OpenRaiser/Intern-Atlas huggingface dataset:
Query-Efficient Locally Private Hypothesis Selection via the Scheffe Graph
Venue: arXiv cs.DS 2026
Year: 2026

We propose an algorithm with improved query-complexity for the problem of hypothesis selection under local differential privacy constraints. Given a set of $k$ probability distributions $Q$, we describe an algorithm that satisfies local differential privacy, performs $\tilde{O}(k^{3/2})$ non-adaptive queries to individuals who each have samples from a probability distribution $p$, and outputs a probability distribution from the set $Q$ which is nearly the closest to $p$. Previous algorithms required either $Ω(k^2)$ queries or many rounds of interactive queries. Technically, we introduce a new object we dub the Scheffé graph, which captures structure of the differences between distributions in $Q$, and may be of more broad interest for hypothesis selection tasks.
VaseVQA: Multimodal Agent and Benchmark for Ancient Greek Pottery
Venue: arXiv cs.CV 2026
Year: 2026

Understanding cultural heritage artifacts such as ancient Greek pottery requires expert-level reasoning that remains challenging for current MLLMs due to limited domain-specific data. We introduce VaseVQA, a benchmark of 31,773 images and 67,614 question-answer pairs across seven expert-defined categories, enabling systematic evaluation of expert-level cultural heritage understanding. Using this dataset, we explore effective training strategies for domain-specific reasoning. While supervised fine-tuning improves adaptation to domain knowledge, it struggles with deeper reasoning tasks. We propose VaseVL, which augments SFT with reinforcement learning using verifiable rewards. Experiments show that VaseVL consistently outperforms supervised baselines, especially on reasoning-intensive questions, highlighting the value of targeted reinforcement learning for cultural heritage visual question answering. Our code and dataset will be released at https://github.com/AIGeeksGroup/VaseVQA.
OpenGVL -- Benchmarking Visual Temporal Progress for Data Curation
Venue: arXiv cs.RO 2026
Year: 2026

Data scarcity remains one of the most limiting factors in driving progress in robotics. However, the amount of available robotics data in the wild is growing exponentially, creating new opportunities for large-scale data utilization. Reliable temporal task completion prediction could help automatically annotate and curate this data at scale. The Generative Value Learning (GVL) approach was recently proposed, leveraging the knowledge embedded in vision-language models (VLMs) to predict task progress from visual observations. Building upon GVL, we propose OpenGVL, a comprehensive benchmark for estimating task progress across diverse challenging manipulation tasks involving both robotic and human embodiments. We evaluate the capabilities of publicly available open-source foundation models, showing that open-source model families significantly underperform closed-source counterparts, achieving only approximately $70\%$ of their performance on temporal progress prediction tasks. Furthermore, we demonstrate how OpenGVL can serve as a practical tool for automated data curation and filtering, enabling efficient quality assessment of large-scale robotics datasets. We release the benchmark along with the complete codebase at \href{github.com/budzianowski/opengvl}{OpenGVL}.
Deep Hierarchical Learning with Nested Subspace Networks for Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Large neural networks are typically trained for a fixed computational budget, creating a rigid trade-off between performance and efficiency that is ill-suited for deployment in resource-constrained or dynamic environments. Existing approaches to this problem present a difficult choice: training a discrete collection of specialist models is computationally prohibitive, while dynamic methods like slimmable networks often lack the flexibility to be applied to large, pre-trained foundation models. In this work, we propose Nested Subspace Networks (NSNs), a novel architectural paradigm that enables a single model to be dynamically and granularly adjusted across a continuous spectrum of compute budgets at inference time. The core of our approach is to re-parameterize linear layers to satisfy a nested subspace property, such that the function computed at a given rank is a strict subspace of the function at any higher rank. We show that this entire hierarchy of models can be optimized jointly via an uncertainty-aware objective that learns to balance the contributions of different ranks based on their intrinsic difficulty. We demonstrate empirically that NSNs can be surgically applied to pre-trained LLMs and unlock a smooth and predictable compute-performance frontier. For example, a single NSN-adapted model can achieve a 50% reduction in inference FLOPs with only a 5 percentage point loss in accuracy. Our findings establish NSNs as a powerful framework for creating the next generation of adaptive foundation models.
Spiffy: Multiplying Diffusion LLM Acceleration via Lossless Speculative Decoding
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion LLMs (dLLMs) have recently emerged as a powerful alternative to autoregressive LLMs (AR-LLMs) with the potential to operate at significantly higher token generation rates. However, currently available open-source dLLMs often generate at much lower rates, typically decoding only a single token at every denoising timestep in order to maximize output quality. We present Spiffy, a speculative decoding algorithm that accelerates dLLM inference by $\mathbf{2.8{-}3.1\times}$ while provably preserving the model's output distribution. This work addresses the unique challenges involved in applying ideas from speculative decoding of AR-LLMs to the dLLM setting. Spiffy proposes draft states by leveraging the dLLM's distribution itself in an auto-speculative manner. This approach is efficient and effective, and eliminates the overheads of training and running an independent draft model. To structure the candidate draft states, we propose a novel directed draft graph which is uniquely designed to take advantage of the bidirectional, block-wise nature of dLLM generation and can be verified in parallel by the dLLM. To further optimize the structure of these draft graphs, we introduce an efficient, offline calibration algorithm that procedurally determines high-quality graph configurations. These optimized draft graphs, enabling increased acceptance rates, lead to a significant boost in the overall speedup achieved by the system. Crucially, Spiffy is also complementary to other recent innovations in improving dLLM generation speeds such as KV-caching and multi-token unmasking. We demonstrate that when combined with such parallel decoding algorithms, Spiffy is able to effectively multiply the benefits of these methods leading to total speedups of up to $\mathbf{7.9\times}$.
Randomness and signal propagation in physics-informed neural networks (PINNs): A neural PDE perspective
Venue: arXiv cs.LG 2026
Year: 2026

Physics-informed neural networks (PINNs) often exhibit weight matrices that appear statistically random after training, yet their implications for signal propagation and stability remain unsatisfactorily understood, let alone the interpretability. In this work, we analyze the spectral and statistical properties of trained PINN weights using viscous and inviscid variants of the one-dimensional Burgers' equation, and show that the learned weights reside in a high-entropy regime consistent with predictions from random matrix theory. To investigate the dynamical consequences of such weight structures, we study the evolution of signal features inside a network through the lens of neural partial differential equations (neural PDEs). We show that random and structured weight matrices can be associated with specific discretizations of neural PDEs, and that the numerical stability of these discretizations governs the stability of signal propagation through the network. In particular, explicit unstable schemes lead to degraded signal evolution, whereas stable implicit and higher-order schemes yield well-behaved dynamics for the same underlying neural PDE. Our results offer an explicit example of how numerical stability and network architecture shape signal propagation in deep networks, in relation to random matrix and neural PDE descriptions in PINNs.
SDGF: Fusing Static and Multi-Scale Dynamic Correlations for Multivariate Time Series Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Accurate multivariate time series forecasting hinges on inter-series correlations, which often evolve in complex ways across different temporal scales. Existing methods are limited in modeling these multi-scale dependencies and struggle to capture their intricate and evolving nature. To address this challenge, this paper proposes a novel Static-Dynamic Graph Fusion network (SDGF), whose core lies in capturing multi-scale inter-series correlations through a dual-path graph structure learning approach. Specifically, the model utilizes a static graph based on prior knowledge to anchor long-term, stable dependencies, while concurrently employing Multi-level Wavelet Decomposition to extract multi-scale features for constructing an adaptively learned dynamic graph to capture associations at different scales. We design an attention-gated module to fuse these two complementary sources of information intelligently, and a multi-kernel dilated convolutional network is then used to deepen the understanding of temporal patterns. Comprehensive experiments on multiple widely used real-world benchmark datasets demonstrate the effectiveness of our proposed model. Code is available at https://github.com/shaoxun6033/SDGFNet.
CoRaCMG: Contextual Retrieval-Augmented Framework for Commit Message Generation
Venue: arXiv cs.SE 2026
Year: 2026

Commit messages play a key role in documenting the intent behind code changes. However, they are often low-quality, vague, or incomplete, limiting their usefulness. Commit Message Generation (CMG) aims to automatically generate descriptive commit messages from code diffs to reduce developers' effort and improve message quality. Although recent advances in LLMs have shown promise in automating CMG, their performance remains limited. This paper aims to enhance CMG performance by retrieving similar diff-message pairs to guide LLMs to generate commit messages that are more precise and informative. We proposed CoRaCMG, a Contextual Retrieval-augmented framework for Commit Message Generation, structured in three phases: (1) Retrieve: retrieving the similar diff-message pairs; (2) Augment: combining them with the query diff into a structured prompt; and (3) Generate: generating commit messages corresponding to the query diff via LLMs. CoRaCMG enables LLMs to learn project-specific terminologies and writing styles from the retrieved diff-message pairs. We evaluated CoRaCMG across multiple LLMs (e.g., GPT, DeepSeek, and Qwen) and compared its performance against SOTA baselines. Experimental results show that CoRaCMG significantly boosts LLM performance across four metrics (BLEU, Rouge-L, METEOR, and CIDEr). Specifically, DeepSeek-R1 achieves relative improvements of 76% in BLEU and 71% in CIDEr when augmented with a single retrieved example pair. After incorporating the single example pair, GPT-4o achieves the highest improvement rate, with BLEU increasing by 89%. Moreover, performance gains plateau after more than three examples are used, indicating diminishing returns. Further analysis shows that the improvements are attributed to the model's ability to capture the terminologies and writing styles of human-written commit messages from the retrieved example pairs.
SEGA: A Transferable Signed Ensemble Gaussian Black-Box Attack against No-Reference Image Quality Assessment Models
Venue: arXiv cs.CV 2026
Year: 2026

No-Reference Image Quality Assessment (NR-IQA) models play an important role in various real-world applications. Recently, adversarial attacks against NR-IQA models have attracted increasing attention, as they provide valuable insights for revealing model vulnerabilities and guiding robust system design. Some effective attacks have been proposed against NR-IQA models in white-box settings, where the attacker has full access to the target model. However, these attacks often suffer from poor transferability to unknown target models in more realistic black-box scenarios, where the target model is inaccessible. This work makes the first attempt to address the challenge of low transferability in attacking NR-IQA models by proposing a transferable Signed Ensemble Gaussian black-box Attack (SEGA). The main idea is to approximate the gradient of the target model by applying Gaussian smoothing to source models and ensembling their smoothed gradients. To ensure the imperceptibility of adversarial perturbations, SEGA further removes inappropriate perturbations using a specially designed perturbation filter mask. Experimental results on the CLIVE dataset demonstrate the superior transferability of SEGA, validating its effectiveness in enabling successful transfer-based black-box attacks against NR-IQA models.
MVT: Mask-Grounded Vision-Language Models for Taxonomy-Aligned Land-Cover Tagging
Venue: arXiv cs.CV 2026
Year: 2026

Land-cover understanding in remote sensing increasingly demands class-agnostic systems that generalize across datasets while remaining spatially precise and interpretable. We study a geometry-first discovery-and-interpretation setting under domain shift, where candidate regions are delineated class-agnostically and supervision avoids lexical class names via anonymized identifiers. Complementary to open-set recognition and open-world learning, we focus on coupling class-agnostic mask evidence with taxonomy-grounded scene interpretation, rather than unknown rejection or continual class expansion. We propose MVT, a three-stage framework that (i) extracts boundary-faithful region masks using SAM2 with domain adaptation, (ii) performs mask-grounded semantic tagging and scene description generation via dual-step LoRA fine-tuning of multimodal LLMs, and (iii) evaluates outputs with LLM-as-judge scoring calibrated by stratified expert ratings. On cross-dataset segmentation transfer (train on OpenEarthMap, evaluate on LoveDA), domain-adapted SAM2 improves mask quality; meanwhile, dual-step MLLM fine-tuning yields more accurate taxonomy-aligned tags and more informative mask-grounded scene descriptions.
Diffusion Bridge Variational Inference for Deep Gaussian Processes
Venue: arXiv cs.LG 2026
Year: 2026

Deep Gaussian processes (DGPs) enable expressive hierarchical Bayesian modeling but pose substantial challenges for posterior inference, especially over inducing variables. Denoising diffusion variational inference (DDVI) addresses this by modeling the posterior as a time-reversed diffusion from a simple Gaussian prior. However, DDVI's fixed unconditional starting distribution remains far from the complex true posterior, resulting in inefficient inference trajectories and slow convergence. In this work, we propose Diffusion Bridge Variational Inference (DBVI), a principled extension of DDVI that initiates the reverse diffusion from a learnable, data-dependent initial distribution. This initialization is parameterized via an amortized neural network and progressively adapted using gradients from the ELBO objective, reducing the posterior gap and improving sample efficiency. To enable scalable amortization, we design the network to operate on the inducing inputs, which serve as structured, low-dimensional summaries of the dataset and naturally align with the inducing variables' shape. DBVI retains the mathematical elegance of DDVI, including Girsanov-based ELBOs and reverse-time SDEs,while reinterpreting the prior via a Doob-bridged diffusion process. We derive a tractable training objective under this formulation and implement DBVI for scalable inference in large-scale DGPs. Across regression, classification, and image reconstruction tasks, DBVI consistently outperforms DDVI and other variational baselines in predictive accuracy, convergence speed, and posterior quality.
TensLoRA: Tensor Alternatives for Low-Rank Adaptation
Venue: arXiv cs.LG 2026
Year: 2026

Low-Rank Adaptation (LoRA) is widely used to efficiently adapt Transformers by adding trainable low-rank matrices to attention projections. While effective, these matrices are considered independent for each attention projection (Query, Key, and Value) and each layer. Recent extensions have considered joint, tensor-based adaptations, but only in limited forms and without a systematic framework. We introduce TensLoRA, a unified framework that aggregates LoRA updates into higher-order tensors and models a broad family of tensor-based low-rank adaptations. Our formulation generalizes existing tensor-based methods and enables mode-specific compression rates, allowing parameter budgets to be tailored according to the modality and task. Experiments on vision and language benchmarks reveal that the tensor construction directly impacts performance, sometimes better than standard LoRA under similar parameter counts.
Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
Venue: arXiv cs.RO 2026
Year: 2026

Most common tasks for robots in dynamic spaces require that the environment is regularly and actively perceived, with many of them explicitly requiring objects or persons to be within view, i.e., for monitoring or safety. However, solving motion and perception tasks simultaneously is challenging, as these objectives often impose conflicting requirements. Furthermore, while robots must react quickly to changes in the environment, directly evaluating the quality of perception (e.g., object detection confidence) is often expensive or infeasible at runtime. This problem is especially important in human-centered environments, such as homes and hospitals, where effective perception is essential for safe and reliable operation. In this work, we address the challenge of solving motion planning problems for high-degree-of-freedom (DoF) robots from a start to a goal configuration with continuous perception constraints under both static and dynamic environments. We propose a GPU-parallelized perception-score-guided probabilistic roadmap planner with a neural surrogate model (PS-PRM). Unlike existing active perception-, visibility-aware or learning-based planners, our work integrates perception tasks and constraints directly into the motion planning formulation. Our method uses a neural surrogate model to approximate perception scores, incorporates them into the roadmap, and leverages GPU parallelism to enable efficient online replanning in dynamic settings. We demonstrate that our planner, evaluated on high-DoF robots, outperforms baseline methods in both static and dynamic environments in both simulation and real-robot experiments.
Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
Venue: arXiv cs.RO 2026
Year: 2026

Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interaction. Impedance control provides stable and safe contact behavior but requires task-specific tuning of stiffness and damping parameters. We present Diffusion-Based Impedance Learning, a framework that bridges these paradigms by combining generative modeling with energy-consistent impedance control. A Transformer-based Diffusion Model, conditioned via cross-attention on measured external wrenches, reconstructs simulated Zero-Force Trajectories (sZFTs) that represent contact-consistent equilibrium behavior. A SLERP-based quaternion noise scheduler preserves geometric consistency for rotations on the unit sphere. The reconstructed sZFT is used by an energy-based estimator to adapt impedance online through directional stiffness and damping modulation. Trained on parkour and robot-assisted therapy demonstrations collected via Apple Vision Pro teleoperation, the model achieves sub-millimeter positional and sub-degree rotational accuracy using only tens of thousands of samples. Deployed in realtime torque control on a KUKA LBR iiwa, the approach enables smooth obstacle traversal and generalizes to unseen tasks, achieving 100% success in multi-geometry peg-in-hole insertion.
Steerable Adversarial Scenario Generation through Test-Time Preference Alignment
Venue: arXiv cs.AI 2026
Year: 2026

Adversarial scenario generation is a cost-effective approach for safety assessment of autonomous driving systems. However, existing methods are often constrained to a single, fixed trade-off between competing objectives such as adversariality and realism. This yields behavior-specific models that cannot be steered at inference time, lacking the efficiency and flexibility to generate tailored scenarios for diverse training and testing requirements. In view of this, we reframe the task of adversarial scenario generation as a multi-objective preference alignment problem and introduce a new framework named \textbf{S}teerable \textbf{A}dversarial scenario \textbf{GE}nerator (SAGE). SAGE enables fine-grained test-time control over the trade-off between adversariality and realism without any retraining. We first propose hierarchical group-based preference optimization, a data-efficient offline alignment method that learns to balance competing objectives by decoupling hard feasibility constraints from soft preferences. Instead of training a fixed model, SAGE fine-tunes two experts on opposing preferences and constructs a continuous spectrum of policies at inference time by linearly interpolating their weights. We provide theoretical justification for this framework through the lens of linear mode connectivity. Extensive experiments demonstrate that SAGE not only generates scenarios with a superior balance of adversariality and realism but also enables more effective closed-loop training of driving policies. Project page: https://tongnie.github.io/SAGE/.
Discovering Association Rules in High-Dimensional Small Tabular Data
Venue: arXiv cs.LG 2026
Year: 2026

Association Rule Mining (ARM) aims to discover patterns between features in datasets in the form of propositional rules, supporting both knowledge discovery and interpretable machine learning in high-stakes decision-making. However, in high-dimensional settings, rule explosion and computational overhead render popular algorithmic approaches impractical without effective search space reduction, challenges that propagate to downstream tasks. Neurosymbolic methods, such as Aerial+, have recently been proposed to address the rule explosion in ARM. While they tackle the high dimensionality of the data, they also inherit limitations of neural networks, particularly reduced performance in low-data regimes. This paper makes three key contributions to association rule discovery in high-dimensional tabular data. First, we empirically show that Aerial+ scales one to two orders of magnitude better than state-of-the-art algorithmic and neurosymbolic baselines across five real-world datasets. Second, we introduce the novel problem of ARM in high-dimensional, low-data settings, such as gene expression data from the biomedicine domain with around 18k features and 50 samples. Third, we propose two fine-tuning approaches to Aerial+ using tabular foundation models. Our proposed approaches are shown to significantly improve rule quality on five real-world datasets, demonstrating their effectiveness in low-data, high-dimensional scenarios.