OpenRaiser/Intern-Atlas huggingface dataset:
An Industrial Dataset for Scene Acquisitions and Functional Schematics Alignment
Venue: arXiv cs.CV 2026
Year: 2026

Aligning functional schematics with 2D and 3D scene acquisitions is crucial for building digital twins, especially for old industrial facilities that lack native digital models. Current manual alignment using images and LiDAR data does not scale due to tediousness and complexity of industrial sites. Inconsistencies between schematics and reality, and the scarcity of public industrial datasets, make the problem both challenging and underexplored. This paper introduces IRIS-v2, a comprehensive dataset to support further research. It includes images, point clouds, 2D annotated boxes and segmentation masks, a CAD model, 3D pipe routing information, and the P&ID (Piping and Instrumentation Diagram). The alignment is experimented on a practical case study, aiming at reducing the time required for this task by combining segmentation and graph matching.
STAPO: Stabilizing Reinforcement Learning for LLMs by Silencing Rare Spurious Tokens
Venue: arXiv cs.CL 2026
Year: 2026

Reinforcement Learning (RL) has significantly improved large language model reasoning, but existing RL fine-tuning methods rely heavily on heuristic techniques such as entropy regularization and reweighting to maintain stability. In practice, they often suffer from late-stage performance collapse, leading to degraded reasoning quality and unstable training. Our analysis shows that the magnitude of token-wise policy gradients in RL is negatively correlated with token probability and local policy entropy. We find that training instability can be caused by a tiny fraction of tokens, approximately 0.01%, which we term spurious tokens. When such tokens appear in correct responses, they contribute little to the reasoning outcome but inherit the full sequence-level reward, leading to abnormally amplified gradient updates. To mitigate this instability, we design an S2T (silencing spurious tokens) mechanism to efficiently identify spurious tokens through characteristic signals with low probability, low entropy, and positive advantage, and then suppress their gradient perturbations during optimization. Incorporating this mechanism into a group-based objective, we propose Spurious-Token-Aware Policy Optimization (STAPO), which promotes stable and effective large-scale model refinement. Across six mathematical reasoning benchmarks using Qwen 1.7B, 8B, and 14B base models, STAPO consistently demonstrates superior entropy stability and achieves an average performance improvement of 7.13% ($ρ_{\mathrm{T}}$=1.0, top-p=1.0) and 3.69% ($ρ_{\mathrm{T}}$=0.7, top-p=0.9) over GRPO, 20-Entropy, and JustRL.
Beyond ReLU: Bifurcation, Oversmoothing, and Topological Priors
Venue: arXiv cs.LG 2026
Year: 2026

Graph Neural Networks (GNNs) learn node representations through iterative network-based message-passing. While powerful, deep GNNs suffer from oversmoothing, where node features converge to a homogeneous, non-informative state. We re-frame this problem of representational collapse from a \emph{bifurcation theory} perspective, characterizing oversmoothing as convergence to a stable ``homogeneous fixed point.'' Our central contribution is the theoretical discovery that this undesired stability can be broken by replacing standard monotone activations (e.g., ReLU) with a class of functions. Using Lyapunov-Schmidt reduction, we analytically prove that this substitution induces a bifurcation that destabilizes the homogeneous state and creates a new pair of stable, non-homogeneous \emph{patterns} that provably resist oversmoothing. Our theory predicts a precise, nontrivial scaling law for the amplitude of these emergent patterns, which we quantitatively validate in experiments. Finally, we demonstrate the practical utility of our theory by deriving a closed-form, bifurcation-aware initialization and showing its utility in real benchmark experiments.
Spatially-Aware Adaptive Trajectory Optimization with Controller-Guided Feedback for Autonomous Racing
Venue: arXiv cs.RO 2026
Year: 2026

We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-guided spatial feedback. Instead of treating tracking errors as transient disturbances, our method exploits them as informative signals of local track characteristics via a Kalman-inspired spatial update. This enables the construction of an adaptive, acceleration-based constraint map that iteratively refines trajectories toward near-optimal performance under spatially varying track and vehicle behavior. In simulation, our approach achieves a 17.38% lap time reduction compared to a controller parametrized with maximum static acceleration. On real hardware, tested with different tire compounds ranging from high to low friction, we obtain a 7.60% lap time improvement without explicitly parametrizing friction. This demonstrates robustness to changing grip conditions in real-world scenarios.
Guided Diffusion by Optimized Loss Functions on Relaxed Parameters for Inverse Material Design
Venue: arXiv cs.LG 2026
Year: 2026

Inverse design problems are common in engineering and materials science. The forward direction, i.e., computing output quantities from design parameters, typically requires running a numerical simulation, such as a FEM, as an intermediate step, which is an optimization problem by itself. In many scenarios, several design parameters can lead to the same or similar output values. For such cases, multi-modal probabilistic approaches are advantageous to obtain diverse solutions. A major difficulty in inverse design stems from the structure of the design space, since discrete parameters or further constraints disallow the direct use of gradient-based optimization. To tackle this problem, we propose a novel inverse design method based on diffusion models. Our approach relaxes the original design space into a continuous grid representation, where gradients can be computed by implicit differentiation in the forward simulation. A diffusion model is trained on this relaxed parameter space in order to serve as a prior for plausible relaxed designs. Parameters are sampled by guided diffusion using gradients that are propagated from an objective function specified at inference time through the differentiable simulation. A design sample is obtained by backprojection into the original parameter space. We develop our approach for a composite material design problem where the forward process is modeled as a linear FEM problem. We evaluate the performance of our approach in finding designs that match a specified bulk modulus. We demonstrate that our method can propose diverse designs within 1% relative error margin from medium to high target bulk moduli in 2D and 3D settings. We also demonstrate that the material density of generated samples can be minimized simultaneously by using a multi-objective loss function.
Continuous-Time Piecewise-Linear Recurrent Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

In dynamical systems reconstruction (DSR) we aim to recover the dynamical system (DS) underlying observed time series. Specifically, we aim to learn a generative surrogate model which approximates the underlying, data-generating DS, and recreates its long-term properties (`climate statistics'). In scientific and medical areas, in particular, these models need to be mechanistically tractable -- through their mathematical analysis we would like to obtain insight into the recovered system's workings. Piecewise-linear (PL), ReLU-based RNNs (PLRNNs) have a strong track-record in this regard, representing SOTA DSR models while allowing mathematical insight by virtue of their PL design. However, all current PLRNN variants are discrete-time maps. This is in disaccord with the assumed continuous-time nature of most physical and biological processes, and makes it hard to accommodate data arriving at irregular temporal intervals. Neural ODEs are one solution, but they do not reach the DSR performance of PLRNNs and often lack their tractability. Here we develop theory for continuous-time PLRNNs (cPLRNNs): We present a novel algorithm for training and simulating such models, bypassing numerical integration by efficiently exploiting their PL structure. We further demonstrate how important topological objects like equilibria or limit cycles can be determined semi-analytically in trained models. We compare cPLRNNs to both their discrete-time cousins as well as Neural ODEs on DSR benchmarks, including systems with discontinuities which come with hard thresholds.
LLM-to-Speech: A Synthetic Data Pipeline for Training Dialectal Text-to-Speech Models
Venue: arXiv cs.CL 2026
Year: 2026

Despite the advances in neural text to speech (TTS), many Arabic dialectal varieties remain marginally addressed, with most resources concentrated on Modern Spoken Arabic (MSA) and Gulf dialects, leaving Egyptian Arabic -- the most widely understood Arabic dialect -- severely under-resourced. We address this gap by introducing NileTTS: 38 hours of transcribed speech from two speakers across diverse domains including medical, sales, and general conversations. We construct this dataset using a novel synthetic pipeline: large language models (LLM) generate Egyptian Arabic content, which is then converted to natural speech using audio synthesis tools, followed by automatic transcription and speaker diarization with manual quality verification. We fine-tune XTTS v2, a state-of-the-art multilingual TTS model, on our dataset and evaluate against the baseline model trained on other Arabic dialects. Our contributions include: (1) the first publicly available Egyptian Arabic TTS dataset, (2) a reproducible synthetic data generation pipeline for dialectal TTS, and (3) an open-source fine-tuned model. All resources are released to advance Egyptian Arabic speech synthesis research.
How to Disclose? Strategic AI Disclosure in Crowdfunding
Venue: arXiv cs.HC 2026
Year: 2026

As artificial intelligence (AI) increasingly integrates into crowdfunding practices, strategic disclosure of AI involvement has become critical. Yet, empirical insights into how different disclosure strategies influence investor decisions remain limited. Drawing on signaling theory and Aristotle's rhetorical framework, we examine how mandatory AI disclosure affects crowdfunding performance and how substantive signals (degree of AI involvement) and rhetorical signals (logos/explicitness, ethos/authenticity, pathos/emotional tone) moderate these effects. Leveraging Kickstarter's mandatory AI disclosure policy as a natural experiment and four supplementary online experiments, we find that mandatory AI disclosure significantly reduces crowdfunding performance: funds raised decline by 39.8% and backer counts by 23.9% for AI-involved projects. However, this adverse effect is systematically moderated by disclosure strategy. Greater AI involvement amplifies the negative effects of AI disclosure, while high authenticity and high explicitness mitigate them. Interestingly, excessive positive emotional tone (a strategy creators might intuitively adopt to counteract AI skepticism) backfires and exacerbates negative outcomes. Supplementary randomized experiments identify two underlying mechanisms: perceived creator competence and AI washing concerns. Substantive signals primarily affect competence judgments, whereas rhetorical signals operate through varied pathways: either mediator alone or both in sequence. These findings provide theoretical and practical insights for entrepreneurs, platforms, and policymakers strategically managing AI transparency in high-stakes investment contexts.
Criteria-first, semantics-later: reproducible structure discovery in image-based sciences
Venue: arXiv cs.CV 2026
Year: 2026

Across the natural and life sciences, images have become a primary measurement modality, yet the dominant analytic paradigm remains semantics-first. Structure is recovered by predicting or enforcing domain-specific labels. This paradigm fails systematically under the conditions that make image-based science most valuable, including open-ended scientific discovery, cross-sensor and cross-site comparability, and long-term monitoring in which domain ontologies and associated label sets drift culturally, institutionally, and ecologically. A deductive inversion is proposed in the form of criteria-first and semantics-later. A unified framework for criteria-first structure discovery is introduced. It separates criterion-defined, semantics-free structure extraction from downstream semantic mapping into domain ontologies or vocabularies and provides a domain-general scaffold for reproducible analysis across image-based sciences. Reproducible science requires that the first analytic layer perform criterion-driven, semantics-free structure discovery, yielding stable partitions, structural fields, or hierarchies defined by explicit optimality criteria rather than local domain ontologies. Semantics is not discarded; it is relocated downstream as an explicit mapping from the discovered structural product to a domain ontology or vocabulary, enabling plural interpretations and explicit crosswalks without rewriting upstream extraction. Grounded in cybernetics, observation-as-distinction, and information theory's separation of information from meaning, the argument is supported by cross-domain evidence showing that criteria-first components recur whenever labels do not scale. Finally, consequences are outlined for validation beyond class accuracy and for treating structural products as FAIR, AI-ready digital objects for long-term monitoring and digital twins.
ToaSt: Token Channel Selection and Structured Pruning for Efficient ViT
Venue: arXiv cs.CV 2026
Year: 2026

Vision Transformers (ViTs) have achieved remarkable success across various vision tasks, yet their deployment is often hindered by prohibitive computational costs. While structured weight pruning and token compression have emerged as promising solutions, they suffer from prolonged retraining times and global propagation that creates optimization challenges, respectively. We propose ToaSt, a decoupled framework applying specialized strategies to distinct ViT components. We apply coupled head-wise structured pruning to Multi-Head Self-Attention modules, leveraging attention operation characteristics to enhance robustness. For Feed-Forward Networks (over 60\% of FLOPs), we introduce Token Channel Selection (TCS) that enhances compression ratios while avoiding global propagation issues. Our analysis reveals TCS effectively filters redundant noise during selection. Extensive evaluations across nine diverse models, including DeiT, ViT-MAE, and Swin Transformer, demonstrate that ToaSt achieves superior trade-offs between accuracy and efficiency, consistently outperforming existing baselines. On ViT-MAE-Huge, ToaSt achieves 88.52\% accuracy (+1.64 \%) with 39.4\% FLOPs reduction. ToaSt transfers effectively to downstream tasks, achieving 52.2 versus 51.9 mAP on COCO object detection. Code and models will be released upon acceptance.
Recursive Concept Evolution for Compositional Reasoning in Large Language Models
Venue: arXiv cs.AI 2026
Year: 2026

Large language models achieve strong performance on many complex reasoning tasks, yet their accuracy degrades sharply on benchmarks that require compositional reasoning, including ARC-AGI-2, GPQA, MATH, BBH, and HLE. Existing methods improve reasoning by expanding token-level search through chain-of-thought prompting, self-consistency, or reinforcement learning, but they leave the model's latent representation space fixed. When the required abstraction is not already encoded in this space, performance collapses. We propose Recursive Concept Evolution (RCE), a framework that enables pretrained language models to modify their internal representation geometry during inference. RCE introduces dynamically generated low-rank concept subspaces that are spawned when representational inadequacy is detected, selected through a minimum description length criterion, merged when synergistic, and consolidated via constrained optimization to preserve stability. This process allows the model to construct new abstractions rather than recombining existing ones. We integrate RCE with Mistral-7B and evaluate it across compositional reasoning benchmarks. RCE yields 12-18 point gains on ARC-AGI-2, 8-14 point improvements on GPQA and BBH, and consistent reductions in depth-induced error on MATH and HLE.
A Note on Non-Composability of Layerwise Approximate Verification for Neural Inference
Venue: arXiv cs.CR 2026
Year: 2026

A natural and informal approach to verifiable (or zero-knowledge) ML inference over floating-point data is: ``prove that each layer was computed correctly up to tolerance $δ$; therefore the final output is a reasonable inference result''. This short note gives a simple counterexample showing that this inference is false in general: for any neural network, we can construct a functionally equivalent network for which adversarially chosen approximation-magnitude errors in individual layer computations suffice to steer the final output arbitrarily (within a prescribed bounded range).
GLM-5: from Vibe Coding to Agentic Engineering
Venue: arXiv cs.LG 2026
Year: 2026

We present GLM-5, a next-generation foundation model designed to transition the paradigm of vibe coding to agentic engineering. Building upon the agentic, reasoning, and coding (ARC) capabilities of its predecessor, GLM-5 adopts DSA to significantly reduce training and inference costs while maintaining long-context fidelity. To advance model alignment and autonomy, we implement a new asynchronous reinforcement learning infrastructure that drastically improves post-training efficiency by decoupling generation from training. Furthermore, we propose novel asynchronous agent RL algorithms that further improve RL quality, enabling the model to learn from complex, long-horizon interactions more effectively. Through these innovations, GLM-5 achieves state-of-the-art performance on major open benchmarks. Most critically, GLM-5 demonstrates unprecedented capability in real-world coding tasks, surpassing previous baselines in handling end-to-end software engineering challenges. Code, models, and more information are available at https://github.com/zai-org/GLM-5.
Robot-Assisted Social Dining as a White Glove Service
Venue: arXiv cs.RO 2026
Year: 2026

Robot-assisted feeding enables people with disabilities who require assistance eating to enjoy a meal independently and with dignity. However, existing systems have only been tested in-lab or in-home, leaving in-the-wild social dining contexts (e.g., restaurants) largely unexplored. Designing a robot for such contexts presents unique challenges, such as dynamic and unsupervised dining environments that a robot needs to account for and respond to. Through speculative participatory design with people with disabilities, supported by semi-structured interviews and a custom AI-based visual storyboarding tool, we uncovered ideal scenarios for in-the-wild social dining. Our key insight suggests that such systems should: embody the principles of a white glove service where the robot (1) supports multimodal inputs and unobtrusive outputs; (2) has contextually sensitive social behavior and prioritizes the user; (3) has expanded roles beyond feeding; (4) adapts to other relationships at the dining table. Our work has implications for in-the-wild and group contexts of robot-assisted feeding.
Meteorological data and Sky Images meets Neural Models for Photovoltaic Power Forecasting
Venue: arXiv cs.CV 2026
Year: 2026

Due to the rise in the use of renewable energies as an alternative to traditional ones, and especially solar energy, there is increasing interest in studying how to address photovoltaic forecasting in the face of the challenge of variability in photovoltaic energy production, using different methodologies. This work develops a hybrid approach for short and long-term forecasting based on two studies with the same purpose. A multimodal approach that combines images of the sky and photovoltaic energy history with meteorological data is proposed. The main goal is to improve the accuracy of ramp event prediction, increase the robustness of forecasts in cloudy conditions, and extend capabilities beyond nowcasting, to support more efficient operation of the power grid and better management of solar variability. Deep neural models are used for both nowcasting and forecasting solutions, incorporating individual and multiple meteorological variables, as well as an analytical solar position. The results demonstrate that the inclusion of meteorological data, particularly the surface long-wave, radiation downwards, and the combination of wind and solar position, significantly improves current predictions in both nowcasting and forecasting tasks, especially on cloudy days. This study highlights the importance of integrating diverse data sources to improve the reliability and interpretability of solar energy prediction models.
The Geometry of Alignment Collapse: When Fine-Tuning Breaks Safety
Venue: arXiv cs.LG 2026
Year: 2026

Fine-tuning aligned language models on benign tasks unpredictably degrades safety guardrails, even when training data contains no harmful content and developers have no adversarial intent. We show that the prevailing explanation, that fine-tuning updates should be orthogonal to safety-critical directions in high-dimensional parameter space, offers false reassurance: we show this orthogonality is structurally unstable and collapses under the dynamics of gradient descent. We then resolve this through a novel geometric analysis, proving that alignment concentrates in low-dimensional subspaces with sharp curvature, creating a brittle structure that first-order methods cannot detect or defend. While initial fine-tuning updates may indeed avoid these subspaces, the curvature of the fine-tuning loss generates second-order acceleration that systematically steers trajectories into alignment-sensitive regions. We formalize this mechanism through the Alignment Instability Condition, three geometric properties that, when jointly satisfied, lead to safety degradation. Our main result establishes a quartic scaling law: alignment loss grows with the fourth power of training time, governed by the sharpness of alignment geometry and the strength of curvature coupling between the fine-tuning task and safety-critical parameters. These results expose a structural blind spot in the current safety paradigm. The dominant approaches to safe fine-tuning address only the initial snapshot of a fundamentally dynamic problem. Alignment fragility is not a bug to be patched; it is an intrinsic geometric property of gradient descent on curved manifolds. Our results motivate the development of curvature-aware methods, and we hope will further enable a shift in alignment safety analysis from reactive red-teaming to predictive diagnostics for open-weight model deployment.
Towards a More Realistic VR Experience: Merging Haptic Gloves with Precision Gloves
Venue: arXiv cs.HC 2026
Year: 2026

Virtual reality (VR) glove technology is increasingly important for professional training, industrial applications, and teleoperation in hazardous environments, since it enables more natural and immersive interactions than controllers. However, current solutions face a trade-off: high-precision gloves lack haptic feedback, while haptic gloves suffer from poor accuracy. Existing studies have mainly focused on developing new glove prototypes or optimizing only one type of glove, without addressing the integration of both features. Our work presents a novel hybrid approach that combines a high-precision glove with a haptic glove, creating a system that delivers both precision and haptics.