OpenRaiser/Intern-Atlas huggingface dataset:
Interaction-Aware Whole-Body Control for Compliant Object Transport
Venue: arXiv cs.RO 2026
Year: 2026

Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whole-body control unreliable, especially in close-contact support tasks. This paper proposes a bio-inspired, interaction-oriented whole-body control (IO-WBC) that functions as an artificial cerebellum - an adaptive motor agent that translates upstream (skill-level) commands into stable, physically consistent whole-body behavior under contact. This work structurally separates upper-body interaction execution from lower-body support control, enabling the robot to maintain balance while shaping force exchange in a tightly coupled robot-object system. A trajectory-optimized reference generator (RG) provides a kinematic prior, while a reinforcement learning (RL) policy governs body responses under heavy-load interactions and disturbances. The policy is trained in simulation with randomized payload mass/inertia and external perturbations, and deployed via asymmetric teacher-student distillation so that the student relies only on proprioceptive histories at runtime. Extensive experiments demonstrate that IO-WBC maintains stable whole-body behavior and physical interaction even when precise velocity tracking becomes infeasible, enabling compliant object transport across a wide range of scenarios.
Confidence-Calibrated Small-Large Language Model Collaboration for Cost-Efficient Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) demonstrate superior reasoning capabilities compared to small language models (SLMs), but incur substantially higher costs. We propose COllaborative REAsoner (COREA), a system that cascades an SLM with an LLM to achieve a balance between accuracy and cost in complex reasoning tasks. COREA first attempts to answer questions using the SLM, which outputs both an answer and a verbalized confidence score. Questions with confidence below a predefined threshold are deferred to the LLM for more accurate resolution. We introduce a reinforcement learning-based training algorithm that aligns the SLM's confidence through an additional confidence calibration reward. Extensive experiments demonstrate that our method jointly improves the SLM's reasoning ability and confidence calibration across diverse datasets and model backbones. Compared to using the LLM alone, COREA reduces cost by 21.5% and 16.8% on out-of-domain math and non-math datasets, respectively, with only an absolute pass@1 drop within 2%.
LifeBench: A Benchmark for Long-Horizon Multi-Source Memory
Venue: arXiv cs.AI 2026
Year: 2026

Long-term memory is fundamental for personalized agents capable of accumulating knowledge, reasoning over user experiences, and adapting across time. However, existing memory benchmarks primarily target declarative memory, specifically semantic and episodic types, where all information is explicitly presented in dialogues. In contrast, real-world actions are also governed by non-declarative memory, including habitual and procedural types, and need to be inferred from diverse digital traces. To bridge this gap, we introduce Lifebench, which features densely connected, long-horizon event simulation. It pushes AI agents beyond simple recall, requiring the integration of declarative and non-declarative memory reasoning across diverse and temporally extended contexts. Building such a benchmark presents two key challenges: ensuring data quality and scalability. We maintain data quality by employing real-world priors, including anonymized social surveys, map APIs, and holiday-integrated calendars, thus enforcing fidelity, diversity and behavioral rationality within the dataset. Towards scalability, we draw inspiration from cognitive science and structure events according to their partonomic hierarchy; enabling efficient parallel generation while maintaining global coherence. Performance results show that top-tier, state-of-the-art memory systems reach just 55.2\% accuracy, highlighting the inherent difficulty of long-horizon retrieval and multi-source integration within our proposed benchmark. The dataset and data synthesis code are available at https://github.com/1754955896/LifeBench.
Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Continual learning is a long-standing challenge in robot policy learning, where a policy must acquire new skills over time without catastrophically forgetting previously learned ones. While prior work has extensively studied continual learning in relatively small behavior cloning (BC) policy models trained from scratch, its behavior in modern large-scale pretrained Vision-Language-Action (VLA) models remains underexplored. In this work, we found that pretrained VLAs are remarkably resistant to forgetting compared with smaller policy models trained from scratch. Simple Experience Replay (ER) works surprisingly well on VLAs, sometimes achieving zero forgetting even with a small replay data size. Our analysis reveals that pretraining plays a critical role in downstream continual learning performance: large pretrained models mitigate forgetting with a small replay buffer size while maintaining strong forward learning capabilities. Furthermore, we found that VLAs can retain relevant knowledge from prior tasks despite performance degradation during learning new tasks. This knowledge retention enables rapid recovery of seemingly forgotten skills through finetuning. Together, these insights imply that large-scale pretraining fundamentally changes the dynamics of continual learning, enabling models to continually acquire new skills over time with simple replay. Code and more information can be found at https://ut-austin-rpl.github.io/continual-vla
Large-Margin Hyperdimensional Computing: A Learning-Theoretical Perspective
Venue: arXiv cs.LG 2026
Year: 2026

Overparameterized machine learning (ML) methods such as neural networks may be prohibitively resource intensive for devices with limited computational capabilities. Hyperdimensional computing (HDC) is an emerging resource efficient and low-complexity ML method that allows hardware efficient implementations of (re-)training and inference procedures. In this paper, we propose a maximum-margin HDC classifier, which significantly outperforms baseline HDC methods on several benchmark datasets. Our method leverages a formal relation between HDC and support vector machines (SVMs) that we established for the first time. Our findings may inspire novel HDC methods with potentially more hardware-oriented implementations compared to SVMs, thus enabling more efficient learning solutions for various intelligent resource-constrained applications.
Yolo-Key-6D: Single Stage Monocular 6D Pose Estimation with Keypoint Enhancements
Venue: arXiv cs.CV 2026
Year: 2026

Estimating the 6D pose of objects from a single RGB image is a critical task for robotics and extended reality applications. However, state-of-the-art multi stage methods often suffer from high latency, making them unsuitable for real time use. In this paper, we present Yolo-Key-6D, a novel single stage, end-to-end framework for monocular 6D pose estimation designed for both speed and accuracy. Our approach enhances a YOLO based architecture by integrating an auxiliary head that regresses the 2D projections of an object's 3D bounding box corners. This keypoint detection task significantly improves the network's understanding of 3D geometry. For stable end-to-end training, we directly regress rotation using a continuous 9D representation projected to SO(3) via singular value decomposition. On the LINEMOD and LINEMOD-Occluded benchmarks, YOLO-Key-6D achieves competitive accuracy scores of 96.24% and 69.41%, respectively, with the ADD(-S) 0.1d metric, while proving itself to operate in real time. Our results demonstrate that a carefully designed single stage method can provide a practical and effective balance of performance and efficiency for real world deployment.
Measuring Privacy vs. Fidelity in Synthetic Social Media Datasets
Venue: arXiv cs.CR 2026
Year: 2026

Synthetic data is increasingly used to support research without exposing sensitive user content. Social media data is one of the types of datasets that would hugely benefit from representative synthetic equivalents that can be used to bootstrap research and allow reproducibility through data sharing. However, recent studies show that (tabular) synthetic data is not inherently privacy-preserving. Much less is known, however, about the privacy risks of synthetically generated unstructured texts. This work evaluates the privacy of synthetic Instagram posts generated by three state-of-the-art large language models using two prompting strategies. We propose a methodology that quantifies privacy by framing re-identification as an authorship attribution attack. A RoBERTa-large classifier trained on real posts achieved 81\% accuracy in authorship attribution on real data, but only 16.5--29.7\% on synthetic posts, showing reduced, though non-negligible, risk. Fidelity was assessed via text traits, sentiment, topic overlap, and embedding similarity, confirming the expected trade-off: higher fidelity coincides with greater privacy leakage. This work provides a framework for evaluating privacy in synthetic text and demonstrates the privacy--fidelity tension in social media datasets.
When Safety Becomes a Vulnerability: Exploiting LLM Alignment Homogeneity for Transferable Blocking in RAG
Venue: arXiv cs.CR 2026
Year: 2026

Retrieval-Augmented Generation (RAG) enhances the capabilities of large language models (LLMs) by incorporating external knowledge, but its reliance on potentially poisonable knowledge bases introduces new availability risks. Attackers can inject documents that cause LLMs to refuse benign queries, attacks known as blocking attacks. Prior blocking attacks relying on adversarial suffixes or explicit instruction injection are increasingly ineffective against modern safety-aligned LLMs. We observe that safety-aligned LLMs exhibit heightened sensitivity to query-relevant risk signals, causing alignment mechanisms designed for harm prevention to become a source of exploitable refusal. Moreover, mainstream alignment practices share overlapping risk categories and refusal criteria, a phenomenon we term alignment homogeneity, enabling restricted risk context constructed on an accessible LLM to transfer across LLMs. Based on this insight, we propose TabooRAG, a transferable blocking attack framework operating under a strict black-box setting. An attacker can generate a single retrievable blocking document per query by optimizing against a surrogate LLM in an accessible RAG environment, and directly transfer it to an unknown target RAG system without access to the target model. We further introduce a query-aware strategy library to reuse previously effective strategies and improve optimization efficiency. Experiments across 7 modern LLMs and 3 datasets demonstrate that TabooRAG achieves stable cross-model transferability and state-of-the-art blocking success rates, reaching up to 96% on GPT-5.2. Our findings show that increasingly standardized safety alignment across modern LLMs creates a shared and transferable attack surface in RAG systems, revealing a need for improved defenses.
Lightweight Visual Reasoning for Socially-Aware Robots
Venue: arXiv cs.RO 2026
Year: 2026

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown promise in enhancing robotic perception and instruction-following using Vision-Language Models (VLMs), they remain limited in addressing the complexities of multimodal human-robot interactions (HRI). Motivated by this challenge, we introduce a lightweight language-to-vision feedback module that closes the loop between an LLM and the vision encoder in VLMs. The module projects image-token hidden states through a gated Multi-Layer Perceptron (MLP) back into the encoder input, prompting a second pass that reinterprets the scene under text context. We evaluate this approach on three robotics-centred tasks: navigation in a simulated environment (Habitat), sequential scene description (Mementos-Robotics), and human-intention recognition (our HRI dataset). Results show that our method improves Qwen 2.5 (7B) by $3.3\%$ (less distance), $+0.057$ description score, and $+2.93\%$ accuracy, with less than $3\%$ extra parameters; Gemma 3 (4B) and LLaVA OV 1.5 (4B) show mixed navigation results but gains $+0.111,+0.055$ and $+10.81\%,+4.79\%$ on the latter two tasks. Code is available at https://github.com/alessioGalatolo/VLM-Reasoning-for-Robotics
GIPO: Gaussian Importance Sampling Policy Optimization
Venue: arXiv cs.LG 2026
Year: 2026

Post-training with reinforcement learning (RL) has recently shown strong promise for advancing multimodal agents beyond supervised imitation. However, RL remains limited by poor data efficiency, particularly in settings where interaction data are scarce and quickly become outdated. To address this challenge, GIPO (Gaussian Importance sampling Policy Optimization) is proposed as a policy optimization objective based on truncated importance sampling, replacing hard clipping with a log-ratio-based Gaussian trust weight to softly damp extreme importance ratios while maintaining non-zero gradients. Theoretical analysis shows that GIPO introduces an implicit, tunable constraint on the update magnitude, while concentration bounds guarantee robustness and stability under finite-sample estimation. Experimental results show that GIPO achieves state-of-the-art performance among clipping-based baselines across a wide range of replay buffer sizes, from near on-policy to highly stale data, while exhibiting superior bias--variance trade-off, high training stability and improved sample efficiency.
BLOCK: An Open-Source Bi-Stage MLLM Character-to-Skin Pipeline for Minecraft
Venue: arXiv cs.CV 2026
Year: 2026

We present \textbf{BLOCK}, an open-source bi-stage character-to-skin pipeline that generates pixel-perfect Minecraft skins from arbitrary character concepts. BLOCK decomposes the problem into (i) a \textbf{3D preview synthesis stage} driven by a large multimodal model (MLLM) with a carefully designed prompt-and-reference template, producing a consistent dual-panel (front/back) oblique-view Minecraft-style preview; and (ii) a \textbf{skin decoding stage} based on a fine-tuned FLUX.2 model that translates the preview into a skin atlas image. We further propose \textbf{EvolveLoRA}, a progressive LoRA curriculum (text-to-image $\rightarrow$ image-to-image $\rightarrow$ preview-to-skin) that initializes each phase from the previous adapter to improve stability and efficiency. BLOCK is released with all prompt templates and fine-tuned weights to support reproducible character-to-skin generation.
Scaling Dense Event-Stream Pretraining from Visual Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Learning versatile, fine-grained representations from irregular event streams is pivotal yet nontrivial, primarily due to the heavy annotation that hinders scalability in dataset size, semantic richness, and application scope. To mitigate this dilemma, we launch a novel self-supervised pretraining method that distills visual foundation models (VFMs) to push the boundaries of event representation at scale. Specifically, we curate an extensive synchronized image-event collection to amplify cross-modal alignment. Nevertheless, due to inherent mismatches in sparsity and granularity between image-event domains, existing distillation paradigms are prone to semantic collapse in event representations, particularly at high resolutions. To bridge this gap, we propose to extend the alignment objective to semantic structures provided off-the-shelf by VFMs, indicating a broader receptive field and stronger supervision. The key ingredient of our method is a structure-aware distillation loss that grounds higher-quality image-event correspondences for alignment, optimizing dense event representations. Extensive experiments demonstrate that our approach takes a great leap in downstream benchmarks, significantly surpassing traditional methods and existing pretraining techniques. This breakthrough manifests in enhanced generalization, superior data efficiency and elevated transferability.
Upholding Epistemic Agency: A Brouwerian Assertibility Constraint for Responsible AI
Venue: arXiv cs.CY 2026
Year: 2026

Generative AI can convert uncertainty into authoritative-seeming verdicts, displacing the justificatory work on which democratic epistemic agency depends. As a corrective, I propose a Brouwer-inspired assertibility constraint for responsible AI: in high-stakes domains, systems may assert or deny claims only if they can provide a publicly inspectable and contestable certificate of entitlement; otherwise they must return "Undetermined". This constraint yields a three-status interface semantics (Asserted, Denied, Undetermined) that cleanly separates internal entitlement from public standing while connecting them via the certificate as a boundary object. It also produces a time-indexed entitlement profile that is stable under numerical refinement yet revisable as the public record changes. I operationalize the constraint through decision-layer gating of threshold and argmax outputs, using internal witnesses (e.g., sound bounds or separation margins) and an output contract with reason-coded abstentions. A design lemma shows that any total, certificate-sound binary interface already decides the deployed predicate on its declared scope, so "Undetermined" is not a tunable reject option but a mandatory status whenever no forcing witness is available. By making outputs answerable to challengeable warrants rather than confidence alone, the paper aims to preserve epistemic agency where automated speech enters public justification.
Phi-4-reasoning-vision-15B Technical Report
Venue: arXiv cs.AI 2026
Year: 2026

We present Phi-4-reasoning-vision-15B, a compact open-weight multimodal reasoning model, and share the motivations, design choices, experiments, and learnings that informed its development. Our goal is to contribute practical insight to the research community on building smaller, efficient multimodal reasoning models and to share the result of these learnings as an open-weight model that is good at common vision and language tasks and excels at scientific and mathematical reasoning and understanding user interfaces. Our contributions include demonstrating that careful architecture choices and rigorous data curation enable smaller, open-weight multimodal models to achieve competitive performance with significantly less training and inference-time compute and tokens. The most substantial improvements come from systematic filtering, error correction, and synthetic augmentation -- reinforcing that data quality remains the primary lever for model performance. Systematic ablations show that high-resolution, dynamic-resolution encoders yield consistent improvements, as accurate perception is a prerequisite for high-quality reasoning. Finally, a hybrid mix of reasoning and non-reasoning data with explicit mode tokens allows a single model to deliver fast direct answers for simpler tasks and chain-of-thought reasoning for complex problems.
SORT: A Systematically Optimized Ranking Transformer for Industrial-scale Recommenders
Venue: arXiv cs.IR 2026
Year: 2026

While Transformers have achieved remarkable success in LLMs through superior scalability, their application in industrial-scale ranking models remains nascent, hindered by the challenges of high feature sparsity and low label density. In this paper, we propose SORT (Systematically Optimized Ranking Transformer), a scalable model designed to bridge the gap between Transformers and industrial-scale ranking models. We address the high feature sparsity and low label density challenges through a series of optimizations, including request-centric sample organization, local attention, query pruning and generative pre-training. Furthermore, we introduce a suite of refinements to the tokenization, multi-head attention (MHA), and feed-forward network (FFN) modules, which collectively stabilize the training process and enlarge the model capacity. To maximize hardware efficiency, we optimize our training system to elevate the model FLOPs utilization (MFU) to 22%. Extensive experiments demonstrate that SORT outperforms strong baselines and exhibits excellent scalability across data size, model size and sequence length, while remaining flexible at integrating diverse features. Finally, online A/B testing in large-scale e-commerce scenarios confirms that SORT achieves significant gains in key business metrics, including orders (+6.35%), buyers (+5.97%) and GMV (+5.47%), while simultaneously halving latency (-44.67%) and doubling throughput (+121.33%).
Weakly Supervised Patch Annotation for Improved Screening of Diabetic Retinopathy
Venue: arXiv cs.CV 2026
Year: 2026

Diabetic Retinopathy (DR) requires timely screening to prevent irreversible vision loss. However, its early detection remains a significant challenge since often the subtle pathological manifestations (lesions) get overlooked due to insufficient annotation. Existing literature primarily focuses on image-level supervision, weakly-supervised localization, and clustering-based representation learning, which fail to systematically annotate unlabeled lesion region(s) for refining the dataset. Expert-driven lesion annotation is labor-intensive and often incomplete, limiting the performance of deep learning models. We introduce Similarity-based Annotation via Feature-space Ensemble (SAFE), a two-stage framework that unifies weak supervision, contrastive learning, and patch-wise embedding inference, to systematically expand sparse annotations in the pathology. SAFE preserves fine-grained details of the lesion(s) under partial clinical supervision. In the first stage, a dual-arm Patch Embedding Network learns semantically structured, class-discriminative embeddings from expert annotated patches. Next, an ensemble of independent embedding spaces extrapolates labels to the unannotated regions based on spatial and semantic proximity. An abstention mechanism ensures trade-off between highly reliable annotation and noisy coverage. Experimental results demonstrate reliable separation of healthy and diseased patches, achieving upto 0.9886 accuracy. The annotation generated from SAFE substantially improves downstream tasks such as DR classification, demonstrating a substantial increase in F1-score of the diseased class and a performance gain as high as 0.545 in Area Under the Precision-Recall Curve (AUPRC). Qualitative analysis, with explainability, confirms that SAFE focuses on clinically relevant lesion patterns; and is further validated by ophthalmologists.