OpenRaiser/Intern-Atlas huggingface dataset:
Axial-Centric Cross-Plane Attention for 3D Medical Image Classification
Venue: arXiv cs.CV 2026
Year: 2026

Clinicians commonly interpret three-dimensional (3D) medical images, such as computed tomography (CT) scans, using multiple anatomical planes rather than as a single volumetric representation. In this multi-planar approach, the axial plane typically serves as the primary acquisition and diagnostic reference, while the coronal and sagittal planes provide complementary spatial information to increase diagnostic confidence. However, many existing 3D deep learning methods either process volumetric data holistically or assign equal importance to all planes, failing to reflect the axial-centric clinical interpretation workflow. To address this gap, we propose an axial-centric cross-plane attention architecture for 3D medical image classification that captures the inherent asymmetric dependencies between different anatomical planes. Our architecture incorporates MedDINOv3, a medical vision foundation model pretrained via self-supervised learning on large-scale axial CT images, as a frozen feature extractor for the axial, coronal, and sagittal planes. RICA blocks and intra-plane transformer encoders capture plane-specific positional and contextual information within each anatomical plane, while axial-centric cross-plane transformer encoders condition axial features on complementary information from auxiliary planes. Experimental results on six datasets from the MedMNIST3D benchmark demonstrate that the proposed architecture consistently outperforms existing 3D and multi-plane models in terms of accuracy and AUC. Ablation studies further confirm the importance of axial-centric query-key-value allocation and directional cross-plane fusion. These results highlight the importance of aligning architectural design with clinical interpretation workflows for robust and data-efficient 3D medical image analysis.
CARE: A Molecular-Guided Foundation Model with Adaptive Region Modeling for Whole Slide Image Analysis
Venue: arXiv cs.CV 2026
Year: 2026

Foundation models have recently achieved impressive success in computational pathology, demonstrating strong generalization across diverse histopathology tasks. However, existing models overlook the heterogeneous and non-uniform organization of pathological regions of interest (ROIs) because they rely on natural image backbones not tailored for tissue morphology. Consequently, they often fail to capture the coherent tissue architecture beyond isolated patches, limiting interpretability and clinical relevance. To address these challenges, we present Cross-modal Adaptive Region Encoder (CARE), a foundation model for pathology that automatically partitions WSIs into several morphologically relevant regions. Specifically, CARE employs a two-stage pretraining strategy: (1) a self-supervised unimodal pretraining stage that learns morphological representations from 34,277 whole-slide images (WSIs) without segmentation annotations, and (2) a cross-modal alignment stage that leverages RNA and protein profiles to refine the construction and representation of adaptive regions. This molecular guidance enables CARE to identify biologically relevant patterns and generate irregular yet coherent tissue regions, selecting the most representative area as ROI. CARE supports a broad range of pathology-related tasks, using either the ROI feature or the slide-level feature obtained by aggregating adaptive regions. Based on only one-tenth of the pretraining data typically used by mainstream foundation models, CARE achieves superior average performance across 33 downstream benchmarks, including morphological classification, molecular prediction, and survival analysis, and outperforms other foundation model baselines overall.
DAGS-SLAM: Dynamic-Aware 3DGS SLAM via Spatiotemporal Motion Probability and Uncertainty-Aware Scheduling
Venue: arXiv cs.RO 2026
Year: 2026

Mobile robots and IoT devices demand real-time localization and dense reconstruction under tight compute and energy budgets. While 3D Gaussian Splatting (3DGS) enables efficient dense SLAM, dynamic objects and occlusions still degrade tracking and mapping. Existing dynamic 3DGS-SLAM often relies on heavy optical flow and per-frame segmentation, which is costly for mobile deployment and brittle under challenging illumination. We present DAGS-SLAM, a dynamic-aware 3DGS-SLAM system that maintains a spatiotemporal motion probability (MP) state per Gaussian and triggers semantics on demand via an uncertainty-aware scheduler. DAGS-SLAM fuses lightweight YOLO instance priors with geometric cues to estimate and temporally update MP, propagates MP to the front-end for dynamic-aware correspondence selection, and suppresses dynamic artifacts in the back-end via MP-guided optimization. Experiments on public dynamic RGB-D benchmarks show improved reconstruction and robust tracking while sustaining real-time throughput on a commodity GPU, demonstrating a practical speed-accuracy tradeoff with reduced semantic invocations toward mobile deployment.
Scalable Multilingual Multimodal Machine Translation with Speech-Text Fusion
Venue: arXiv cs.CL 2026
Year: 2026

Multimodal Large Language Models (MLLMs) have achieved notable success in enhancing translation performance by integrating multimodal information. However, existing research primarily focuses on image-guided methods, whose applicability is constrained by the scarcity of multilingual image-text pairs. The speech modality overcomes this limitation due to its natural alignment with text and the abundance of existing speech datasets, which enable scalable language coverage. In this paper, we propose a Speech-guided Machine Translation (SMT) framework that integrates speech and text as fused inputs into an MLLM to improve translation quality. To mitigate reliance on low-resource data, we introduce a Self-Evolution Mechanism. The core components of this framework include a text-to-speech model, responsible for generating synthetic speech, and an MLLM capable of classifying synthetic speech samples and iteratively optimizing itself using positive samples. Experimental results demonstrate that our framework surpasses all existing methods on the Multi30K multimodal machine translation benchmark, achieving new state-of-the-art results. Furthermore, on general machine translation datasets, particularly the FLORES-200, it achieves average state-of-the-art performance in 108 translation directions. Ablation studies on CoVoST-2 confirms that differences between synthetic and authentic speech have negligible impact on translation quality. The code and models are released at https://github.com/yxduir/LLM-SRT.
Following the Diagnostic Trace: Visual Cognition-guided Cooperative Network for Chest X-Ray Diagnosis
Venue: arXiv cs.CV 2026
Year: 2026

Computer-aided diagnosis (CAD) has significantly advanced automated chest X-ray diagnosis but remains isolated from clinical workflows and lacks reliable decision support and interpretability. Human-AI collaboration seeks to enhance the reliability of diagnostic models by integrating the behaviors of controllable radiologists. However, the absence of interactive tools seamlessly embedded within diagnostic routines impedes collaboration, while the semantic gap between radiologists' decision-making patterns and model representations further limits clinical adoption. To overcome these limitations, we propose a visual cognition-guided collaborative network (VCC-Net) to achieve the cooperative diagnostic paradigm. VCC-Net centers on visual cognition (VC) and employs clinically compatible interfaces, such as eye-tracking or the mouse, to capture radiologists' visual search traces and attention patterns during diagnosis. VCC-Net employs VC as a spatial cognition guide, learning hierarchical visual search strategies to localize diagnostically key regions. A cognition-graph co-editing module subsequently integrates radiologist VC with model inference to construct a disease-aware graph. The module captures dependencies among anatomical regions and aligns model representations with VC-driven features, mitigating radiologist bias and facilitating complementary, transparent decision-making. Experiments on the public datasets SIIM-ACR, EGD-CXR, and self-constructed TB-Mouse dataset achieved classification accuracies of 88.40%, 85.05%, and 92.41%, respectively. The attention maps produced by VCC-Net exhibit strong concordance with radiologists' gaze distributions, demonstrating a mutual reinforcement of radiologist and model inference. The code is available at https://github.com/IPMI-NWU/VCC-Net.
Hierarchical LLM-Based Multi-Agent Framework with Prompt Optimization for Multi-Robot Task Planning
Venue: arXiv cs.RO 2026
Year: 2026

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to handle ambiguous or long-horizon missions, while large language models (LLMs) can interpret instructions and propose plans but may hallucinate or produce infeasible actions. We present a hierarchical multi-agent LLM-based planner with prompt optimization: an upper layer decomposes tasks and assigns them to lower-layer agents, which generate PDDL problems solved by a classical planner. When plans fail, the system applies TextGrad-inspired textual-gradient updates to optimize each agent's prompt and thereby improve planning accuracy. In addition, meta-prompts are learned and shared across agents within the same layer, enabling efficient prompt optimization in multi-agent settings. On the MAT-THOR benchmark, our planner achieves success rates of 0.95 on compound tasks, 0.84 on complex tasks, and 0.60 on vague tasks, improving over the previous state-of-the-art LaMMA-P by 2, 7, and 15 percentage points respectively. An ablation study shows that the hierarchical structure, prompt optimization, and meta-prompt sharing contribute roughly +59, +37, and +4 percentage points to the overall success rate.
From Specialist to Large Models: A Paradigm Evolution Towards Semantic-Aware MIMO
Venue: arXiv cs.IT 2026
Year: 2026

The sixth generation (6G) network is expected to deploy larger multiple-input multiple-output (MIMO) arrays to support massive connectivity, which will increase overhead and latency at the physical layer. Meanwhile, emerging 6G demands such as immersive communications and environmental sensing pose challenges to traditional signal processing. To address these issues, we propose the ``semantic-aware MIMO'' paradigm, which leverages specialist models and large models to perceive, utilize, and fuse the inherent semantics of channels and sources for improved performance. Moreover, for representative MIMO physical-layer tasks, e.g., random access activity detection, channel feedback, and precoding, we design specialist models that exploit channel and source semantics for better performance. Additionally, in view of the more diversified functions of 6G MIMO, we further explore large models as a scalable solution for multi-task semantic-aware MIMO and review recent advances along with their advantages and limitations. Finally, we discuss the challenges, insights, and prospects of the evolution of specialist models and large models empowered semantic-aware MIMO paradigms.
SunnyParking: Multi-Shot Trajectory Generation and Motion State Awareness for Human-like Parking
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous parking fundamentally differs from on-road driving due to its frequent direction changes and complex maneuvering requirements. However, existing End-to-End (E2E) planning methods often simplify the parking task into a geometric path regression problem, neglecting explicit modeling of the vehicle's kinematic state. This "dimensionality deficiency" easily leads to physically infeasible trajectories and deviates from real human driving behavior, particularly at critical gear-shift points in multi-shot parking scenarios. In this paper, we propose SunnyParking, a novel dual-branch E2E architecture that achieves motion state awareness by jointly predicting spatial trajectories and discrete motion state sequences (e.g., forward/reverse). Additionally, we introduce a Fourier feature-based representation of target parking slots to overcome the resolution limitations of traditional bird's-eye view (BEV) approaches, enabling high-precision target interactions. Experimental results demonstrate that our framework generates more robust and human-like trajectories in complex multi-shot parking scenarios, while significantly improving gear-shift point localization accuracy compared to state-of-the-art methods. We open-source a new parking dataset of the CARLA simulator, specifically designed to evaluate full prediction capabilities under complex maneuvers.
Maximal Biclique Enumeration with Improved Worst-Case Time Complexity Guarantee: A Partition-Oriented Strategy
Venue: arXiv cs.DS 2026
Year: 2026

The maximal biclique enumeration problem in bipartite graphs is fundamental and has numerous applications in E-commerce and transaction networks. Most existing studies adopt a branch-and-bound framework, which recursively expands a partial biclique with a vertex until no further vertices can be added. Equipped with a basic pivot selection strategy, all state-of-the-art methods have a worst-case time complexity no better than $O(m\cdot (\sqrt{2})^n)$}, where $m$ and $n$ are the number of edges and vertices in the graph, respectively. In this paper, we introduce a new branch-and-bound (BB) algorithm \texttt{IPS}. In \texttt{IPS}, we relax the strict stopping criterion of existing methods by allowing termination when all maximal bicliques within the current branch can be outputted in the time proportional to the number of maximal bicliques inside, reducing the total number of branches required. Second, to fully unleash the power of the new termination condition, we propose an improved pivot selection strategy, which well aligns with the new termination condition to achieve better theoretical and practical performance. Formally, \texttt{IPS} improves the worst-case time complexity to $O(m\cdot α^n + n\cdot β)$, where $α(\approx 1.3954)$ is the largest positive root of $x^4-2x-1=0$ and $β$ represents the number of maximal bicliques in the graph, respectively. This result surpasses that of all existing algorithms given that $α$ is strictly smaller than $\sqrt{2}$ and $β$ is at most $(\sqrt{2})^n-2$ theoretically. Furthermore, we apply an inclusion-exclusion-based framework to boost the performance of \texttt{IPS}, improving the worst-case time complexity to $O(n\cdot γ^2\cdotα^γ+ γ\cdot β)$ for large sparse graphs ($γ$ is a parameter satisfying $γ\ll n$ for sparse graphs).
Brain Tumor Segmentation with Special Emphasis on the Non-Enhancing Brain Tumor Compartment
Venue: arXiv cs.CV 2026
Year: 2026

A U-Net based deep learning architecture is designed to segment brain tumors as they appear on various MRI modalities. Special emphasis is lent to the non-enhancing tumor compartment. The latter has not been considered anymore in recent brain tumor segmentation challenges like the MICCAI challenges. However, it is considered to be indicative of the survival time of the patient as well as of areas of further tumor growth. Hence it deems essential to have means to automatically delineate its extension within the tumor.
Assessing airborne laser scanning and aerial photogrammetry for deep learning-based stand delineation
Venue: arXiv cs.CV 2026
Year: 2026

Accurate forest stand delineation is essential for forest inventory and management but remains a largely manual and subjective process. A recent study has shown that deep learning can produce stand delineations comparable to expert interpreters when combining aerial imagery and airborne laser scanning (ALS) data. However, temporal misalignment between data sources limits operational scalability. Canopy height models (CHMs) derived from digital photogrammetry (DAP) offer better temporal alignment but may smoothen canopy surface and canopy gaps, raising the question of whether they can reliably replace ALS-derived CHMs. Similarly, the inclusion of a digital terrain model (DTM) has been suggested to improve delineation performance, but has remained untested in published literature. Using expert-delineated forest stands as reference data, we assessed a U-Net-based semantic segmentation framework with municipality-level cross-validation across six municipalities in southeastern Norway. We compared multispectral aerial imagery combined with (i) an ALS-derived CHM, (ii) a DAP-derived CHM, and (iii) a DAP-derived CHM in combination with a DTM. Results showed comparable performance across all data combinations, reaching overall accuracy values between 0.90-0.91. Agreement between model predictions was substantially larger than agreement with the reference data, highlighting both model consistency and the inherent subjectivity of stand delineation. The similar performance of DAP-CHMs, despite the reduced structural detail, and the lack of improvements of the DTM indicate that the framework is resilient to variations in input data. These findings indicate that large datasets for deep learning-based stand delineations can be assembled using projects including temporally aligned ALS data and DAP point clouds.
Enhancing Multi-Modal LLMs Reasoning via Difficulty-Aware Group Normalization
Venue: arXiv cs.CV 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards (RLVR) and Group Relative Policy Optimization (GRPO) have significantly advanced the reasoning capabilities of large language models. Extending these methods to multimodal settings, however, faces a critical challenge: the instability of std-based normalization, which is easily distorted by extreme samples with nearly positive or negative rewards. Unlike pure-text LLMs, multimodal models are particularly sensitive to such distortions, as both perceptual and reasoning errors influence their responses. To address this, we characterize each sample by its difficulty, defined through perceptual complexity (measured via visual entropy) and reasoning uncertainty (captured by model confidence). Building on this characterization, we propose difficulty-aware group normalization (Durian), which re-groups samples by difficulty levels and shares the std within each group. Our approach preserves GRPO's intra-group distinctions while eliminating sensitivity to extreme cases, yielding significant performance gains across multiple multimodal reasoning benchmarks.
UniWhisper: Efficient Continual Multi-task Training for Robust Universal Audio Representation
Venue: arXiv cs.SD 2026
Year: 2026

A universal audio representation should capture fine-grained speech cues and high-level semantics for environmental sounds and music in a single encoder. Existing encoders often excel in one domain but degrade in others. We propose UniWhisper, an efficient continual multi-task training framework that casts heterogeneous audio tasks into a unified instruction and answer format. This enables standard next-token training without task-specific heads and losses. We train it on 38k hours of public audio and assess the encoder using shallow MLP probes and k-nearest neighbors (kNN) on 20 tasks spanning speech, environmental sound, and music. UniWhisper reaches normalized weighted averages of 0.81 with MLP probes and 0.61 with kNN, compared to 0.64 and 0.46 for Whisper, while retaining strong speech performance.
Therapist-Robot-Patient Physical Interaction is Worth a Thousand Words: Enabling Intuitive Therapist Guidance via Remote Haptic Control
Venue: arXiv cs.RO 2026
Year: 2026

Robotic systems can enhance the amount and repeatability of physically guided motor training. Yet their real-world adoption is limited, partly due to non-intuitive trainer/therapist-trainee/patient interactions. To address this gap, we present a haptic teleoperation system for trainers to remotely guide and monitor the movements of a trainee wearing an arm exoskeleton. The trainer can physically interact with the exoskeleton through a commercial handheld haptic device via virtual contact points at the exoskeleton's elbow and wrist, allowing intuitive guidance. Thirty-two participants tested the system in a trainer-trainee paradigm, comparing our haptic demonstration system with conventional visual demonstration in guiding trainees in executing arm poses. Quantitative analyses showed that haptic demonstration significantly reduced movement completion time and improved smoothness, while speech analysis using large language models for automated transcription and categorization of verbal commands revealed fewer verbal instructions. The haptic demonstration did not result in higher reported mental and physical effort by trainers compared to the visual demonstration, while trainers reported greater competence and trainees lower physical demand. These findings support the feasibility of our proposed interface for effective remote human-robot physical interaction. Future work should assess its usability and efficacy for clinical populations in restoring clinicians' sense of agency during robot-assisted therapy.
D-COT: Disciplined Chain-of-Thought Learning for Efficient Reasoning in Small Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Chain-of-Thought (CoT) distillation from Large Language Models (LLMs) often induces "overthinking" in Small Language Models (SLMs), leading to performance degradation and excessive token consumption. In this study, we propose Disciplined Chain-of-Thought (D-CoT), a novel framework that enforces a structured reasoning process using control tags -- such as <TEMP_LOW> for fact-checking and <TEMP_HIGH> for multi-perspective exploration -- as auxiliary scaffolding during training. By optimizing the CoT trajectory, D-CoT suppresses reasoning drift and simultaneously achieves token reduction and performance improvement. We demonstrate the efficacy of our approach on Qwen3-8B: with only 5,000 training samples, D-CoT significantly boosts accuracy on GPQA-diamond by 9.9% and MMLU-Pro (0-shot) by 9.1%, while drastically reducing computational costs. Furthermore, we confirm that the model internalizes this disciplined thought structure, maintaining high performance even without explicit control tags during inference.
Delayed-Clairvoyant Flow Time Scheduling via a Borrow Graph Analysis
Venue: arXiv cs.DS 2026
Year: 2026

We study the problem of preemptively scheduling jobs online over time on a single machine to minimize the total flow time. In the traditional clairvoyant scheduling model, the scheduler learns about the processing time of a job at its arrival, and scheduling at any time the job with the shortest remaining processing time (SRPT) is optimal. In contrast, the practically relevant non-clairvoyant model assumes that the processing time of a job is unknown at its arrival, and is only revealed when it completes. Non-clairvoyant flow time minimization does not admit algorithms with a constant competitive ratio. Consequently, the problem has been studied under speed augmentation (JACM'00) or with predicted processing times (STOC'21, SODA'22) to attain constant guarantees. In this paper, we consider $α$-clairvoyant scheduling, where the scheduler learns the processing time of a job once it completes an $α$-fraction of its processing time. This naturally interpolates between clairvoyant scheduling ($α=0$) and non-clairvoyant scheduling ($α=1$). By elegantly fusing two traditional algorithms, we propose a scheduling rule with a competitive ratio of $\mathcal{O}(\frac{1}{1-α})$ whenever $0 \leq α< 1$. As $α$ increases, our competitive guarantee transitions nicely (up to constants) between the previously established bounds for clairvoyant and non-clairvoyant flow time minimization. We complement this positive result with a tight randomized lower bound.