OpenRaiser/Intern-Atlas huggingface dataset:
Multilingual-To-Multimodal (M2M): Unlocking New Languages with Monolingual Text
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal models excel in English, supported by abundant image-text and audio-text data, but performance drops sharply for other languages due to limited multilingual multimodal resources. Existing solutions rely on machine translation, while advances in multilingual text modeling remain underutilized. We introduce M2M, a lightweight alignment method that learns only a few linear layers--using English text alone--to map multilingual text embeddings into multimodal space. Despite its simplicity, M2M matches baseline performance in English (94.9% Recall@10) and achieves strong zero-shot transfer (89.5% Recall@10 averaged across 11 languages, 10 unseen) on XTD Text-to-Image retrieval. Qualitative t-SNE visualizations show that multilingual embeddings align tightly with multimodal representations, while weight analysis reveals that the transformation reshapes embedding geometry rather than performing trivial rotations. Beyond image-text retrieval, M2M demonstrates robustness across datasets and tasks, extending to Audio-Text retrieval and Text-to-Image generation. We release code and checkpoints (https://github.com/piyushsinghpasi/M2M) along with multilingual evaluation datasets: MSCOCO Multilingual 30K (https://huggingface.co/datasets/piyushsinghpasi/mscoco-multilingual-30k), AudioCaps Multilingual (https://huggingface.co/datasets/piyushsinghpasi/audiocaps-multilingual), and Clotho Multilingual (https://huggingface.co/datasets/piyushsinghpasi/clotho-multilingual).
Following the Teacher's Footsteps: Scheduled Checkpoint Distillation for Domain-Specific LLMs
Venue: arXiv cs.AI 2026
Year: 2026

Large language models (LLMs) are challenging to deploy for domain-specific tasks due to their massive scale. While distilling a fine-tuned LLM into a smaller student model is a promising alternative, the capacity gap between teacher and student often leads to suboptimal performance. This raises a key question: when and how can a student model match or even surpass its teacher on domain-specific tasks? In this work, we propose a novel theoretical insight: a student can outperform its teacher if its advantage on a Student-Favored Subdomain (SFS) outweighs its deficit on the Teacher-Favored Subdomain (TFS). Guided by this insight, we propose Scheduled Checkpoint Distillation (SCD), which reduces the TFS deficit by emulating the teacher's convergence process during supervised fine-tuning (SFT) on the domain task, and a sample-wise Adaptive Weighting (AW) mechanism to preserve student strengths on SFS. Experiments across diverse domain tasks--including QA, NER, and text classification in multiple languages--show that our method consistently outperforms existing distillation approaches, allowing the student model to match or even exceed the performance of its fine-tuned teacher.
CoCoPlan: Adaptive Coordination and Communication for Multi-robot Systems in Dynamic and Unknown Environments
Venue: arXiv cs.RO 2026
Year: 2026

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either maintain all-time connectivity, rely on fixed schedules, or adopt pairwise protocols, but none adapt effectively to dynamic spatio-temporal task distributions under limited communication, resulting in suboptimal coordination. To address this gap, we propose CoCoPlan, a unified framework that co-optimizes collaborative task planning and team-wise intermittent communication. Our approach integrates a branch-and-bound architecture that jointly encodes task assignments and communication events, an adaptive objective function that balances task efficiency against communication latency, and a communication event optimization module that strategically determines when, where and how the global connectivity should be re-established. Extensive experiments demonstrate that it outperforms state-of-the-art methods by achieving a 22.4% higher task completion rate, reducing communication overhead by 58.6%, and improving the scalability by supporting up to 100 robots in dynamic environments. Hardware experiments include the complex 2D office environment and large-scale 3D disaster-response scenario.
VQ-Seg: Vector-Quantized Token Perturbation for Semi-Supervised Medical Image Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Consistency learning with feature perturbation is a widely used strategy in semi-supervised medical image segmentation. However, many existing perturbation methods rely on dropout, and thus require a careful manual tuning of the dropout rate, which is a sensitive hyperparameter and often difficult to optimize and may lead to suboptimal regularization. To overcome this limitation, we propose VQ-Seg, the first approach to employ vector quantization (VQ) to discretize the feature space and introduce a novel and controllable Quantized Perturbation Module (QPM) that replaces dropout. Our QPM perturbs discrete representations by shuffling the spatial locations of codebook indices, enabling effective and controllable regularization. To mitigate potential information loss caused by quantization, we design a dual-branch architecture where the post-quantization feature space is shared by both image reconstruction and segmentation tasks. Moreover, we introduce a Post-VQ Feature Adapter (PFA) to incorporate guidance from a foundation model (FM), supplementing the high-level semantic information lost during quantization. Furthermore, we collect a large-scale Lung Cancer (LC) dataset comprising 828 CT scans annotated for central-type lung carcinoma. Extensive experiments on the LC dataset and other public benchmarks demonstrate the effectiveness of our method, which outperforms state-of-the-art approaches. Code available at: https://github.com/script-Yang/VQ-Seg.
Understanding and Preserving Safety in Fine-Tuned LLMs
Venue: arXiv cs.LG 2026
Year: 2026

Fine-tuning is an essential and pervasive functionality for applying large language models (LLMs) to downstream tasks. However, it has the potential to substantially degrade safety alignment, e.g., by greatly increasing susceptibility to jailbreak attacks, even when the fine-tuning data is entirely harmless. Despite garnering growing attention in defense efforts during the fine-tuning stage, existing methods struggle with a persistent safety-utility dilemma: emphasizing safety compromises task performance, whereas prioritizing utility typically requires deep fine-tuning that inevitably leads to steep safety declination. In this work, we address this dilemma by shedding new light on the geometric interaction between safety- and utility-oriented gradients in safety-aligned LLMs. Through systematic empirical analysis, we uncover three key insights: (I) safety gradients lie in a low-rank subspace, while utility gradients span a broader high-dimensional space; (II) these subspaces are often negatively correlated, causing directional conflicts during fine-tuning; and (III) the dominant safety direction can be efficiently estimated from a single sample. Building upon these novel insights, we propose safety-preserving fine-tuning (SPF), a lightweight approach that explicitly removes gradient components conflicting with the low-rank safety subspace. Theoretically, we show that SPF guarantees utility convergence while bounding safety drift. Empirically, SPF consistently maintains downstream task performance and recovers nearly all pre-trained safety alignment, even under adversarial fine-tuning scenarios. Furthermore, SPF exhibits robust resistance to both deep fine-tuning and dynamic jailbreak attacks. Together, our findings provide new mechanistic understanding and practical guidance toward always-aligned LLM fine-tuning.
DecisionLLM: Large Language Models for Long Sequence Decision Exploration
Venue: arXiv cs.AI 2026
Year: 2026

Long-sequence decision-making, which is usually addressed through reinforcement learning (RL), is a critical component for optimizing strategic operations in dynamic environments, such as real-time bidding in computational advertising. The Decision Transformer (DT) introduced a powerful paradigm by framing RL as an autoregressive sequence modeling problem. Concurrently, Large Language Models (LLMs) have demonstrated remarkable success in complex reasoning and planning tasks. This inspires us whether LLMs, which share the same Transformer foundation, but operate at a much larger scale, can unlock new levels of performance in long-horizon sequential decision-making problem. This work investigates the application of LLMs to offline decision making tasks. A fundamental challenge in this domain is the LLMs' inherent inability to interpret continuous values, as they lack a native understanding of numerical magnitude and order when values are represented as text strings. To address this, we propose treating trajectories as a distinct modality. By learning to align trajectory data with natural language task descriptions, our model can autoregressively predict future decisions within a cohesive framework we term DecisionLLM. We establish a set of scaling laws governing this paradigm, demonstrating that performance hinges on three factors: model scale, data volume, and data quality. In offline experimental benchmarks and bidding scenarios, DecisionLLM achieves strong performance. Specifically, DecisionLLM-3B outperforms the traditional Decision Transformer (DT) by 69.4 on Maze2D umaze-v1 and by 0.085 on AuctionNet. It extends the AIGB paradigm and points to promising directions for future exploration in online bidding.
Alignment Pretraining: AI Discourse Causes Self-Fulfilling (Mis)alignment
Venue: arXiv cs.CL 2026
Year: 2026

Pretraining corpora contain extensive discourse about AI systems, yet the causal influence of this discourse on downstream alignment remains poorly understood. If prevailing descriptions of AI behaviour are predominantly negative, LLMs may internalise corresponding behavioural priors, giving rise to self-fulfilling misalignment. This paper provides the first controlled study of this hypothesis by pretraining 6.9B-parameter LLMs with varying amounts of (mis)alignment discourse. We find that discussion of AI contributes to misalignment. Upsampling synthetic training documents about AI misalignment leads to a notable increase in misaligned behaviour. Conversely, upsampling documents about aligned behaviour reduces misalignment scores from 45% to 9%. We consider this evidence of self-fulfilling alignment. These effects are dampened, but persist through post-training. Our findings establish the study of how pretraining data shapes alignment priors, or alignment pretraining, as a complement to post-training. We recommend practitioners consider pretraining for alignment alongside capabilities. We share our models, data, and evaluations at AlignmentPretraining.ai.
RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
Venue: arXiv cs.CV 2026
Year: 2026

Open-vocabulary 3D Scene Graph (3DSG) generation can enhance various downstream tasks in robotics, such as manipulation and navigation, by leveraging structured semantic representations. A 3DSG is constructed from multiple images of a scene, where objects are represented as nodes and relationships as edges. However, existing works for open-vocabulary 3DSG generation suffer from both low object-level recognition accuracy and speed, mainly due to constrained viewpoints, occlusions, and redundant surface density. To address these challenges, we propose RAG-3DSG to mitigate aggregation noise through re-shot guided uncertainty estimation and support object-level Retrieval-Augmented Generation (RAG) via reliable low-uncertainty objects. Furthermore, we propose a dynamic downsample-mapping strategy to accelerate cross-image object aggregation with adaptive granularity. Experiments on Replica dataset demonstrate that RAG-3DSG significantly improves node captioning accuracy in 3DSG generation while reducing the mapping time by two-thirds compared to the vanilla version.
One Instruction Does Not Fit All: How Well Do Embeddings Align Personas and Instructions in Low-Resource Indian Languages?
Venue: arXiv cs.CL 2026
Year: 2026

Aligning multilingual assistants with culturally grounded user preferences is essential for serving India's linguistically diverse population of over one billion speakers across multiple scripts. However, existing benchmarks either focus on a single language or conflate retrieval with generation, leaving open the question of whether current embedding models can encode persona-instruction compatibility without relying on response synthesis. We present a unified benchmark spanning 12 Indian languages and four evaluation tasks: monolingual and cross-lingual persona-to-instruction retrieval, reverse retrieval from instruction to persona, and binary compatibility classification. Eight multilingual embedding models are evaluated in a frozen-encoder setting with a thin logistic regression head for classification. E5-Large-Instruct achieves the highest Recall@1 of 27.4\% on monolingual retrieval and 20.7\% on cross-lingual transfer, while BGE-M3 leads reverse retrieval at 32.1\% Recall@1. For classification, LaBSE attains 75.3\% AUROC with strong calibration. These findings offer practical guidance for model selection in Indic multilingual retrieval and establish reproducible baselines for future work\footnote{Code, datasets, and models are publicly available at https://github.com/aryashah2k/PI-Indic-Align.
Agentic Pipelines in Embedded Software Engineering: Emerging Practices and Challenges
Venue: arXiv cs.SE 2026
Year: 2026

A new transformation is underway in software engineering, driven by the rapid adoption of generative AI in development workflows. Similar to how version control systems once automated manual coordination, AI tools are now beginning to automate many aspects of programming. For embedded software engineering organizations, however, this marks their first experience integrating AI into safety-critical and resource-constrained environments. The strict demands for determinism, reliability, and traceability pose unique challenges for adopting generative technologies. In this paper, we present findings from a qualitative study with ten senior experts from four companies who are evaluating generative AI-augmented development for embedded software. Through semi-structured focus group interviews and structured brainstorming sessions, we identified eleven emerging practices and fourteen challenges related to the orchestration, responsible governance, and sustainable adoption of generative AI tools. Our results show how embedded software engineering teams are rethinking workflows, roles, and toolchains to enable a sustainable transition toward agentic pipelines and generative AI-augmented development.
Proactive Local-Minima-Free Robot Navigation: Blending Motion Prediction with Safe Control
Venue: arXiv cs.RO 2026
Year: 2026

This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance strategies based only on the current states of the obstacles, risking future collisions. To alleviate this problem, we use Gaussian processes to learn barrier functions online from multimodal motion predictions of obstacles generated by neural networks trained with energy-based learning. The learned barrier functions are then fed into quadratic programs using modulated CBFs (MCBFs), a local-minimum-free version of CBFs, to achieve safe and efficient navigation. The proposed framework makes two key contributions. First, it develops a prediction-to-barrier function online learning pipeline. Second, it introduces an autonomous parameter tuning algorithm that adapts MCBFs to deforming, prediction-based barrier functions. The framework is evaluated in both simulations and real-world experiments, consistently outperforming baselines and demonstrating superior safety and efficiency in crowded dynamic environments.
Attend to what I say: Highlighting relevant content on slides
Venue: arXiv cs.CV 2026
Year: 2026

Imagine sitting in a presentation, trying to follow the speaker while simultaneously scanning the slides for relevant information. While the entire slide is visible, identifying the relevant regions can be challenging. As you focus on one part of the slide, the speaker moves on to a new sentence, leaving you scrambling to catch up visually. This constant back-and-forth creates a disconnect between what is being said and the most important visual elements, making it hard to absorb key details, especially in fast-paced or content-heavy presentations such as conference talks. This requires an understanding of slides, including text, graphics, and layout. We introduce a method that automatically identifies and highlights the most relevant slide regions based on the speaker's narrative. By analyzing spoken content and matching it with textual or graphical elements in the slides, our approach ensures better synchronization between what listeners hear and what they need to attend to. We explore different ways of solving this problem and assess their success and failure cases. Analyzing multimedia documents is emerging as a key requirement for seamless understanding of content-rich videos, such as educational videos and conference talks, by reducing cognitive strain and improving comprehension. Code and dataset are available at: https://github.com/meghamariamkm2002/Slide_Highlight
X-SAM: Boosting Sharpness-Aware Minimization with Dominant-Eigenvector Gradient Correction
Venue: arXiv cs.LG 2026
Year: 2026

Sharpness-Aware Minimization (SAM) aims to improve generalization by minimizing a worst-case perturbed loss over a small neighborhood of model parameters. However, during training, its optimization behavior does not always align with theoretical expectations, since both sharp and flat regions may yield a small perturbed loss. In such cases, the gradient may still point toward sharp regions, failing to achieve the intended effect of SAM. To address this issue, we investigate SAM from a spectral and geometric perspective: specifically, we utilize the angle between the gradient and the leading eigenvector of the Hessian as a measure of sharpness. Our analysis illustrates that when this angle is less than or equal to ninety degrees, the effect of SAM's sharpness regularization can be weakened. Furthermore, we propose an explicit eigenvector-aligned SAM (X-SAM), which corrects the gradient via orthogonal decomposition along the top eigenvector, enabling more direct and efficient regularization of the Hessian's maximum eigenvalue. We prove X-SAM's convergence and superior generalization, with extensive experimental evaluations confirming both theoretical and practical advantages.
XuanJia: A Comprehensive Virtualization-Based Code Obfuscator for Binary Protection
Venue: arXiv cs.CR 2026
Year: 2026

Virtualization-based binary obfuscation is widely adopted to protect software intellectual property, yet existing approaches leave exception-handling (EH) metadata unprotected to preserve ABI compatibility. This exposed metadata leaks rich structural information, such as stack layouts, control-flow boundaries, and object lifetimes, which can be exploited to facilitate reverse engineering. In this paper, we present XuanJia, a comprehensive VM-based binary obfuscation framework that provides end-to-end protection for both executable code and exception-handling semantics. At the core of XuanJia is ABI-Compliant EH Shadowing, a novel exception-aware protection mechanism that preserves compatibility with unmodified operating system runtimes while eliminating static EH metadata leakage. XuanJia replaces native EH metadata with ABI-compliant shadow unwind information to satisfy OS-driven unwinding, and securely redirects exception handling into a protected virtual machine where the genuine EH semantics are decrypted, reversed, and replayed using obfuscated code. We implement XuanJia from scratch, supporting 385 x86 instruction encodings and 155 VM handler templates, and design it as an extensible research testbed. We evaluate XuanJia across correctness, resilience, and performance dimensions. Our results show that XuanJia preserves semantic equivalence under extensive dynamic and symbolic testing, effectively disrupts automated reverse-engineering tools such as IDA Pro, and incurs negligible space overhead and modest runtime overhead. These results demonstrate that XuanJia achieves strong protection of exception-handling logic without sacrificing correctness or practicality.
The impact of tactile sensor configurations on grasp learning efficiency -- a comparative evaluation in simulation
Venue: arXiv cs.RO 2026
Year: 2026

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand designs, including prosthetics, as they can greatly improve grasp stability. Most presently published robotic hand designs, however, implement them in vastly different densities and layouts on the hand surface, often reserving the majority of the available space. We used simulations to evaluate 6 different tactile sensor configurations with different densities and layouts, based on their impact on reinforcement learning. Our two-setup system allows for robust results that are not dependent on the use of a given physics simulator, robotic hand model or machine learning algorithm. Our results show setup-specific, as well as generalized effects across the 6 sensorized simulations, and we identify one configuration as consistently yielding the best performance across both setups. These results could help future research aimed at robotic hand designs, including prostheses.
Early Fault Detection on CMAPSS with Unsupervised LSTM Autoencoders
Venue: arXiv cs.LG 2026
Year: 2026

This paper introduces an unsupervised health-monitoring framework for turbofan engines that does not require run-to-failure labels. First, operating-condition effects in NASA CMAPSS sensor streams are removed via regression-based normalisation; then a Long Short-Term Memory (LSTM) autoencoder is trained only on the healthy portion of each trajectory. Persistent reconstruction error, estimated using an adaptive data-driven threshold, triggers real-time alerts without hand-tuned rules. Benchmark results show high recall and low false-alarm rates across multiple operating regimes, demonstrating that the method can be deployed quickly, scale to diverse fleets, and serve as a complementary early-warning layer to Remaining Useful Life models.