OpenRaiser/Intern-Atlas huggingface dataset:
DexEvolve: Evolutionary Optimization for Robust and Diverse Dexterous Grasp Synthesis
Venue: arXiv cs.RO 2026
Year: 2026

Dexterous grasping is fundamental to robotics, yet data-driven grasp prediction heavily relies on large, diverse datasets that are costly to generate and typically limited to a narrow set of gripper morphologies. Analytical grasp synthesis can be used to scale data collection, but necessary simplifying assumptions often yield physically infeasible grasps that need to be filtered in high-fidelity simulators, significantly reducing the total number of grasps and their diversity. We propose a scalable generate-and-refine pipeline for synthesizing large-scale, diverse, and physically feasible grasps. Instead of using high-fidelity simulators solely for verification and filtering, we leverage them as an optimization stage that continuously improves grasp quality without discarding precomputed candidates. More specifically, we initialize an evolutionary search with a seed set of analytically generated, potentially suboptimal grasps. We then refine these proposals directly in a high-fidelity simulator (Isaac Sim) using an asynchronous, gradient-free evolutionary algorithm, improving stability while maintaining diversity. In addition, this refinement stage can be guided toward human preferences and/or domain-specific quality metrics without requiring a differentiable objective. We further distill the refined grasp distribution into a diffusion model for robust real-world deployment, and highlight the role of diversity for both effective training and during deployment. Experiments on a newly introduced Handles dataset and a DexGraspNet subset demonstrate that our approach achieves over 120 distinct stable grasps per object (a 1.7-6x improvement over unrefined analytical methods) while outperforming diffusion-based alternatives by 46-60\% in unique grasp coverage.
Automatically Finding Reward Model Biases
Venue: arXiv cs.LG 2026
Year: 2026

Reward models are central to large language model (LLM) post-training. However, past work has shown that they can reward spurious or undesirable attributes such as length, format, hallucinations, and sycophancy. In this work, we introduce and study the research problem of automatically finding reward model biases in natural language. We offer a simple approach of using an LLM to iteratively propose and refine candidate biases. Our method can recover known biases and surface novel ones: for example, we found that Skywork-V2-8B, a leading open-weight reward model, often mistakenly favors responses with redundant spacing and responses with hallucinated content. In addition, we show evidence that evolutionary iteration outperforms flat best-of-N search, and we validate the recall of our pipeline using synthetically injected biases. We hope our work contributes to further research on improving RMs through automated interpretability methods.
Size Transferability of Graph Transformers with Convolutional Positional Encodings
Venue: arXiv cs.LG 2026
Year: 2026

Transformers have achieved remarkable success across domains, motivating the rise of Graph Transformers (GTs) as attention-based architectures for graph-structured data. A key design choice in GTs is the use of Graph Neural Network (GNN)-based positional encodings to incorporate structural information. In this work, we study GTs through the lens of manifold limit models for graph sequences and establish a theoretical connection between GTs with GNN positional encodings and Manifold Neural Networks (MNNs). Building on transferability results for GNNs under manifold convergence, we show that GTs inherit transferability guarantees from their positional encodings. In particular, GTs trained on small graphs provably generalize to larger graphs under mild assumptions. We complement our theory with extensive experiments on standard graph benchmarks, demonstrating that GTs exhibit scalable behavior on par with GNNs. To further show the efficiency in a real-world scenario, we implement GTs for shortest path distance estimation over terrains to better illustrate the efficiency of the transferable GTs. Our results provide new insights into the understanding of GTs and suggest practical directions for efficient training of GTs in large-scale settings.
Knowing Isn't Understanding: Re-grounding Generative Proactivity with Epistemic and Behavioral Insight
Venue: arXiv cs.CY 2026
Year: 2026

Generative AI agents equate understanding with resolving explicit queries, an assumption that confines interaction to what users can articulate. This assumption breaks down when users themselves lack awareness of what is missing, risky, or worth considering. In such conditions, proactivity is not merely an efficiency enhancement, but an epistemic necessity. We refer to this condition as epistemic incompleteness: where progress depends on engaging with unknown unknowns for effective partnership. Existing approaches to proactivity remain narrowly anticipatory, extrapolating from past behavior and presuming that goals are already well defined, thereby failing to support users meaningfully. However, surfacing possibilities beyond a user's current awareness is not inherently beneficial. Unconstrained proactive interventions can misdirect attention, overwhelm users, or introduce harm. Proactive agents, therefore, require behavioral grounding: principled constraints on when, how, and to what extent an agent should intervene. We advance the position that generative proactivity must be grounded both epistemically and behaviorally. Drawing on the philosophy of ignorance and research on proactive behavior, we argue that these theories offer critical guidance for designing agents that can engage responsibly and foster meaningful partnerships.
Fast and Effective On-policy Distillation from Reasoning Prefixes
Venue: arXiv cs.LG 2026
Year: 2026

On-policy distillation (OPD), which samples trajectories from the student model and supervises them with a teacher at the token level, avoids relying solely on verifiable terminal rewards and can yield better generalization than off-policy distillation. However, OPD requires expensive on-the-fly sampling of the student policy during training, which substantially increases training cost, especially for long responses. Our initial analysis shows that, during OPD, training signals are often concentrated in the prefix of each output, and that even a short teacher-generated prefix can significantly help the student produce the correct answer. Motivated by these observations, we propose a simple yet effective modification of OPD: we apply the distillation objective only to prefixes of student-generated outputs and terminate each sampling early during distillation. Experiments on a suite of AI-for-Math and out-of-domain benchmarks show that on-policy prefix distillation matches the performance of full OPD while reducing training FLOP by 2x-47x.
High-Fidelity Network Management for Federated AI-as-a-Service: Cross-Domain Orchestration
Venue: arXiv cs.NI 2026
Year: 2026

To support the emergence of AI-as-a-Service (AIaaS), communication service providers (CSPs) are on the verge of a radical transformation-from pure connectivity providers to AIaaS a managed network service (control-and-orchestration plane that exposes AI models). In this model, the CSP is responsible not only for transport/communications, but also for intent-to-model resolution and joint network-compute orchestration, i.e., reliable and timely end-to-end delivery. The resulting end-to-end AIaaS service thus becomes governed by communications impairments (delay, loss) and inference impairments (latency, error). A central open problem is an operational AIaaS control-and-orchestration framework that enforces high fidelity, particularly under multi-domain federation. This paper introduces an assurance-oriented AIaaS management plane based on Tail-Risk Envelopes (TREs): signed, composable per-domain descriptors that combine deterministic guardrails with stochastic rate-latency-impairment models. Using stochastic network calculus, we derive bounds on end-to-end delay violation probabilities across tandem domains and obtain an optimization-ready risk-budget decomposition. We show that tenant-level reservations prevent bursty traffic from inflating tail latency under TRE contracts. An auditing layer then uses runtime telemetry to estimate extreme-percentile performance, quantify uncertainty, and attribute tail-risk to each domain for accountability. Packet-level Monte-Carlo simulations demonstrate improved p99.9 compliance under overload via admission control and robust tenant isolation under correlated burstiness.
EAA: Automating materials characterization with vision language model agents
Venue: arXiv cs.AI 2026
Year: 2026

We present Experiment Automation Agents (EAA), a vision-language-model-driven agentic system designed to automate complex experimental microscopy workflows. EAA integrates multimodal reasoning, tool-augmented action, and optional long-term memory to support both autonomous procedures and interactive user-guided measurements. Built on a flexible task-manager architecture, the system enables workflows ranging from fully agent-driven automation to logic-defined routines that embed localized LLM queries. EAA further provides a modern tool ecosystem with two-way compatibility for Model Context Protocol (MCP), allowing instrument-control tools to be consumed or served across applications. We demonstrate EAA at an imaging beamline at the Advanced Photon Source, including automated zone plate focusing, natural language-described feature search, and interactive data acquisition. These results illustrate how vision-capable agents can enhance beamline efficiency, reduce operational burden, and lower the expertise barrier for users.
Hybrid Federated and Split Learning for Privacy Preserving Clinical Prediction and Treatment Optimization
Venue: arXiv cs.LG 2026
Year: 2026

Collaborative clinical decision support is often constrained by governance and privacy rules that prevent pooling patient-level records across institutions. We present a hybrid privacy-preserving framework that combines Federated Learning (FL) and Split Learning (SL) to support decision-oriented healthcare modeling without raw-data sharing. The approach keeps feature-extraction trunks on clients while hosting prediction heads on a coordinating server, enabling shared representation learning and exposing an explicit collaboration boundary where privacy controls can be applied. Rather than assuming distributed training is inherently private, we audit leakage empirically using membership inference on cut-layer representations and study lightweight defenses based on activation clipping and additive Gaussian noise. We evaluate across three public clinical datasets under non-IID client partitions using a unified pipeline and assess performance jointly along four deployment-relevant axes: factual predictive utility, uplift-based ranking under capacity constraints, audited privacy leakage, and communication overhead. Results show that hybrid FL-SL variants achieve competitive predictive performance and decision-facing prioritization behavior relative to standalone FL or SL, while providing a tunable privacy-utility trade-off that can reduce audited leakage without requiring raw-data sharing. Overall, the work positions hybrid FL-SL as a practical design space for privacy-preserving healthcare decision support where utility, leakage risk, and deployment cost must be balanced explicitly.
Extracting Consumer Insight from Text: A Large Language Model Approach to Emotion and Evaluation Measurement
Venue: arXiv cs.CL 2026
Year: 2026

Accurately measuring consumer emotions and evaluations from unstructured text remains a core challenge for marketing research and practice. This study introduces the Linguistic eXtractor (LX), a fine-tuned, large language model trained on consumer-authored text that also has been labeled with consumers' self-reported ratings of 16 consumption-related emotions and four evaluation constructs: trust, commitment, recommendation, and sentiment. LX consistently outperforms leading models, including GPT-4 Turbo, RoBERTa, and DeepSeek, achieving 81% macro-F1 accuracy on open-ended survey responses and greater than 95% accuracy on third-party-annotated Amazon and Yelp reviews. An application of LX to online retail data, using seemingly unrelated regression, affirms that review-expressed emotions predict product ratings, which in turn predict purchase behavior. Most emotional effects are mediated by product ratings, though some emotions, such as discontent and peacefulness, influence purchase directly, indicating that emotional tone provides meaningful signals beyond star ratings. To support its use, a no-code, cost-free, LX web application is available, enabling scalable analyses of consumer-authored text. In establishing a new methodological foundation for consumer perception measurement, this research demonstrates new methods for leveraging large language models to advance marketing research and practice, thereby achieving validated detection of marketing constructs from consumer data.
AgriWorld:A World Tools Protocol Framework for Verifiable Agricultural Reasoning with Code-Executing LLM Agents
Venue: arXiv cs.AI 2026
Year: 2026

Foundation models for agriculture are increasingly trained on massive spatiotemporal data (e.g., multi-spectral remote sensing, soil grids, and field-level management logs) and achieve strong performance on forecasting and monitoring. However, these models lack language-based reasoning and interactive capabilities, limiting their usefulness in real-world agronomic workflows. Meanwhile, large language models (LLMs) excel at interpreting and generating text, but cannot directly reason over high-dimensional, heterogeneous agricultural datasets. We bridge this gap with an agentic framework for agricultural science. It provides a Python execution environment, AgriWorld, exposing unified tools for geospatial queries over field parcels, remote-sensing time-series analytics, crop growth simulation, and task-specific predictors (e.g., yield, stress, and disease risk). On top of this environment, we design a multi-turn LLM agent, Agro-Reflective, that iteratively writes code, observes execution results, and refines its analysis via an execute-observe-refine loop. We introduce AgroBench, with scalable data generation for diverse agricultural QA spanning lookups, forecasting, anomaly detection, and counterfactual "what-if" analysis. Experiments outperform text-only and direct tool-use baselines, validating execution-driven reflection for reliable agricultural reasoning.
EventMemAgent: Hierarchical Event-Centric Memory for Online Video Understanding with Adaptive Tool Use
Venue: arXiv cs.CV 2026
Year: 2026

Online video understanding requires models to perform continuous perception and long-range reasoning within potentially infinite visual streams. Its fundamental challenge lies in the conflict between the unbounded nature of streaming media input and the limited context window of Multimodal Large Language Models (MLLMs). Current methods primarily rely on passive processing, which often face a trade-off between maintaining long-range context and capturing the fine-grained details necessary for complex tasks. To address this, we introduce EventMemAgent, an active online video agent framework based on a hierarchical memory module. Our framework employs a dual-layer strategy for online videos: short-term memory detects event boundaries and utilizes event-granular reservoir sampling to process streaming video frames within a fixed-length buffer dynamically; long-term memory structuredly archives past observations on an event-by-event basis. Furthermore, we integrate a multi-granular perception toolkit for active, iterative evidence capture and employ Agentic Reinforcement Learning (Agentic RL) to end-to-end internalize reasoning and tool-use strategies into the agent's intrinsic capabilities. Experiments show that EventMemAgent achieves competitive results on online video benchmarks. The code will be released here: https://github.com/lingcco/EventMemAgent.
A Scalable Curiosity-Driven Game-Theoretic Framework for Long-Tail Multi-Label Learning in Data Mining
Venue: arXiv cs.LG 2026
Year: 2026

The long-tail distribution, where a few head labels dominate while rare tail labels abound, poses a persistent challenge for large-scale Multi-Label Classification (MLC) in real-world data mining applications. Existing resampling and reweighting strategies often disrupt inter-label dependencies or require brittle hyperparameter tuning, especially as the label space expands to tens of thousands of labels. To address this issue, we propose Curiosity-Driven Game-Theoretic Multi-Label Learning (CD-GTMLL), a scalable cooperative framework that recasts long-tail MLC as a multi-player game - each sub-predictor ("player") specializes in a partition of the label space, collaborating to maximize global accuracy while pursuing intrinsic curiosity rewards based on tail label rarity and inter-player disagreement. This mechanism adaptively injects learning signals into under-represented tail labels without manual balancing or tuning. We further provide a theoretical analysis showing that our CD-GTMLL converges to a tail-aware equilibrium and formally links the optimization dynamics to improvements in the Rare-F1 metric. Extensive experiments across 7 benchmarks, including extreme multi-label classification datasets with 30,000+ labels, demonstrate that CD-GTMLL consistently surpasses state-of-the-art methods, with gains up to +1.6% P@3 on Wiki10-31K. Ablation studies further confirm the contributions of both game-theoretic cooperation and curiosity-driven exploration to robust tail performance. By integrating game theory with curiosity mechanisms, CD-GTMLL not only enhances model efficiency in resource-constrained environments but also paves the way for more adaptive learning in imbalanced data scenarios across industries like e-commerce and healthcare.
NeuroSymActive: Differentiable Neural-Symbolic Reasoning with Active Exploration for Knowledge Graph Question Answering
Venue: arXiv cs.CL 2026
Year: 2026

Large pretrained language models and neural reasoning systems have advanced many natural language tasks, yet they remain challenged by knowledge-intensive queries that require precise, structured multi-hop inference. Knowledge graphs provide a compact symbolic substrate for factual grounding, but integrating graph structure with neural models is nontrivial: naively embedding graph facts into prompts leads to inefficiency and fragility, while purely symbolic or search-heavy approaches can be costly in retrievals and lack gradient-based refinement. We introduce NeuroSymActive, a modular framework that combines a differentiable neural-symbolic reasoning layer with an active, value-guided exploration controller for Knowledge Graph Question Answering. The method couples soft-unification style symbolic modules with a neural path evaluator and a Monte-Carlo style exploration policy that prioritizes high-value path expansions. Empirical results on standard KGQA benchmarks show that NeuroSymActive attains strong answer accuracy while reducing the number of expensive graph lookups and model calls compared to common retrieval-augmented baselines.
Doubly Stochastic Mean-Shift Clustering
Venue: arXiv cs.LG 2026
Year: 2026

Standard Mean-Shift algorithms are notoriously sensitive to the bandwidth hyperparameter, particularly in data-scarce regimes where fixed-scale density estimation leads to fragmentation and spurious modes. In this paper, we propose Doubly Stochastic Mean-Shift (DSMS), a novel extension that introduces randomness not only in the trajectory updates but also in the kernel bandwidth itself. By drawing both the data samples and the radius from a continuous uniform distribution at each iteration, DSMS effectively performs a better exploration of the density landscape. We show that this randomized bandwidth policy acts as an implicit regularization mechanism, and provide convergence theoretical results. Comparative experiments on synthetic Gaussian mixtures reveal that DSMS significantly outperforms standard and stochastic Mean-Shift baselines, exhibiting remarkable stability and preventing over-segmentation in sparse clustering scenarios without other performance degradation.
Efficient Generative Modeling beyond Memoryless Diffusion via Adjoint Schrödinger Bridge Matching
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models often yield highly curved trajectories and noisy score targets due to an uninformative, memoryless forward process that induces independent data-noise coupling. We propose Adjoint Schrödinger Bridge Matching (ASBM), a generative modeling framework that recovers optimal trajectories in high dimensions via two stages. First, we view the Schrödinger Bridge (SB) forward dynamic as a coupling construction problem and learn it through a data-to-energy sampling perspective that transports data to an energy-defined prior. Then, we learn the backward generative dynamic with a simple matching loss supervised by the induced optimal coupling. By operating in a non-memoryless regime, ASBM produces significantly straighter and more efficient sampling paths. Compared to prior works, ASBM scales to high-dimensional data with notably improved stability and efficiency. Extensive experiments on image generation show that ASBM improves fidelity with fewer sampling steps. We further showcase the effectiveness of our optimal trajectory via distillation to a one-step generator.
ActionCodec: What Makes for Good Action Tokenizers
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training efficiency. Central to this paradigm is action tokenization, yet its design has primarily focused on reconstruction fidelity, failing to address its direct impact on VLA optimization. Consequently, the fundamental question of \textit{what makes for good action tokenizers} remains unanswered. In this paper, we bridge this gap by establishing design principles specifically from the perspective of VLA optimization. We identify a set of best practices based on information-theoretic insights, including maximized temporal token overlap, minimized vocabulary redundancy, enhanced multimodal mutual information, and token independence. Guided by these principles, we introduce \textbf{ActionCodec}, a high-performance action tokenizer that significantly enhances both training efficiency and VLA performance across diverse simulation and real-world benchmarks. Notably, on LIBERO, a SmolVLM2-2.2B fine-tuned with ActionCodec achieves a 95.5\% success rate without any robotics pre-training. With advanced architectural enhancements, this reaches 97.4\%, representing a new SOTA for VLA models without robotics pre-training. We believe our established design principles, alongside the released model, will provide a clear roadmap for the community to develop more effective action tokenizers.
Common Belief Revisited
Venue: arXiv cs.AI 2026
Year: 2026

Contrary to common belief, common belief is not KD4. If individual belief is KD45, common belief does indeed lose the 5 property and keep the D and 4 properties -- and it has none of the other commonly considered properties of knowledge and belief. But it has another property: $C(Cϕ\rightarrow ϕ)$ -- corresponding to so-called shift-reflexivity (reflexivity one step ahead). This observation begs the question: is KD4 extended with this axiom a complete characterisation of common belief in the KD45 case? If not, what \emph{is} the logic of common belief? In this paper we show that the answer to the first question is ``no'': there is one additional axiom, and, furthermore, it relies on the number of agents. We show that the result is a complete characterisation of common belief, settling the open problem.