
Year: 2026

Compact pretrained bidirectional encoders remain the backbone of industrial NLP under tight compute and memory budgets. Their effectiveness stems from self-attention's ability to deliver high-quality bidirectional contextualization with sequence-level parallelism, as popularized by BERT-style architectures. Recently, Avey was introduced as an autoregressive, attention-free alternative that naturally admits an encoder-only adaptation. In this paper, we reformulate Avey for the encoder-only paradigm and propose several innovations to its architecture, including decoupled static and dynamic parameterizations, stability-oriented normalization, and neural compression. Results show that this reformulated architecture compares favorably to four widely used Transformer-based encoders, consistently outperforming them on standard token-classification and information-retrieval benchmarks while scaling more efficiently to long contexts.
Stabilizing Test-Time Adaptation of High-Dimensional Simulation Surrogates via D-Optimal Statistics
Venue: arXiv cs.LG 2026
Year: 2026

Machine learning surrogates are increasingly used in engineering to accelerate costly simulations, yet distribution shifts between training and deployment often cause severe performance degradation (e.g., unseen geometries or configurations). Test-Time Adaptation (TTA) can mitigate such shifts, but existing methods are largely developed for lower-dimensional classification with structured outputs and visually aligned input-output relationships, making them unstable for the high-dimensional, unstructured and regression problems common in simulation. We address this challenge by proposing a TTA framework based on storing maximally informative (D-optimal) statistics, which jointly enables stable adaptation and principled parameter selection at test time. When applied to pretrained simulation surrogates, our method yields up to 7% out-of-distribution improvements at negligible computational cost. To the best of our knowledge, this is the first systematic demonstration of effective TTA for high-dimensional simulation regression and generative design optimization, validated on the SIMSHIFT and EngiBench benchmarks.
Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and difficult to scale. While learning in simulation provides a feasible alternative, designing multiple task-specific environments and rewards for training is similarly challenging. We propose Dex4D, a framework that instead leverages simulation for learning task-agnostic dexterous skills that can be flexibly recomposed to perform diverse real-world manipulation tasks. Specifically, Dex4D learns a domain-agnostic 3D point track conditioned policy capable of manipulating any object to any desired pose. We train this 'Anypose-to-Anypose' policy in simulation across thousands of objects with diverse pose configurations, covering a broad space of robot-object interactions that can be composed at test time. At deployment, this policy can be zero-shot transferred to real-world tasks without finetuning, simply by prompting it with desired object-centric point tracks extracted from generated videos. During execution, Dex4D uses online point tracking for closed-loop perception and control. Extensive experiments in simulation and on real robots show that our method enables zero-shot deployment for diverse dexterous manipulation tasks and yields consistent improvements over prior baselines. Furthermore, we demonstrate strong generalization to novel objects, scene layouts, backgrounds, and trajectories, highlighting the robustness and scalability of the proposed framework.
A Koopman-Bayesian Framework for High-Fidelity, Perceptually Optimized Haptic Surgical Simulation
Venue: arXiv cs.LG 2026
Year: 2026

We introduce a unified framework that combines nonlinear dynamics, perceptual psychophysics and high frequency haptic rendering to enhance realism in surgical simulation. The interaction of the surgical device with soft tissue is elevated to an augmented state space with a Koopman operator formulation, allowing linear prediction and control of the dynamics that are nonlinear by nature. To make the rendered forces consistent with human perceptual limits, we put forward a Bayesian calibration module based on WeberFechner and Stevens scaling laws, which progressively shape force signals relative to each individual's discrimination thresholds. For various simulated surgical tasks such as palpation, incision, and bone milling, the proposed system attains an average rendering latency of 4.3 ms, a force error of less than 2.8% and a 20% improvement in perceptual discrimination. Multivariate statistical analyses (MANOVA and regression) reveal that the system's performance is significantly better than that of conventional spring-damper and energy, based rendering methods. We end by discussing the potential impact on surgical training and VR, based medical education, as well as sketching future work toward closed, loop neural feedback in haptic interfaces.
A Methodology for Identifying Evaluation Items for Practical Dialogue Systems Based on Business-Dialogue System Alignment Models
Venue: arXiv cs.HC 2026
Year: 2026

This paper proposes a methodology for identifying evaluation items for practical dialogue systems. Traditionally, user satisfaction and user experiences have been the primary metrics for evaluating dialogue systems. However, there are various other evaluation items to consider when developing and operating practical dialogue systems, and such evaluation items are expected to lead to new research topics. So far, there has been no methodology for identifying these evaluation items. We propose identifying evaluation items based on business-dialogue system alignment models, which are applications of business-IT alignment models used in the development and operation of practical IT systems. We also present a generic model that facilitates the construction of a business-dialogue system alignment model for each dialogue system.
From Conflicts to Collisions: A Two-Stage Collision Scenario-Testing Approach for Autonomous Driving Systems
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous driving systems (ADS) are safety-critical and require rigorous testing before public deployment. Simulation-based scenario testing provides a safe and cost-effective alternative to extensive on-road trials, enabling efficient evaluation of ADS under diverse and high-risk conditions. However, existing approaches mainly evaluates the scenarios based on their proximity to collisions and focus on scenarios already close to collision, leaving many other hazardous situations unexplored. To bridge this, we introduce a collision-related concept of conflict as an intermediate search target and propose a two-stage scenario testing framework that first searches for conflicts and then mutates these conflict scenarios to induce actual collisions. Evaluated on Baidu Apollo, our approach reveals up to 12 distinct collision types in a single run, doubling the diversity discovered by state-of-the-art baselines while requiring fewer simulations thanks to conflict-targeted mutations. These results show that using conflicts as intermediate objectives broadens the search horizon and significantly improves the efficiency and effectiveness of ADS safety evaluation.
A Decade of Human-Robot Interaction Through Immersive Lenses: Reviewing Extended Reality as a Research Instrument in Social Robotics
Venue: arXiv cs.RO 2026
Year: 2026

Over the past decade, Extended Reality (XR), including Virtual, Augmented, and Mixed Reality, gained attention as a research instrument in human-robot interaction studies, but remains underexplored in empirical investigations of social robotics. To map the field, we systematically reviewed empirical studies from 2015 to 2025. Of 6,527 peer-reviewed articles, only 33 met strict inclusion criteria. We examined (1) how XR and virtual social robots are used, focusing on the software and hardware employed and the application contexts in which they are deployed, (2) data collection and analysis methods, (3) demographics of the researchers and participants, and (4) the challenges and future directions. Our findings show that social XR-HRI research is still driven by laboratory simulations, while crucial specifications - such as the hardware, software, and robots used - are often not reported. Robots typically act as passive and hardly interactive visual stimulus, while the rich biosignal (e.g., eye-tracking) and logging (e.g. motion capturing) functions of modern head-mounted displays remain largely untapped. While there are gaps in demographic reporting, the research teams and samples are predominantly tech-centric, Western, young, and male. Key limitations include hardware delays, small homogeneous samples, and short study cycles. We propose a four-phase roadmap to establish social XR-HRI as a reliable research medium, which includes (1) strengthen application contexts, (2) more robust and testable technological iterations, (3) embedding diversity in samples and research teams, and (4) the need for reporting standards, e.g., in form of a suitable taxonomy. Advancing in these directions is essential for XR to mature from a lab prototype into an ecologically valid research instrument for social robotics.