OpenRaiser/Intern-Atlas huggingface dataset:
One-for-All Model Initialization with Frequency-Domain Knowledge
Venue: arXiv cs.LG 2026
Year: 2026

Transferring knowledge by fine-tuning large-scale pre-trained networks has become a standard paradigm for downstream tasks, yet the knowledge of a pre-trained model is tightly coupled with monolithic architecture, which restricts flexible reuse across models of varying scales. In response to this challenge, recent approaches typically resort to either parameter selection, which fails to capture the interdependent structure of this knowledge, or parameter prediction using generative models that depend on impractical access to large network collections. In this paper, we empirically demonstrate that a model's foundational, task-agnostic knowledge, its "learngene", is encoded within the low-frequency components of its weights, and can be efficiently inherited by downstream models. Based on this insight, we propose FRONT (FRequency dOmain kNowledge Transfer), a novel framework that uses the Discrete Cosine Transform (DCT) to isolate the low-frequency "learngene". This learngene can be seamlessly adapted to initialize models of arbitrary size via simple truncation or padding, a process that is entirely training-free. For enhanced performance, we propose an optional low-cost refinement process that introduces a spectral regularizer to further improve the learngene's transferability. Extensive experiments demonstrate that FRONT achieves the state-of-the-art performance, accelerates convergence by up to 15 times in vision tasks, and reduces training FLOPs by an average of 40.5% in language tasks.
Generative prediction of laser-induced rocket ignition with dynamic latent space representations
Venue: arXiv cs.LG 2026
Year: 2026

Accurate and predictive scale-resolving simulations of laser-ignited rocket engines are highly time-consuming because the problem includes turbulent fuel-oxidizer mixing dynamics, laser-induced energy deposition, and high-speed flame growth. This is conflated with the large design space primarily corresponding to the laser operating conditions and target location. To enable rapid exploration and uncertainty quantification, we propose a data-driven surrogate modeling approach that combines convolutional autoencoders (cAEs) with neural ordinary differential equations (neural ODEs). The present target application of an ML-based surrogate model to leading-edge multi-physics turbulence simulation is part of a paradigm shift in the deployment of surrogate models towards increasing real-world complexity. Sequentially, the cAE spatially compresses high-dimensional flow fields into a low-dimensional latent space, wherein the system's temporal dynamics are learned via neural ODEs. Once trained, the model generates fast spatiotemporal predictions from initial conditions and specified operating inputs. By learning a surrogate to replace the entirety of the time-evolving simulation, the cost of predicting an ignition trial is reduced by several orders of magnitude, allowing efficient exploration of the input parameter space. Further, as the current framework yields a spatiotemporal field prediction, appraisal of the model output's physical grounding is more tractable. This approach marks a significant step toward real-time digital twins for laser-ignited rocket combustors and represents surrogate modeling in a complex system context.
ICLR: In-Context Imitation Learning with Visual Reasoning
Venue: arXiv cs.RO 2026
Year: 2026

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit representations of task intent. This limitation hinders performance in complex and ambiguous task settings where the same actions may be consistent with different objectives. To address this, we present In-Context Imitation Learning with Visual Reasoning (ICLR), a novel framework that augments demonstration prompts with structured visual reasoning traces representing anticipated future robot trajectories in image space. ICLR also jointly learns to generate reasoning traces and low-level actions within a unified autoregressive transformer, enabling the model to mimic not only action prediction but also the reasoning process that leads to those actions. We extensively evaluate ICLR in both simulation and real-world manipulation tasks and demonstrate consistent improvements in success rates and generalization to unseen tasks and novel object configurations compared to other in-context imitation learning methods. These results suggest that incorporating embodied visual reasoning represents a promising direction for enhancing the robustness and generalization of robotic in-context learning systems.
MIRO: Multi-radar Identity and Ranging for Occupational Safety
Venue: arXiv cs.HC 2026
Year: 2026

Occupational exposure to airborne particulate matter (PM) poses a severe health risk in open industrial workspaces such as stonecutting yards. Conventional monitoring solutions such as wearable PM sensors and camera-based tracking are impractical due to discomfort, maintenance issues, and privacy concerns. We present MIRO, a privacy-preserving framework that integrates continuous PM sensing with a multi-radar millimeter-wave (mmWave) re-identification (re-ID) backbone. A distributed network of PM sensors captures localized pollutant concentrations, while spatially overlapping mmWave radars track and re-associate workers across viewpoints without relying on visual cues. To ensure identity consistency across radars, we introduce a GAN-based view adaptation network that compensates for azimuthal distortions in range-Doppler (RD) signatures, combined with correlation-based cross-radar matching. In controlled laboratory experiments, our system achieves a re-ID F1-score of 90.4% and a mean Structural Similarity Index Measure (SSIM) of 0.70 for view adaptation accuracy. Field trials in rural stone-cutting yards further validate the system's robustness, demonstrating reliable worker-specific PM exposure estimation.
ACCURATE: Arbitrary-shaped Continuum Reconstruction Under Robust Adaptive Two-view Estimation
Venue: arXiv cs.RO 2026
Year: 2026

Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction approaches often suffer from limited accuracy because they often underutilize camera geometry, or lack generality as they rely on rigid geometric assumptions that may fail for continuum robots with complex and highly deformable shapes. To address these limitations, we propose ACCURATE, a 3D reconstruction framework integrating an image segmentation neural network with a geometry-constrained topology traversal and dynamic programming algorithm that enforces global biplanar geometric consistency, minimizes the cumulative point-to-epipolar-line distance, and remains robust to occlusions and epipolar ambiguities cases caused by noise and discretization. Our method achieves high reconstruction accuracy on both simulated and real phantom datasets acquired using a clinical X-ray C-arm system, with mean absolute errors below 1.0 mm.
MAWARITH: A Dataset and Benchmark for Legal Inheritance Reasoning with LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Islamic inheritance law ('ilm al-mawarith) is challenging for large language models because solving inheritance cases requires complex, structured multi-step reasoning and the correct application of juristic rules to compute heirs' shares. We introduce MAWARITH, a large-scale annotated dataset of 12,500 Arabic inheritance cases to train and evaluate the full reasoning chain: (i) identifying eligible heirs, (ii) applying blocking (hajb) and allocation rules, and (iii) computing exact inheritance shares. Unlike prior datasets that restrict inheritance case solving to multiple-choice questions, MAWARITH supports the full reasoning chain and provides step-by-step solutions, including intermediate legal decisions and justifications based on classical juristic sources and established inheritance rules, as well as exact share calculations. To evaluate models beyond final-answer accuracy, we propose MIR-E (Mawarith Inheritance Reasoning Evaluation), a weighted multi-stage metric that scores key reasoning stages and captures error propagation across the pipeline. We evaluate five LLMs in a zero-shot setting. Gemini-2.5-flash achieves about 90% MIR-E on both validation and test, while Fanar-C, Fanar-Sadiq, LLaMA 3, and Qwen 3 remain below 50%. Our error analysis identifies recurring failure patterns, including scenario misinterpretation, errors in heir identification, errors in share allocation, and missing or incorrect application of key inheritance rules such as 'awl and radd. The MAWARITH dataset is publicly available at https://github.com/bouchekif/inheritance_evaluation.
How Long Can Unified Multimodal Models Generate Images Reliably? Taming Long-Horizon Interleaved Image Generation via Context Curation
Venue: arXiv cs.CV 2026
Year: 2026

Unified multimodal models hold the promise of generating extensive, interleaved narratives, weaving text and imagery into coherent long-form stories. However, current systems suffer from a critical reliability gap: as sequences grow, generation quality rapidly collapses. In this work, we investigate the mechanism behind this failure and argue that it is distinct from standard long-context challenges. We reveal that in generation, accumulated visual history acts as a source of active pollution, a decay governed specifically by the number of image events rather than raw token count. We identify a structural vulnerability where dense visual tokens overwhelm the attention mechanism, creating noise that distorts future synthesis. Guided by these mechanistic insights, we propose UniLongGen, a training-free inference strategy that prioritizes safe conditioning over total recall. Instead of retaining all history, UniLongGen dynamically curates the model's memory, identifying and discarding interfering visual signals based on the model's own internal relevance rankings. Extensive experiments demonstrate that this active forgetting approach is essential for stability: UniLongGen significantly outperforms baselines in long-horizon fidelity and consistency, while simultaneously reducing memory footprint and inference time.
DreamSAC: Learning Hamiltonian World Models via Symmetry Exploration
Venue: arXiv cs.CV 2026
Year: 2026

Learned world models excel at interpolative generalization but fail at extrapolative generalization to novel physical properties. This limitation arises because they learn statistical correlations rather than the environment's underlying generative rules, such as physical invariances and conservation laws. We argue that learning these invariances is key to robust extrapolation. To achieve this, we first introduce \textbf{Symmetry Exploration}, an unsupervised exploration strategy where an agent is intrinsically motivated by a Hamiltonian-based curiosity bonus to actively probe and challenge its understanding of conservation laws, thereby collecting physically informative data. Second, we design a Hamiltonian-based world model that learns from the collected data, using a novel self-supervised contrastive objective to identify the invariant physical state from raw, view-dependent pixel observations. Our framework, \textbf{DreamSAC}, trained on this actively curated data, significantly outperforms state-of-the-art baselines in 3D physics simulations on tasks requiring extrapolation.
Revisiting the LiRA Membership Inference Attack Under Realistic Assumptions
Venue: arXiv cs.CR 2026
Year: 2026

Membership inference attacks (MIAs) have become the standard tool for evaluating privacy leakage in machine learning (ML). Among them, the Likelihood-Ratio Attack (LiRA) is widely regarded as the state of the art when sufficient shadow models are available. However, prior evaluations have often overstated the effectiveness of LiRA by attacking models overconfident on their training samples, calibrating thresholds on target data, assuming balanced membership priors, and/or overlooking attack reproducibility. We re-evaluate LiRA under a realistic protocol that (i) trains models using anti-overfitting (AOF) and transfer learning (TL), when applicable, to reduce overconfidence as in production models; (ii) calibrates decision thresholds using shadow models and data rather than target data; (iii) measures positive predictive value (PPV, or precision) under shadow-based thresholds and skewed membership priors (pi <= 10%); and (iv) quantifies per-sample membership reproducibility across different seeds and training variations. We find that AOF significantly weakens LiRA, while TL further reduces attack effectiveness while improving model accuracy. Under shadow-based thresholds and skewed priors, LiRA's PPV often drops substantially, especially under AOF or AOF+TL. We also find that thresholded vulnerable sets at extremely low FPR show poor reproducibility across runs, while likelihood-ratio rankings are more stable. These results suggest that LiRA, and likely weaker MIAs, are less effective than previously suggested under realistic conditions, and that reliable privacy auditing requires evaluation protocols that reflect practical training practices, feasible attacker assumptions, and reproducibility considerations. Code is available at https://github.com/najeebjebreel/lira_analysis.
Constraints Matrix Diffusion based Generative Neural Solver for Vehicle Routing Problems
Venue: arXiv cs.LG 2026
Year: 2026

Over the past decade, neural network solvers powered by generative artificial intelligence have garnered significant attention in the domain of vehicle routing problems (VRPs), owing to their exceptional computational efficiency and superior reasoning capabilities. In particular, autoregressive solvers integrated with reinforcement learning have emerged as a prominent trend. However, much of the existing work emphasizes large-scale generalization of neural approaches while neglecting the limited robustness of attention-based methods across heterogeneous distributions of problem parameters. Their improvements over heuristic search remain largely restricted to hand-curated, fixed-distribution benchmarks. Furthermore, these architectures tend to degrade significantly when node representations are highly similar or when tasks involve long decision horizons. To address the aforementioned limitations, we propose a novel fusion neural network framework that employs a discrete noise graph diffusion model to learn the underlying constraints of vehicle routing problems and generate a constraint assignment matrix. This matrix is subsequently integrated adaptively into the feature representation learning and decision process of the autoregressive solver, serving as a graph structure mask that facilitates the formation of solutions characterized by both global vision and local feature integration. To the best of our knowledge, this work represents the first comprehensive experimental investigation of neural network model solvers across a 378-combinatorial space spanning four distinct dimensions within the CVRPlib public dataset. Extensive experimental evaluations demonstrate that our proposed fusion model effectively captures and leverages problem constraints, achieving state-of-the-art performance across multiple benchmark datasets.
KCoEvo: A Knowledge Graph Augmented Framework for Evolutionary Code Generation
Venue: arXiv cs.SE 2026
Year: 2026

Code evolution is inevitable in modern software development. Changes to third-party APIs frequently break existing code and complicate maintenance, posing practical challenges for developers. While large language models (LLMs) have shown promise in code generation, they struggle to reason without a structured representation of these evolving relationships, often leading them to produce outdated APIs or invalid outputs. In this work, we propose a knowledge graph-augmented framework that decomposes the migration task into two synergistic stages: evolution path retrieval and path-informed code generation. Our approach constructs static and dynamic API graphs to model intra-version structures and cross-version transitions, enabling structured reasoning over API evolution. Both modules are trained with synthetic supervision automatically derived from real-world API diffs, ensuring scalability and minimal human effort. Extensive experiments across single-package and multi-package benchmarks demonstrate that our framework significantly improves migration accuracy, controllability, and execution success over standard LLM baselines. The source code and datasets are available at: https://github.com/kangjz1203/KCoEvo.
Analysis-Driven Procedural Generation of an Engine Sound Dataset with Embedded Control Annotations
Venue: arXiv cs.SD 2026
Year: 2026

Computational engine sound modeling is central to the automotive audio industry, particularly for active sound design, virtual prototyping, and emerging data-driven engine sound synthesis methods. These applications require large volumes of standardized, clean audio recordings with precisely time-aligned operating-state annotations: data that is difficult to obtain due to high costs, specialized measurement equipment requirements, and inevitable noise contamination. We present an analysis-driven framework for generating engine audio with sample-accurate control annotations. The method extracts harmonic structures from real recordings through pitch-adaptive spectral analysis, which then drive an extended parametric harmonic-plus-noise synthesizer. With this framework, we generate the Procedural Engine Sounds Dataset (19 hours, 5,935 files), a set of engine audio signals with sample-accurate RPM and torque annotations, spanning a wide range of operating conditions, signal complexities, and harmonic profiles. Comparison against real recordings validates that the synthesized data preserves characteristic harmonic structures, and baseline experiments confirm its suitability for learning-based parameter estimation and synthesis tasks. The dataset is released publicly to support research on engine timbre analysis, control parameter estimation, acoustic modeling and neural generative networks.
KohakuRAG: A simple RAG framework with hierarchical document indexing
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval-augmented generation (RAG) systems that answer questions from document collections face compounding difficulties when high-precision citations are required: flat chunking strategies sacrifice document structure, single-query formulations miss relevant passages through vocabulary mismatch, and single-pass inference produces stochastic answers that vary in both content and citation selection. We present KohakuRAG, a hierarchical RAG framework that preserves document structure through a four-level tree representation (document $\rightarrow$ section $\rightarrow$ paragraph $\rightarrow$ sentence) with bottom-up embedding aggregation, improves retrieval coverage through an LLM-powered query planner with cross-query reranking, and stabilizes answers through ensemble inference with abstention-aware voting. We evaluate on the WattBot 2025 Challenge, a benchmark requiring systems to answer technical questions from 32 documents with $\pm$0.1% numeric tolerance and exact source attribution. KohakuRAG achieves first place on both public and private leaderboards (final score 0.861), as the only team to maintain the top position across both evaluation partitions. Ablation studies reveal that prompt ordering (+80% relative), retry mechanisms (+69%), and ensemble voting with blank filtering (+1.2pp) each contribute substantially, while hierarchical dense retrieval alone matches hybrid sparse-dense approaches (BM25 adds only +3.1pp). We release KohakuRAG as open-source software at https://github.com/KohakuBlueleaf/KohakuRAG.
SMAT: Staged Multi-Agent Training for Co-Adaptive Exoskeleton Control
Venue: arXiv cs.RO 2026
Year: 2026

Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly account for the sequential nature of human motor adaptation, leading to training instability and poorly timed assistance. We propose Staged Multi-Agent Training (SMAT), a four-stage curriculum designed to mirror how users naturally acclimate to a wearable device. In SMAT, a musculoskeletal human actor and a bilateral hip exoskeleton actor are trained progressively: the human first learns unassisted gait, then adapts to the added device mass; the exoskeleton subsequently learns a positive assistance pattern against a stabilized human policy, and finally both agents co-adapt with full torque capacity and bidirectional feedback. We implement SMAT in the MyoAssist simulation environment using a 26-muscle lower-limb model and an attached hip exoskeleton. Our musculoskeletal simulations demonstrate that the learned exoskeleton control policy produces an average 10.1% reduction in hip muscle activation relative to the no-assist condition. We validated the learned controller in an offline setting using open-source gait data, then deployed it to a physical hip exoskeleton for treadmill experiments with five subjects. The resulting policy delivers consistent assistance and predominantly positive mechanical power without the need for any explicitly imposed timing shift (mean positive power: 13.6 W at 6 Nm RMS torque to 23.8 W at 9.3 Nm RMS torque, with minimal negative power) consistently across all subjects without subject-specific retraining.
Accelerating Diffusion Models for Generative AI Applications with Silicon Photonics
Venue: arXiv cs.AR 2026
Year: 2026

Diffusion models have revolutionized generative AI, with their inherent capacity to generate highly realistic state-of-the-art synthetic data. However, these models employ an iterative denoising process over computationally intensive layers such as UNets and attention mechanisms. This results in high inference energy on conventional electronic platforms, and thus, there is an emerging need to accelerate these models in a sustainable manner. To address this challenge, we present a novel silicon photonics-based accelerator for diffusion models. Experimental evaluations demonstrate that our photonic accelerator achieves at least 3x better energy efficiency and 5.5x throughput improvement compared to state-of-the-art diffusion model accelerators.
Helix: Evolutionary Reinforcement Learning for Open-Ended Scientific Problem Solving
Venue: arXiv cs.LG 2026
Year: 2026

Large language models (LLMs) with reasoning abilities have demonstrated growing promise for tackling complex scientific problems. Yet such tasks are inherently domain-specific, unbounded and open-ended, demanding exploration across vast and flexible solution spaces. Existing approaches, whether purely learning-based or reliant on carefully designed workflows, often suffer from limited exploration efficiency and poor generalization. To overcome these challenges, we present HELIX -- a Hierarchical Evolutionary reinforcement Learning framework with In-context eXperiences. HELIX introduces two key novelties: (i) a diverse yet high-quality pool of candidate solutions that broadens exploration through in-context learning, and (ii) reinforcement learning for iterative policy refinement that progressively elevates solution quality. This synergy enables the discovery of more advanced solutions. On the circle packing task, HELIX achieves state-of-the-art result with a sum of radii of 2.63598308 using only a 14B model. Across standard machine learning benchmarks, HELIX further surpasses GPT-4o with a carefully engineered pipeline, delivering an average F1 improvement of 5.95 points on the Adult and Bank Marketing datasets.