OpenRaiser/Intern-Atlas huggingface dataset:
Recognition of Daily Activities through Multi-Modal Deep Learning: A Video, Pose, and Object-Aware Approach for Ambient Assisted Living
Venue: arXiv cs.CV 2026
Year: 2026

Recognition of daily activities is a critical element for effective Ambient Assisted Living (AAL) systems, particularly to monitor the well-being and support the independence of older adults in indoor environments. However, developing robust activity recognition systems faces significant challenges, including intra-class variability, inter-class similarity, environmental variability, camera perspectives, and scene complexity. This paper presents a multi-modal approach for the recognition of activities of daily living tailored for older adults within AAL settings. The proposed system integrates visual information processed by a 3D Convolutional Neural Network (CNN) with 3D human pose data analyzed by a Graph Convolutional Network. Contextual information, derived from an object detection module, is fused with the 3D CNN features using a cross-attention mechanism to enhance recognition accuracy. This method is evaluated using the Toyota SmartHome dataset, which consists of real-world indoor activities. The results indicate that the proposed system achieves competitive classification accuracy for a range of daily activities, highlighting its potential as an essential component for advanced AAL monitoring solutions. This advancement supports the broader goal of developing intelligent systems that promote safety and autonomy among older adults.
Progressive Refinement Regulation for Accelerating Diffusion Language Model Decoding
Venue: arXiv cs.AI 2026
Year: 2026

Diffusion language models generate text through iterative denoising under a uniform refinement rule applied to all tokens. However, tokens stabilize at different rates in practice, leading to substantial redundant refinement and motivating refinement control over the denoising process. Existing approaches typically assess refinement necessity from instantaneous, step-level signals under a fixed decoding process. In contrast, whether a token has converged is defined by how its prediction changes along its future refinement trajectory. Moreover, changing the refinement rule reshapes future refinement trajectories, which in turn determine how refinement rules should be formulated, making refinement control inherently dynamic. We propose \emph{Progressive Refinement Regulation} (PRR), a progressive, trajectory-grounded refinement control framework that derives a token-level notion of empirical convergence progress from full decoding rollouts. Based on this signal, PRR learns a lightweight token-wise controller to regulate refinement via temperature-based distribution shaping under a progressive self-evolving training scheme. Experiments show that PRR substantially accelerates diffusion language model decoding while preserving generation quality.
PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imitation learning, obtaining high quality demonstrations for multi-fingered hands via robot teleoperation or kinesthetic teaching is prohibitive. Alternatively, with reinforcement we can learn skills in simulation, but fast and realistic simulation of tactile observations is challenging. To bridge this gap, we introduce PTLD: sim-to-real Privileged Tactile Latent Distillation, a novel approach to learning tactile manipulation skills without requiring tactile simulation. Instead of simulating tactile sensors or relying purely on proprioceptive policies to transfer zero-shot sim-to-real, our key idea is to leverage privileged sensors in the real world to collect real-world tactile policy data. This data is then used to distill a robust state estimator that operates on tactile input. We demonstrate from our experiments that PTLD can be used to improve proprioceptive manipulation policies trained in simulation significantly by incorporating tactile sensing. On the benchmark in-hand rotation task, PTLD achieves a 182% improvement over a proprioception only policy. We also show that PTLD enables learning the challenging task of tactile in-hand reorientation where we see a 57% improvement in the number of goals reached over using proprioception alone. Website: https://akashsharma02.github.io/ptld-website/.
Still Fresh? Evaluating Temporal Drift in Retrieval Benchmarks
Venue: arXiv cs.IR 2026
Year: 2026

Information retrieval (IR) benchmarks typically follow the Cranfield paradigm, relying on static and predefined corpora. However, temporal changes in technical corpora, such as API deprecations and code reorganizations, can render existing benchmarks stale. In our work, we investigate how temporal corpus drift affects FreshStack, a retrieval benchmark focused on technical domains. We examine two independent corpus snapshots of FreshStack from October 2024 and October 2025 to answer questions about LangChain. Our analysis shows that all but one query posed in 2024 remain fully supported by the 2025 corpus, as relevant documents "migrate" from LangChain to competitor repositories, such as LlamaIndex. Next, we compare the accuracy of retrieval models on both snapshots and observe only minor shifts in model rankings, with overall strong correlation of up to 0.978 Kendall $τ$ at Recall@50. These results suggest that retrieval benchmarks re-judged with evolving temporal corpora can remain reliable for retrieval evaluation. We publicly release all our artifacts at https://github.com/fresh-stack/driftbench.
Why Do Neural Networks Forget: A Study of Collapse in Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Catastrophic forgetting is a major problem in continual learning, and lots of approaches arise to reduce it. However, most of them are evaluated through task accuracy, which ignores the internal model structure. Recent research suggests that structural collapse leads to loss of plasticity, as evidenced by changes in effective rank (eRank). This indicates a link to forgetting, since the networks lose the ability to expand their feature space to learn new tasks, which forces the network to overwrite existing representations. Therefore, in this study, we investigate the correlation between forgetting and collapse through the measurement of both weight and activation eRank. To be more specific, we evaluated four architectures, including MLP, ConvGRU, ResNet-18, and Bi-ConvGRU, in the split MNIST and Split CIFAR-100 benchmarks. Those models are trained through the SGD, Learning-without-Forgetting (LwF), and Experience Replay (ER) strategies separately. The results demonstrate that forgetting and collapse are strongly related, and different continual learning strategies help models preserve both capacity and performance in different efficiency.
Bootstrapping Exploration with Group-Level Natural Language Feedback in Reinforcement Learning
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) typically receive diverse natural language (NL) feedback through interaction with the environment. However, current reinforcement learning (RL) algorithms rely solely on scalar rewards, leaving the rich information in NL feedback underutilized and leading to inefficient exploration. In this work, we propose GOLF, an RL framework that explicitly exploits group-level language feedback to guide targeted exploration through actionable refinements. GOLF aggregates two complementary feedback sources: (i) external critiques that pinpoint errors or propose targeted fixes, and (ii) intra-group attempts that supply alternative partial ideas and diverse failure patterns. These group-level feedbacks are aggregated to produce high-quality refinements, which are adaptively injected into training as off-policy scaffolds to provide targeted guidance in sparse-reward regions. Meanwhile, GOLF jointly optimizes generation and refinement within a unified RL loop, creating a virtuous cycle that continuously improves both capabilities. Experiments on both verifiable and non-verifiable benchmarks show that GOLF achieves superior performance and exploration efficiency, achieving 2.2$\times$ improvements in sample efficiency compared to RL methods trained solely on scalar rewards. Code is available at https://github.com/LuckyyySTA/GOLF.
Vibe Code Bench: Evaluating AI Models on End-to-End Web Application Development
Venue: arXiv cs.SE 2026
Year: 2026

Code generation has emerged as one of AI's highest-impact use cases, yet existing benchmarks measure isolated tasks rather than the complete "zero-to-one" process of building a working application from scratch. We introduce Vibe Code Bench, a benchmark of 100 web application specifications (50 public validation, 50 held-out test) with 964 browser-based workflows comprising 10,131 substeps, evaluated against deployed applications by an autonomous browser agent. Across 16 frontier models, the best achieves only 58.0% accuracy on the test split, revealing that reliable end-to-end application development remains a frontier challenge. We identify self-testing during generation as a strong performance predictor (Pearson r=0.72), and show through a completed human alignment study that evaluator selection materially affects outcomes (31.8-93.6% pairwise step-level agreement). Our contributions include (1) a novel benchmark dataset and browser-based evaluation pipeline for end-to-end web application development, (2) a comprehensive evaluation of 16 frontier models with cost, latency, and error analysis, and (3) an evaluator alignment protocol with both cross-model and human annotation results.
SGR3 Model: Scene Graph Retrieval-Reasoning Model in 3D
Venue: arXiv cs.CV 2026
Year: 2026

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D scene graph generation typically combine scene reconstruction with graph neural networks (GNNs). However, such pipelines require multi-modal data that may not always be available, and their reliance on heuristic graph construction can constrain the prediction of relationship triplets. In this work, we introduce a Scene Graph Retrieval-Reasoning Model in 3D (SGR3 Model), a training-free framework that leverages multi-modal large language models (MLLMs) with retrieval-augmented generation (RAG) for semantic scene graph generation. SGR3 Model bypasses the need for explicit 3D reconstruction. Instead, it enhances relational reasoning by incorporating semantically aligned scene graphs retrieved via a ColPali-style cross-modal framework. To improve retrieval robustness, we further introduce a weighted patch-level similarity selection mechanism that mitigates the negative impact of blurry or semantically uninformative regions. Experiments demonstrate that SGR3 Model achieves competitive performance compared to training-free baselines and on par with GNN-based expert models. Moreover, an ablation study on the retrieval module and knowledge base scale reveals that retrieved external information is explicitly integrated into the token generation process, rather than being implicitly internalized through abstraction.
Strategic Interactions in Multi-Level Stackelberg Games with Non-Follower Agents and Heterogeneous Leaders
Venue: arXiv cs.MA 2026
Year: 2026

Strategic interaction in congested systems is commonly modelled using Stackelberg games, where competing leaders anticipate the behaviour of self-interested followers. A key limitation of existing models is that they typically ignore agents who do not directly participate in market competition, yet both contribute to and adapt to congestion. Although such non-follower agents do not generate revenue or respond to market incentives, their behaviour reshapes congestion patterns, which in turn affects the decisions of leaders and followers through shared resources. We argue that overlooking non-followers leads to systematically distorted equilibrium predictions in congestion-coupled markets. To address this, we introduce a three-level Stackelberg framework with heterogeneous leaders differing in decision horizons and feasible actions, strategic followers, and non-follower agents that captures bidirectional coupling between infrastructure decisions, competition, and equilibrium congestion. We instantiate the framework in the context of electric vehicle (EV) charging infrastructure, where charging providers compete with rivals, while EV and non-EV traffic jointly shape congestion. The model illustrates how explicitly accounting for non-followers and heterogeneous competitors qualitatively alters strategic incentives and equilibrium outcomes. Beyond EV charging, the framework applies to a broad class of congestion-coupled multi-agent systems in mobility, energy, and computing markets.
Coordinated Semantic Alignment and Evidence Constraints for Retrieval-Augmented Generation with Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval augmented generation mitigates limitations of large language models in factual consistency and knowledge updating by introducing external knowledge. However, practical applications still suffer from semantic misalignment between retrieved results and generation objectives, as well as insufficient evidence utilization. To address these challenges, this paper proposes a retrieval augmented generation method that integrates semantic alignment with evidence constraints through coordinated modeling of retrieval and generation stages. The method first represents the relevance between queries and candidate evidence within a unified semantic space. This ensures that retrieved results remain semantically consistent with generation goals and reduces interference from noisy evidence and semantic drift. On this basis, an explicit evidence constraint mechanism is introduced. Retrieved evidence is transformed from an implicit context into a core control factor in generation. This restricts the expression scope of generated content and strengthens dependence on evidence. By jointly modeling semantic consistency and evidence constraints within a unified framework, the proposed approach improves factual reliability and verifiability while preserving natural language fluency. Comparative results show stable improvements across multiple generation quality metrics. This confirms the effectiveness and necessity of coordinated semantic alignment and evidence constraint modeling in retrieval augmented generation tasks.
iAgentBench: Benchmarking Sensemaking Capabilities of Information-Seeking Agents on High-Traffic Topics
Venue: arXiv cs.CL 2026
Year: 2026

With the emergence of search-enabled generative QA systems, users are increasingly turning to tools that browse, aggregate, and reconcile evidence across multiple sources on their behalf. Yet many widely used QA benchmarks remain answerable by retrieving a single relevant passage, making them poorly suited for measuring cross-source sensemaking, such as integrating evidence, tracking causal links, and resolving dependencies across facets of a topic. We present iAgentBench, a dynamic ODQA benchmark that targets these higher-level information needs while keeping questions natural and grounded in realistic information-seeking behavior. iAgentBench draws seed topics from real-world attention signals and uses common user intent patterns to construct user-like questions whose answers require combining evidence from multiple sources, not just extracting a single snippet. Each instance is released with traceable evidence and auditable intermediate artifacts that support contamination checks and enable fine-grained diagnosis of failures in retrieval versus synthesis. Experiments across multiple LLMs show that retrieval improves accuracy, but retrieval alone does not reliably resolve these questions, underscoring the need to evaluate evidence use, not just evidence access.
Neuro-Symbolic Financial Reasoning via Deterministic Fact Ledgers and Adversarial Low-Latency Hallucination Detector
Venue: arXiv cs.LG 2026
Year: 2026

Standard Retrieval-Augmented Generation (RAG) architectures fail in high-stakes financial domains due to two fundamental limitations: the inherent arithmetic incompetence of Large Language Models (LLMs) and the distributional semantic conflation of dense vector retrieval (e.g., mapping "Net Income" to "Net Sales" due to contextual proximity). In deterministic domains, a 99% accuracy rate yields 0% operational trust. To achieve zero-hallucination financial reasoning, we introduce the Verifiable Numerical Reasoning Agent (VeNRA). VeNRA shifts the RAG paradigm from retrieving probabilistic text to retrieving deterministic variables via a strictly typed Universal Fact Ledger (UFL). We mathematically bound this ledger using a novel Double-Lock Grounding algorithm. Coupled with deterministic Python execution, this neuro-symbolic routing compresses systemic hallucination rates to a near-zero 1.2%. Recognising that upstream parsing anomalies inevitably occur, we introduce the VeNRA Sentinel: a 3-billion parameter SLM trained to forensically audit candidate using a single-token inference budget with optional post-hoc reasoning. To train the Sentinel, we steer away from traditional hallucination datasets in favour of Adversarial Simulation, programmatically sabotaging financial records to simulate Ecological Errors. The compact Sentinel consequently outperforms 70B+ frontier models in error detection. Through Loss Dilution phenomenon in Reverse-CoT training, we present a novel Micro-Chunking loss algorithm to stabilise gradients under extreme verdict penalisation, yielding a 28x latency speedup without sacrificing forensic rigor.
Design, Mapping, and Contact Anticipation with 3D-printed Whole-Body Tactile and Proximity Sensors
Venue: arXiv cs.RO 2026
Year: 2026

Robots operating in dynamic and shared environments benefit from anticipating contact before it occurs. We present GenTact-Prox, a fully 3D-printed artificial skin that integrates tactile and proximity sensing for contact detection and anticipation. The artificial skin platform is modular in design, procedurally generated to fit any robot morphology, and can cover the whole body of a robot. The skin achieved detection ranges of up to 18 cm during evaluation. To characterize how robots perceive nearby space through this skin, we introduce a data-driven framework for mapping the Perisensory Space -- the body-centric volume of space around the robot where sensors provide actionable information for contact anticipation. We demonstrate this approach on a Franka Research 3 robot equipped with five GenTact-Prox units, enabling online object-aware operation and contact prediction.
CONE: Embeddings for Complex Numerical Data Preserving Unit and Variable Semantics
Venue: arXiv cs.AI 2026
Year: 2026

Large pre-trained models (LMs) and Large Language Models (LLMs) are typically effective at capturing language semantics and contextual relationships. However, these models encounter challenges in maintaining optimal performance on tasks involving numbers. Blindly treating numerical or structured data as terms is inadequate -- their semantics must be well understood and encoded by the models. In this paper, we propose CONE, a hybrid transformer encoder pre-trained model that encodes numbers, ranges, and gaussians into an embedding vector space preserving distance. We introduce a novel composite embedding construction algorithm that integrates numerical values, ranges or gaussians together with their associated units and attribute names to precisely capture their intricate semantics. We conduct extensive experimental evaluation on large-scale datasets across diverse domains (web, medical, finance, and government) that justifies CONE's strong numerical reasoning capabilities, achieving an F1 score of 87.28% on DROP, a remarkable improvement of up to 9.37% in F1 over state-of-the-art (SOTA) baselines, and outperforming major SOTA models with a significant Recall@10 gain of up to 25%.
Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints
Venue: arXiv cs.RO 2026
Year: 2026

While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III algorithm. Unlike conventional approaches that prioritize mobility alone, our method derives Pareto optimal solutions to minimize joint load while maintaining necessary locomotion speed and stability. Simulations and physical experiments demonstrate that our approach successfully generates gait motions for diverse environments, such as slopes and steps, ensuring structural integrity without compromising overall mobility.
Stacked from One: Multi-Scale Self-Injection for Context Window Extension
Venue: arXiv cs.CL 2026
Year: 2026

The limited context window of contemporary large language models (LLMs) remains a primary bottleneck for their broader application across diverse domains. Although continual pre-training on long-context data offers a straightforward solution, it incurs prohibitive data acquisition and computational costs. To address this challenge, we propose~\modelname, a novel framework based on multi-grained context compression and query-aware information acquisition. SharedLLM comprises two stacked short-context LLMs: a lower model serving as a compressor and an upper model acting as a decoder. The lower model compresses long inputs into compact, multi-grained representations, which are then forwarded to the upper model for context-aware processing. To maximize efficiency, this information transfer occurs exclusively at the lowest layers, bypassing lengthy forward passes and redundant cross-attention operations. This entire process, wherein the upper and lower models are derived from the same underlying LLM layers, is termed~\textit{self-injection}. To support this architecture, a specialized tree-based data structure enables the efficient encoding and query-aware retrieval of contextual information. Despite being trained on sequences of only 8K tokens, \modelname~effectively generalizes to inputs exceeding 128K tokens. Across a comprehensive suite of long-context modeling and understanding benchmarks, \modelname~achieves performance superior or comparable to strong baselines, striking an optimal balance between efficiency and accuracy. Furthermore, these design choices allow \modelname~to substantially reduce the memory footprint and yield notable inference speedups ($2\times$ over streaming and $3\times$ over encoder-decoder architectures).