OpenRaiser/Intern-Atlas huggingface dataset:
TGM-VLA: Task-Guided Mixup for Sampling-Efficient and Robust Robotic Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to inefficient memory usage and unstable optimization. Moreover, reprojecting point clouds onto multi-view images with a black background--while more efficient than voxel-based methods--often causes dark objects to be indistinguishable and hard to manipulate. In this work, we propose a novel holistic framework that significantly improves both model performance and training efficiency. First, we redesign and optimize the keyframe sampling strategy, reducing memory consumption by 80% and accelerating training speed by 5x. Second, we augment the model with a color inversion projection branch--a simple yet effective module that resolves the ambiguity of dark objects. Finally, we propose a task-guided mixup technique that dynamically fuses point clouds and action heatmaps according to task instructions, greatly improving robustness to distractors and performance in multi-goal scenarios. Extensive experiments demonstrate that our method achieves state-of-the-art performance with a 90.5% success rate on RLBench and 68.8% on the COLOSSEUM benchmark under challenging interference conditions. Our code and checkpoints are available at https://github.com/PuFanqi23/TGM-VLA.
QQ: A Toolkit for Language Identifiers and Metadata
Venue: arXiv cs.CL 2026
Year: 2026

The growing number of languages considered in multilingual NLP, including new datasets and tasks, poses challenges regarding properly and accurately reporting which languages are used and how. For example, datasets often use different language identifiers; some use BCP-47 (e.g. en_Latn), others use ISO 639-1 (en), and more linguistically oriented datasets use Glottocodes (stan1293). Mapping between identifiers is manageable for a few dozen languages, but becomes unscalable when dealing with thousands. We introduce QwanQwa, a light-weight Python toolkit for unified language metadata management. QQ integrates multiple language resources into a single interface, provides convenient normalization and mapping between language identifiers, and affords a graph-based structure that enables traversal across families, regions, writing systems, and other linguistic attributes. QQ serves both as (1) a simple "glue" library in multilingual NLP research to make working with many languages easier, and (2) as an intuitive way for exploring languages, such as finding related ones through shared scripts, regions or other metadata.
Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Venue: arXiv cs.RO 2026
Year: 2026

We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space robotics validation, there are still dynamical and environmental differences that need to be overcome. Given a high-level space mission specification, expressed in terms of a Signal Temporal Logic specification, we overcome these differences via the notion of maximal disturbance robustness of the mission. We formulate the motion planning problem such that the original space mission and the validation mission achieve the same disturbance robustness degree. The validation platform then executes its mission plan using a near-identical control strategy to the space mission where the closed-loop controller considers the spacecraft dynamics. Evaluating our validation framework relies on estimating disturbances during execution and comparing them to the disturbance robustness degree, providing practical evidence of operation in the space environment. Our evaluation features a dual-experiment setup: an underwater robot operating under near-neutral buoyancy conditions to validate the planning and control strategy of either an experimental planar spacecraft platform or a CubeSat in a high-fidelity space dynamics simulator.
Adapt Data to Model: Adaptive Transformation Optimization for Domain-shared Time Series Foundation Models
Venue: arXiv cs.LG 2026
Year: 2026

Large time series models (LTMs) have emerged as powerful tools for universal forecasting, yet they often struggle with the inherent diversity and nonstationarity of real-world time series data, leading to an unsatisfactory trade-off between forecasting accuracy and generalization. Rather than continually finetuning new LTM instances for each domain, we propose a data-centric framework, time-series adaptive transformation optimization (TATO), that enables a single frozen pre-trained LTM to adapt to diverse downstream domains through an optimally configured transformation pipeline. Specifically, TATO constructs three representative types of transformations, including context slicing, scale normalization, and outlier correction, to help LTMs better align with target domain characteristics. To ensure robustness, we incorporate carefully selected time series augmentations and a two-stage ranking mechanism that filters out pipelines underperforming on specific metrics. Extensive experiments on state-of-the-art LTMs and widely used datasets demonstrate that TATO consistently and significantly improves domain-adaptive forecasting performance, achieving a maximum reduction in MSE of 65.4\% and an average reduction of 13.6\%. Moreover, TATO is highly efficient, typically completing optimization in under 2 minutes, making it practical for real-world deployment. The source code is available at https://github.com/thulab/TATO.
LiTS: A Modular Framework for LLM Tree Search
Venue: arXiv cs.AI 2026
Year: 2026

LiTS is a modular Python framework for LLM reasoning via tree search. It decomposes tree search into three reusable components (Policy, Transition, and RewardModel) that plug into algorithms like MCTS and BFS. A decorator-based registry enables domain experts to extend to new domains by registering components, and algorithmic researchers to implement custom search algorithms. We demonstrate composability on MATH500 (language reasoning), Crosswords (environment planning), and MapEval (tool use), showing that components and algorithms are orthogonal: components are reusable across algorithms within each task type, and algorithms work across all components and domains. We also report a mode-collapse finding: in infinite action spaces, LLM policy diversity (not reward quality) is the bottleneck for effective tree search. A demonstration video is available at https://youtu.be/nRGX43YrR3I. The package is released under the Apache 2.0 license at https://github.com/xinzhel/lits-llm, including installation instructions and runnable examples that enable users to reproduce the demonstrated workflows.
Stop Treating Collisions Equally: Qualification-Aware Semantic ID Learning for Recommendation at Industrial Scale
Venue: arXiv cs.IR 2026
Year: 2026

Semantic IDs (SIDs) are compact discrete representations derived from multimodal item features, serving as a unified abstraction for ID-based and generative recommendation. However, learning high-quality SIDs remains challenging due to two issues. (1) Collision problem: the quantized token space is prone to collisions, in which semantically distinct items are assigned identical or overly similar SID compositions, resulting in semantic entanglement. (2) Collision-signal heterogeneity: collisions are not uniformly harmful. Some reflect genuine conflicts between semantically unrelated items, while others stem from benign redundancy or systematic data effects. To address these challenges, we propose Qualification-Aware Semantic ID Learning (QuaSID), an end-to-end framework that learns collision-qualified SIDs by selectively repelling qualified conflict pairs and scaling the repulsion strength by collision severity. QuaSID consists of two mechanisms: Hamming-guided Margin Repulsion, which translates low-Hamming SID overlaps into explicit, severity-scaled geometric constraints on the encoder space; and Conflict-Aware Valid Pair Masking, which masks protocol-induced benign overlaps to denoise repulsion supervision. In addition, QuaSID incorporates a dual-tower contrastive objective to inject collaborative signals into tokenization. Experiments on public benchmarks and industrial data validate QuaSID. On public datasets, QuaSID consistently outperforms strong baselines, improving top-K ranking quality by 5.9% over the best baseline while increasing SID composition diversity. In an online A/B test on Kuaishou e-commerce with a 5% traffic split, QuaSID increases ranking GMV-S2 by 2.38% and improves completed orders on cold-start retrieval by up to 6.42%. Finally, we show that the proposed repulsion loss is plug-and-play and enhances a range of SID learning frameworks across datasets.
Historian: Reducing Manual Validation in APR Benchmarking via Evidence-Based Assessment
Venue: arXiv cs.SE 2026
Year: 2026

Assessing the correctness of patches generated by Automated Program Repair (APR) is a major bottleneck. Manual validation is labor-intensive and limited: exact matching overlooks valid variants, while semantic inspection is subjective and hard to reproduce. Existing Automated Patch Correctness Assessment (APCA) often relies on opaque predictive models that treat each patch as novel, repeatedly re-assessing semantically redundant patches. Our analysis of a large corpus of tool-generated patches reveals a duality: about 39% of unique correct patches are syntactic clones, suggesting opportunities for automation, yet about 65% of bugs have multiple distinct correct fixes, making single-reference assessment insufficient. We present Historian, a framework that leverages Large Language Models to perform multi-reference comparisons against a knowledge base of historically validated patches, producing traceable, evidence-based verdicts while conservatively isolating novel cases as Unknown. In leave-one-tool-out evaluation, Historian achieves 95.0% coverage with 88.4% accuracy, reducing manual validation to 5% of patches. As an evidence-based pre-filter, enhancing the accuracy of standalone APCA tools by up to 21.8% and enabling a hybrid pipeline with 86.2% overall accuracy and 100% coverage. A longitudinal analysis of tool-generated patches (2020-2024) shows that redundancy in repair attempts is common, indicating that many patches repeatedly rediscover established ones and strengthening the sustainability of evidence-based APR assessment.
SODA: Semantic-Oriented Distributional Alignment for Generative Recommendation
Venue: arXiv cs.IR 2026
Year: 2026

Generative recommendation has emerged as a scalable alternative to traditional retrieve-and-rank pipelines by operating in a compact token space. However, existing methods mainly rely on discrete code-level supervision, which leads to information loss and limits the joint optimization between the tokenizer and the generative recommender. In this work, we propose a distribution-level supervision paradigm that leverages probability distributions over multi-layer codebooks as soft and information-rich representations. Building on this idea, we introduce Semantic-Oriented Distributional Alignment (SODA), a plug-and-play contrastive supervision framework based on Bayesian Personalized Ranking, which aligns semantically rich distributions via negative KL divergence while enabling end-to-end differentiable training. Extensive experiments on multiple real-world datasets demonstrate that SODA consistently improves the performance of various generative recommender backbones, validating its effectiveness and generality. Codes will be available upon acceptance.
A Reconstruction System for Industrial Pipeline Inner Walls Using Panoramic Image Stitching with Endoscopic Imaging
Venue: arXiv cs.CV 2026
Year: 2026

Visual analysis and reconstruction of pipeline inner walls remain challenging in industrial inspection scenarios. This paper presents a dedicated reconstruction system for pipeline inner walls via industrial endoscopes, which is built on panoramic image stitching technology. Equipped with a custom graphical user interface (GUI), the system extracts key frames from endoscope video footage, and integrates polar coordinate transformation with image stitching techniques to unwrap annular video frames of pipeline inner walls into planar panoramic images. Experimental results demonstrate that the proposed method enables efficient processing of industrial endoscope videos, and the generated panoramic stitched images preserve all detailed features of pipeline inner walls in their entirety. This provides intuitive and accurate visual support for defect detection and condition assessment of pipeline inner walls. In comparison with the traditional frame-by-frame video review method, the proposed approach significantly elevates the efficiency of pipeline inner wall reconstruction and exhibits considerable engineering application value.
SkillCraft: Can LLM Agents Learn to Use Tools Skillfully?
Venue: arXiv cs.CL 2026
Year: 2026

Real-world tool-using agents operate over long-horizon workflows with recurring structure and diverse demands, where effective behavior requires not only invoking atomic tools but also abstracting, and reusing higher-level tool compositions. However, existing benchmarks mainly measure instance-level success under static tool sets, offering limited insight into agents' ability to acquire such reusable skills. We address this gap by introducing SkillCraft, a benchmark explicitly stress-test agent ability to form and reuse higher-level tool compositions, where we call Skills. SkillCraft features realistic, highly compositional tool-use scenarios with difficulty scaled along both quantitative and structural dimensions, designed to elicit skill abstraction and cross-task reuse. We further propose a lightweight evaluation protocol that enables agents to auto-compose atomic tools into executable Skills, cache and reuse them inside and across tasks, thereby improving efficiency while accumulating a persistent library of reusable skills. Evaluating state-of-the-art agents on SkillCraft, we observe substantial efficiency gains, with token usage reduced by up to 80% by skill saving and reuse. Moreover, success rate strongly correlates with tool composition ability at test time, underscoring compositional skill acquisition as a core capability.
Keyframe-Guided Structured Rewards for Reinforcement Learning in Long-Horizon Laboratory Robotics
Venue: arXiv cs.RO 2026
Year: 2026

Long-horizon precision manipulation in laboratory automation, such as pipette tip attachment and liquid transfer, requires policies that respect strict procedural logic while operating in continuous, high-dimensional state spaces. However, existing approaches struggle with reward sparsity, multi-stage structural constraints, and noisy or imperfect demonstrations, leading to inefficient exploration and unstable convergence. We propose a Keyframe-Guided Reward Generation Framework that automatically extracts kinematics-aware keyframes from demonstrations, generates stage-wise targets via a diffusion-based predictor in latent space, and constructs a geometric progress-based reward to guide online reinforcement learning. The framework integrates multi-view visual encoding, latent similarity-based progress tracking, and human-in-the-loop reinforcement fine-tuning on a Vision-Language-Action backbone to align policy optimization with the intrinsic stepwise logic of biological protocols. Across four real-world laboratory tasks, including high-precision pipette attachment and dynamic liquid transfer, our method achieves an average success rate of 82% after 40--60 minutes of online fine-tuning. Compared with HG-DAgger (42%) and Hil-ConRFT (47%), our approach demonstrates the effectiveness of structured keyframe-guided rewards in overcoming exploration bottlenecks and providing a scalable solution for high-precision, long-horizon robotic laboratory automation.
UniHM: Unified Dexterous Hand Manipulation with Vision Language Model
Venue: arXiv cs.RO 2026
Year: 2026

Planning physically feasible dexterous hand manipulation is a central challenge in robotic manipulation and Embodied AI. Prior work typically relies on object-centric cues or precise hand-object interaction sequences, foregoing the rich, compositional guidance of open-vocabulary instruction. We introduce UniHM, the first framework for unified dexterous hand manipulation guided by free-form language commands. We propose a Unified Hand-Dexterous Tokenizer that maps heterogeneous dexterous-hand morphologies into a single shared codebook, improving cross-dexterous hand generalization and scalability to new morphologies. Our vision language action model is trained solely on human-object interaction data, eliminating the need for massive real-world teleoperation datasets, and demonstrates strong generalizability in producing human-like manipulation sequences from open-ended language instructions. To ensure physical realism, we introduce a physics-guided dynamic refinement module that performs segment-wise joint optimization under generative and temporal priors, yielding smooth and physically feasible manipulation sequences. Across multiple datasets and real-world evaluations, UniHM attains state-of-the-art results on both seen and unseen objects and trajectories, demonstrating strong generalization and high physical feasibility. Our project page at \href{https://unihm.github.io/}{https://unihm.github.io/}.
BornoViT: A Novel Efficient Vision Transformer for Bengali Handwritten Basic Characters Classification
Venue: arXiv cs.CV 2026
Year: 2026

Handwritten character classification in the Bengali script is a significant challenge due to the complexity and variability of the characters. The models commonly used for classification are often computationally expensive and data-hungry, making them unsuitable for resource-limited languages such as Bengali. In this experiment, we propose a novel, efficient, and lightweight Vision Transformer model that effectively classifies Bengali handwritten basic characters and digits, addressing several shortcomings of traditional methods. The proposed solution utilizes a deep convolutional neural network (DCNN) in a more simplified manner compared to traditional DCNN architectures, with the aim of reducing computational burden. With only 0.65 million parameters, a model size of 0.62 MB, and 0.16 GFLOPs, our model, BornoViT, is significantly lighter than current state-of-the-art models, making it more suitable for resource-limited environments, which is essential for Bengali handwritten character classification. BornoViT was evaluated on the BanglaLekha Isolated dataset, achieving an accuracy of 95.77%, and demonstrating superior efficiency compared to existing state-of-the-art approaches. Furthermore, the model was evaluated on our self-collected dataset, Bornomala, consisting of approximately 222 samples from different age groups, where it achieved an accuracy of 91.51%.
Online Generation of Collision-Free Trajectories in Dynamic Environments
Venue: arXiv cs.RO 2026
Year: 2026

In this paper, we present an online method for converting an arbitrary geometric path represented by a sequence of states, generated by any planner (e.g., sampling-based planners like RRT or PRM, search-based planners like ARA*, etc.), into a corresponding kinematically feasible, jerk-limited trajectory. The method generates a sequence of quintic/quartic splines that can be discretized at a user-specified control rate, and then streamed to a low-level robot controller. Our approach enables real-time adaptation to newly captured changes in the environment. It can also be re-invoked at any time instance to generate a new trajectory from the robot's current to a desired target state or sequence of states. We can guarantee that the trajectory will remain collision-free for a certain amount of time in dynamic environments, while allowing bounded geometric deviation from the original path. The kinematic constraints are taken into account, including limited jerk. We validate the approach in a comparative simulation study against the competing method, demonstrating favorable behavior w.r.t. smoothness, computational time, and real-time performance, particularly in scenarios with frequent changes of target states (up to 1 [kHz]). Experiments on a real robot demonstrate that the proposed approach can be used in real-world scenarios including human presence.
Structure Matters: Evaluating Multi-Agents Orchestration in Generative Therapeutic Chatbots
Venue: arXiv cs.HC 2026
Year: 2026

While large language models (LLMs) excel at open-ended dialogue, effective psychotherapy requires structured progression and adherence to clinical protocols, making the design of psychotherapist chatbots challenging. We investigate how different LLM-based designs shape perceived therapeutic dialogue in a chatbot grounded in the Self-Attachment Technique (SAT), a novel self-administered psychotherapy rooted in attachment theory. We compare three architectural variants: (1) a multi-agent system utilizing finite state machine aligned with therapeutic stages and a shared long-term memory, (2) a single-agent using identical knowledge-base and the same prompts, and (3) an unguided LLM. In an eight-day randomized controlled trial (RCT) with N=66 Farsi-speaking participants, balanced across the three chatbots, the multi-agent system is perceived as significantly more natural and human-like than the other variants and achieves higher ratings across most other metrics. These findings demonstrate that for therapeutic AI, architectural orchestration is as critical as prompt engineering in fostering natural, engaging dialogue.
Towards Computing Average Merge Tree Based on the Interleaving Distance
Venue: arXiv cs.CG 2026
Year: 2026

The interleaving distance is a key tool for comparing merge trees, which provide topological summaries of scalar functions. In this work, we define an average merge tree for a pair of merge trees using the interleaving distance. Since such an average is not unique, we propose a method to construct a representative average merge tree. We further prove that the resulting merge tree indeed satisfies a natural notion of averaging for the two given merge trees. To demonstrate the structure of the average merge tree, we include illustrative examples.
Neural Latent Arbitrary Lagrangian-Eulerian Grids for Fluid-Solid Interaction
Venue: arXiv cs.LG 2026
Year: 2026

Fluid-solid interaction (FSI) problems are fundamental in many scientific and engineering applications, yet effectively capturing the highly nonlinear two-way interactions remains a significant challenge. Most existing deep learning methods are limited to simplified one-way FSI scenarios, often assuming rigid and static solid to reduce complexity. Even in two-way setups, prevailing approaches struggle to capture dynamic, heterogeneous interactions due to the lack of cross-domain awareness. In this paper, we introduce \textbf{Fisale}, a data-driven framework for handling complex two-way \textbf{FSI} problems. It is inspired by classical numerical methods, namely the Arbitrary Lagrangian-Eulerian (\textbf{ALE}) method and the partitioned coupling algorithm. Fisale explicitly models the coupling interface as a distinct component and leverages multiscale latent ALE grids to provide unified, geometry-aware embeddings across domains. A partitioned coupling module (PCM) further decomposes the problem into structured substeps, enabling progressive modeling of nonlinear interdependencies. Compared to existing models, Fisale introduces a more flexible framework that iteratively handles complex dynamics of solid, fluid and their coupling interface on a unified representation, and enables scalable learning of complex two-way FSI behaviors. Experimentally, Fisale excels in three reality-related challenging FSI scenarios, covering 2D, 3D and various tasks. The code is available at \href{https://github.com/therontau0054/Fisale}.