OpenRaiser/Intern-Atlas huggingface dataset:
SOP: A Scalable Online Post-Training System for Vision-Language-Action Models
Venue: arXiv cs.RO 2026
Year: 2026

Vision-language-action (VLA) models achieve strong generalization through large-scale pre-training, but real-world deployment requires expert-level task proficiency in addition to broad generality. Existing post-training approaches for VLA models are typically offline, single-robot, or task-specific, limiting effective on-policy adaptation and scalable learning from real-world interaction. We introduce a Scalable Online Post-training (SOP) system that enables online, distributed, multi-task post-training of generalist VLA models directly in the physical world. SOP tightly couples execution and learning through a closed-loop architecture in which a fleet of robots continuously streams on-policy experience and human intervention signals to a centralized cloud learner, and asynchronously receives updated policies. This design supports prompt on-policy correction, scales experience collection through parallel deployment, and preserves generality during adaptation. SOP is agnostic to the choice of post-training algorithm; we instantiate it with both interactive imitation learning (HG-DAgger) and reinforcement learning (RECAP). Across a range of real-world manipulation tasks including cloth folding, box assembly, and grocery restocking, we show that SOP substantially improves the performance of large pretrained VLA models while maintaining a single shared policy across tasks. Effective post-training can be achieved within hours of real-world interaction, and performance scales near-linearly with the number of robots in the fleet. These results suggest that tightly coupling online learning with fleet-scale deployment is instrumental to enabling efficient, reliable, and scalable post-training of generalist robot policies in the physical world.
Fast Surrogate Models for Adaptive Aircraft Trajectory Prediction in En route Airspace
Venue: arXiv cs.CE 2026
Year: 2026

Trajectory prediction (TP) is crucial for ensuring safety and efficiency in modern air traffic management systems. It is, for example, a core component of conflict detection and resolution tools, arrival sequencing algorithms, capacity planning, as well as several future concepts. However, TP accuracy within operational systems is hampered by a range of epistemic uncertainties such as the mass and performance settings of aircraft and the effect of meteorological conditions on aircraft performance. It can also require considerable computational resources. This paper proposes a method for adaptive TP that has two components: first, a fast surrogate TP model based on linear state space models (LSSM)s with an execution time that was 6.7 times lower on average than an implementation of the Base of Aircraft Data (BADA) in Python. It is demonstrated that such models can effectively emulate the BADA aircraft performance model, which is based on the numerical solution of a partial differential equation (PDE), and that the LSSMs can be fitted to trajectories in a dataset of historic flight data. Secondly, the paper proposes an algorithm to assimilate radar observations using particle filtering to adaptively refine TP accuracy. Comparison with baselines using BADA and Kalman filtering demonstrate that the proposed framework improves system identification and state estimation for both climb and descent phases, with 46.3% and 64.7% better estimates for time to top of climb and bottom of descent compared to the best performing benchmark model. In particular, the particle filtering approach provides the flexibility to capture non-linear performance effects including the CAS-Mach transition.
Learning to Diagnose and Correct Moral Errors: Towards Enhancing Moral Sensitivity in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Moral sensitivity is fundamental to human moral competence, as it guides individuals in regulating everyday behavior. Although many approaches seek to align large language models (LLMs) with human moral values, how to enable them morally sensitive has been extremely challenging. In this paper, we take a step toward answering the question: how can we enhance moral sensitivity in LLMs? Specifically, we propose two pragmatic inference methods that faciliate LLMs to diagnose morally benign and hazardous input and correct moral errors, whereby enhancing LLMs' moral sensitivity. A central strength of our pragmatic inference methods is their unified perspective: instead of modeling moral discourses across semantically diverse and complex surface forms, they offer a principled perspective for designing pragmatic inference procedures grounded in their inferential loads. Empirical evidence demonstrates that our pragmatic methods can enhance moral sensitivity in LLMs and achieves strong performance on representative morality-relevant benchmarks.
Real-Time Adaptive Anomaly Detection in Industrial IoT Environments
Venue: arXiv cs.LG 2026
Year: 2026

To ensure reliability and service availability, next-generation networks are expected to rely on automated anomaly detection systems powered by advanced machine learning methods with the capability of handling multi-dimensional data. Such multi-dimensional, heterogeneous data occurs mostly in today's industrial Internet of Things (IIoT), where real-time detection of anomalies is critical to prevent impending failures and resolve them in a timely manner. However, existing anomaly detection methods often fall short of effectively coping with the complexity and dynamism of multi-dimensional data streams in IIoT. In this paper, we propose an adaptive method for detecting anomalies in IIoT streaming data utilizing a multi-source prediction model and concept drift adaptation. The proposed anomaly detection algorithm merges a prediction model into a novel drift adaptation method resulting in accurate and efficient anomaly detection that exhibits improved scalability. Our trace-driven evaluations indicate that the proposed method outperforms the state-of-the-art anomaly detection methods by achieving up to an 89.71% accuracy (in terms of Area under the Curve (AUC)) while meeting the given efficiency and scalability requirements.
Who Laughs with Whom? Disentangling Influential Factors in Humor Preferences across User Clusters and LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Humor preferences vary widely across individuals and cultures, complicating the evaluation of humor using large language models (LLMs). In this study, we model heterogeneity in humor preferences in Oogiri, a Japanese creative response game, by clustering users with voting logs and estimating cluster-specific weights over interpretable preference factors using Bradley-Terry-Luce models. We elicit preference judgments from LLMs by prompting them to select the funnier response and found that user clusters exhibit distinct preference patterns and that the LLM results can resemble those of particular clusters. Finally, we demonstrate that, by persona prompting, LLM preferences can be directed toward a specific cluster. The scripts for data collection and analysis will be released to support reproducibility.
A Probabilistic Digital Twin of UK En Route Airspace for Training and Evaluating AI Agents for Air Traffic Control
Venue: arXiv cs.CE 2026
Year: 2026

This paper presents the first probabilistic Digital Twin of operational en route airspace, developed for the London Area Control Centre. The Digital Twin is intended to support the development and rigorous human-in-the-loop evaluation of AI agents for Air Traffic Control (ATC), providing a virtual representation of real-world airspace that enables safe exploration of higher levels of ATC automation. This paper makes three significant contributions: firstly, we demonstrate how historical and live operational data may be combined with a probabilistic, physics-informed machine learning model of aircraft performance to reproduce real-world traffic scenarios, while accurately reflecting the level of uncertainty inherent in ATC. Secondly, we develop a structured assurance case, following the Trustworthy and Ethical Assurance framework, to provide quantitative evidence for the Digital Twin's accuracy and fidelity. This is crucial to building trust in this novel technology within this safety-critical domain. Thirdly, we describe how the Digital Twin forms a unified environment for agent testing and evaluation. This includes fast-time execution (up to x200 real-time), a standardised Python-based ``gym'' interface that supports a range of AI agent designs, and a suite of quantitative metrics for assessing performance. Crucially, the framework facilitates competency-based assessment of AI agents by qualified Air Traffic Control Officers through a Human Machine Interface. We also outline further applications and future extensions of the Digital Twin architecture.
Decoupling the Effect of Chain-of-Thought Reasoning: A Human Label Variation Perspective
Venue: arXiv cs.CL 2026
Year: 2026

Reasoning-tuned LLMs utilizing long Chain-of-Thought (CoT) excel at single-answer tasks, yet their ability to model Human Label Variation--which requires capturing probabilistic ambiguity rather than resolving it--remains underexplored. We investigate this through systematic disentanglement experiments on distribution-based tasks, employing Cross-CoT experiments to isolate the effect of reasoning text from intrinsic model priors. We observe a distinct "decoupled mechanism": while CoT improves distributional alignment, final accuracy is dictated by CoT content (99% variance contribution), whereas distributional ranking is governed by model priors (over 80%). Step-wise analysis further shows that while CoT's influence on accuracy grows monotonically during the reasoning process, distributional structure is largely determined by LLM's intrinsic priors. These findings suggest that long CoT serves as a decisive LLM decision-maker for the top option but fails to function as a granular distribution calibrator for ambiguous tasks.
Prompt-Counterfactual Explanations for Generative AI System Behavior
Venue: arXiv cs.LG 2026
Year: 2026

As generative AI systems become integrated into real-world applications, organizations increasingly need to be able to understand and interpret their behavior. In particular, decision-makers need to understand what causes generative AI systems to exhibit specific output characteristics. Within this general topic, this paper examines a key question: what is it about the input -- the prompt -- that causes an LLM-based generative AI system to produce output that exhibits specific characteristics, such as toxicity, negative sentiment, or political bias. To examine this question, we adapt a common technique from the Explainable AI literature: counterfactual explanations. We explain why traditional counterfactual explanations cannot be applied directly to generative AI systems, due to several differences in how generative AI systems function. We then propose a flexible framework that adapts counterfactual explanations to non-deterministic, generative AI systems in scenarios where downstream classifiers can reveal key characteristics of their outputs. Based on this framework, we introduce an algorithm for generating prompt-counterfactual explanations (PCEs). Finally, we demonstrate the production of counterfactual explanations for generative AI systems with three case studies, examining different output characteristics (viz., political leaning, toxicity, and sentiment). The case studies further show that PCEs can streamline prompt engineering to suppress undesirable output characteristics and can enhance red-teaming efforts to uncover additional prompts that elicit undesirable outputs. Ultimately, this work lays a foundation for prompt-focused interpretability in generative AI: a capability that will become indispensable as these models are entrusted with higher-stakes tasks and subject to emerging regulatory requirements for transparency and accountability.
Rapid Augmentations for Time Series (RATS): A High-Performance Library for Time Series Augmentation
Venue: arXiv cs.LG 2026
Year: 2026

Time series augmentation is critical for training robust deep learning models, particularly in domains where labelled data is scarce and expensive to obtain. However, existing augmentation libraries for time series, mainly written in Python, suffer from performance bottlenecks, where running time grows exponentially as dataset sizes increase -- an aspect limiting their applicability in large-scale, production-grade systems. We introduce RATS (Rapid Augmentations for Time Series), a high-performance library for time series augmentation written in Rust with Python bindings (RATSpy). RATS implements multiple augmentation methods spanning basic transformations, frequency-domain operations and time warping techniques, all accessible through a unified pipeline interface with built-in parallelisation. Comprehensive benchmarking of RATSpy versus a commonly used library (tasug) on 143 datasets demonstrates that RATSpy achieves an average speedup of 74.5\% over tsaug (up to 94.8\% on large datasets), with up to 47.9\% less peak memory usage.
WebAnchor: Anchoring Agent Planning to Stabilize Long-Horizon Web Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Model(LLM)-based agents have shown strong capabilities in web information seeking, with reinforcement learning (RL) becoming a key optimization paradigm. However, planning remains a bottleneck, as existing methods struggle with long-horizon strategies. Our analysis reveals a critical phenomenon, plan anchor, where the first reasoning step disproportionately impacts downstream behavior in long-horizon web reasoning tasks. Current RL algorithms, fail to account for this by uniformly distributing rewards across the trajectory. To address this, we propose Anchor-GRPO, a two-stage RL framework that decouples planning and execution. In Stage 1, the agent optimizes its first-step planning using fine-grained rubrics derived from self-play experiences and human calibration. In Stage 2, execution is aligned with the initial plan through sparse rewards, ensuring stable and efficient tool usage. We evaluate Anchor-GRPO on four benchmarks: BrowseComp, BrowseComp-Zh, GAIA, and XBench-DeepSearch. Across models from 3B to 30B, Anchor-GRPO outperforms baseline GRPO and First-step GRPO, improving task success and tool efficiency. Notably, WebAnchor-30B achieves 46.0% pass@1 on BrowseComp and 76.4% on GAIA. Anchor-GRPO also demonstrates strong scalability, getting higher accuracy as model size and context length increase.
DiffBench Meets DiffAgent: End-to-End LLM-Driven Diffusion Acceleration Code Generation
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models have achieved remarkable success in image and video generation. However, their inherently multiple step inference process imposes substantial computational overhead, hindering real-world deployment. Accelerating diffusion models is therefore essential, yet determining how to combine multiple model acceleration techniques remains a significant challenge. To address this issue, we introduce a framework driven by large language models (LLMs) for automated acceleration code generation and evaluation. First, we present DiffBench, a comprehensive benchmark that implements a three stage automated evaluation pipeline across diverse diffusion architectures, optimization combinations and deployment scenarios. Second, we propose DiffAgent, an agent that generates optimal acceleration strategies and codes for arbitrary diffusion models. DiffAgent employs a closed-loop workflow in which a planning component and a debugging component iteratively refine the output of a code generation component, while a genetic algorithm extracts performance feedback from the execution environment to guide subsequent code refinements. We provide a detailed explanation of the DiffBench construction and the design principles underlying DiffAgent. Extensive experiments show that DiffBench offers a thorough evaluation of generated codes and that DiffAgent significantly outperforms existing LLMs in producing effective diffusion acceleration strategies.
Multi-Modal Data-Enhanced Foundation Models for Prediction and Control in Wireless Networks: A Survey
Venue: arXiv cs.NI 2026
Year: 2026

Foundation models (FMs) are recognized as a transformative breakthrough that has started to reshape the future of artificial intelligence (AI) across both academia and industry. The integration of FMs into wireless networks is expected to enable the development of general-purpose AI agents capable of handling diverse network management requests and highly complex wireless-related tasks involving multi-modal data. Inspired by these ideas, this work discusses the utilization of FMs, especially multi-modal FMs in wireless networks. We focus on two important types of tasks in wireless network management: prediction tasks and control tasks. In particular, we first discuss FMs-enabled multi-modal contextual information understanding in wireless networks. Then, we explain how FMs can be applied to prediction and control tasks, respectively. Following this, we introduce the development of wireless-specific FMs from two perspectives: available datasets for development and the methodologies used. Finally, we conclude with a discussion of the challenges and future directions for FM-enhanced wireless networks.
Decentralized Autoregressive Generation
Venue: arXiv cs.LG 2026
Year: 2026

We present a theoretical analysis of decentralization of autoregressive generation. We define the Decentralized Discrete Flow Matching objective, by expressing probability generating velocity as a linear combination of expert flows. We also conduct experiments demonstrating the equivalence between decentralized and centralized training settings for multimodal language models across diverse set of benchmarks. Specifically, we compare two distinct paradigms: LLaVA and InternVL 2.5-1B, which uses a fixed CLIP vision encoder and performs full-parameter fine-tuning (ViT+MLP+LLM) during the instruction tuning stage.
UniCorn: Towards Self-Improving Unified Multimodal Models through Self-Generated Supervision
Venue: arXiv cs.CV 2026
Year: 2026

While Unified Multimodal Models (UMMs) have achieved remarkable success in cross-modal comprehension, a significant gap persists in their ability to leverage such internal knowledge for high-quality generation. We formalize this discrepancy as Conduction Aphasia, a phenomenon where models accurately interpret multimodal inputs but struggle to translate that understanding into faithful and controllable synthesis. To address this, we propose UniCorn, a simple yet elegant self-improvement framework that eliminates the need for external data or teacher supervision. By partitioning a single UMM into three collaborative roles: Proposer, Solver, and Judge, UniCorn generates high-quality interactions via self-play and employs cognitive pattern reconstruction to distill latent understanding into explicit generative signals. To validate the restoration of multimodal coherence, we introduce UniCycle, a cycle-consistency benchmark based on a Text to Image to Text reconstruction loop. Extensive experiments demonstrate that UniCorn achieves comprehensive and substantial improvements over the base model across six general image generation benchmarks. Notably, it achieves SOTA performance on TIIF(73.8), DPG(86.8), CompBench(88.5), and UniCycle while further delivering substantial gains of +5.0 on WISE and +6.5 on OneIG. These results highlight that our method significantly enhances T2I generation while maintaining robust comprehension, demonstrating the scalability of fully self-supervised refinement for unified multimodal intelligence.
X-MuTeST: A Multilingual Benchmark for Explainable Hate Speech Detection and A Novel LLM-consulted Explanation Framework
Venue: arXiv cs.CL 2026
Year: 2026

Hate speech detection on social media faces challenges in both accuracy and explainability, especially for underexplored Indic languages. We propose a novel explainability-guided training framework, X-MuTeST (eXplainable Multilingual haTe Speech deTection), for hate speech detection that combines high-level semantic reasoning from large language models (LLMs) with traditional attention-enhancing techniques. We extend this research to Hindi and Telugu alongside English by providing benchmark human-annotated rationales for each word to justify the assigned class label. The X-MuTeST explainability method computes the difference between the prediction probabilities of the original text and those of unigrams, bigrams, and trigrams. Final explanations are computed as the union between LLM explanations and X-MuTeST explanations. We show that leveraging human rationales during training enhances both classification performance and explainability. Moreover, combining human rationales with our explainability method to refine the model attention yields further improvements. We evaluate explainability using Plausibility metrics such as Token-F1 and IOU-F1 and Faithfulness metrics such as Comprehensiveness and Sufficiency. By focusing on under-resourced languages, our work advances hate speech detection across diverse linguistic contexts. Our dataset includes token-level rationale annotations for 6,004 Hindi, 4,492 Telugu, and 6,334 English samples. Data and code are available on https://github.com/ziarehman30/X-MuTeST
A High-Fidelity Digital Twin for Robotic Manipulation Based on 3D Gaussian Splatting
Venue: arXiv cs.RO 2026
Year: 2026

Developing high-fidelity, interactive digital twins is crucial for enabling closed-loop motion planning and reliable real-world robot execution, which are essential to advancing sim-to-real transfer. However, existing approaches often suffer from slow reconstruction, limited visual fidelity, and difficulties in converting photorealistic models into planning-ready collision geometry. We present a practical framework that constructs high-quality digital twins within minutes from sparse RGB inputs. Our system employs 3D Gaussian Splatting (3DGS) for fast, photorealistic reconstruction as a unified scene representation. We enhance 3DGS with visibility-aware semantic fusion for accurate 3D labelling and introduce an efficient, filter-based geometry conversion method to produce collision-ready models seamlessly integrated with a Unity-ROS2-MoveIt physics engine. In experiments with a Franka Emika Panda robot performing pick-and-place tasks, we demonstrate that this enhanced geometric accuracy effectively supports robust manipulation in real-world trials. These results demonstrate that 3DGS-based digital twins, enriched with semantic and geometric consistency, offer a fast, reliable, and scalable path from perception to manipulation in unstructured environments.
Recursive querying of neural networks via weighted structures
Venue: arXiv cs.LO 2026
Year: 2026

Expressive querying of machine learning models - viewed as a form of intentional data - enables their verification and interpretation using declarative languages, thereby making learned representations of data more accessible. Motivated by the querying of feedforward neural networks, we investigate logics for weighted structures. In the absence of a bound on neural network depth, such logics must incorporate recursion; thereto we revisit the functional fixpoint mechanism proposed by Grädel and Gurevich. We adopt it in a Datalog-like syntax; we extend normal forms for fixpoint logics to weighted structures; and show an equivalent "loose" fixpoint mechanism that allows values of inductively defined weight functions to be overwritten. We propose a "scalar" restriction of functional fixpoint logic, of polynomial-time data complexity, and show it can express all PTIME model-agnostic queries over reduced networks with polynomially bounded weights. In contrast, we show that very simple model-agnostic queries are already NP-complete. Finally, we consider transformations of weighted structures by iterated transductions.