OpenRaiser/Intern-Atlas huggingface dataset:
SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
Venue: arXiv cs.RO 2026
Year: 2026

Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which organs obstruct a target fruit. We present SG-DOR (Scene Graphs with Direction-Conditioned Occlusion Reasoning), a relational framework that, given instance-segmented organ point clouds, infers a scene graph encoding physical attachments and direction-conditioned occlusion. We introduce an occlusion ranking task for retrieving and ranking candidate leaves for a target fruit and approach direction, and propose a direction-aware graph neural architecture with per-fruit leaf-set attention and union-level aggregation. Experiments on a multi-plant synthetic pepper dataset show improved occlusion prediction (F1=0.73, NDCG@3=0.85) and attachment inference (edge F1=0.83) over strong ablations, yielding a structured relational signal for downstream intervention planning.
Modeling and Measuring Redundancy in Multisource Multimodal Data for Autonomous Driving
Venue: arXiv cs.CV 2026
Year: 2026

Next-generation autonomous vehicles (AVs) rely on large volumes of multisource and multimodal ($M^2$) data to support real-time decision-making. In practice, data quality (DQ) varies across sources and modalities due to environmental conditions and sensor limitations, yet AV research has largely prioritized algorithm design over DQ analysis. This work focuses on redundancy as a fundamental but underexplored DQ issue in AV datasets. Using the nuScenes and Argoverse 2 (AV2) datasets, we model and measure redundancy in multisource camera data and multimodal image-LiDAR data, and evaluate how removing redundant labels affects the YOLOv8 object detection task. Experimental results show that selectively removing redundant multisource image object labels from cameras with shared fields of view improves detection. In nuScenes, mAP${50}$ gains from $0.66$ to $0.70$, $0.64$ to $0.67$, and from $0.53$ to $0.55$, on three representative overlap regions, while detection on other overlapping camera pairs remains at the baseline even under stronger pruning. In AV2, $4.1$-$8.6\%$ of labels are removed, and mAP${50}$ stays near the $0.64$ baseline. Multimodal analysis also reveals substantial redundancy between image and LiDAR data. These findings demonstrate that redundancy is a measurable and actionable DQ factor with direct implications for AV performance. This work highlights the role of redundancy as a data quality factor in AV perception and motivates a data-centric perspective for evaluating and improving AV datasets. Code, data, and implementation details are publicly available at: https://github.com/yhZHOU515/RedundancyAD
Uncertainty-Aware Adaptive Dynamics For Underwater Vehicle-Manipulator Robots
Venue: arXiv cs.RO 2026
Year: 2026

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that remains linear in lumped vehicle and manipulator parameters, and embeds convex physical consistency constraints during online estimation. Moving horizon estimation is used to stack horizon regressors, enforce realizable inertia, damping, friction, and hydrostatics, and quantify uncertainty from parameter evolution. Experiments on a BlueROV2 Heavy with a 4-DOF manipulator demonstrate rapid convergence and calibrated predictions. Manipulator fits achieve R2 = 0.88 to 0.98 with slopes near unity, while vehicle surge, heave, and roll are reproduced with good fidelity under stronger coupling and noise. Median solver time is approximately 0.023 s per update, confirming online feasibility. A comparison against a fixed parameter model shows consistent reductions in MAE and RMSE across degrees of freedom. Results indicate physically plausible parameters and confidence intervals with near 100% coverage, enabling reliable feedforward control and simulation in underwater environments.
Omni-Diffusion: Unified Multimodal Understanding and Generation with Masked Discrete Diffusion
Venue: arXiv cs.CV 2026
Year: 2026

While recent multimodal large language models (MLLMs) have made impressive strides, they predominantly employ a conventional autoregressive architecture as their backbone, leaving significant room to explore effective and efficient alternatives in architectural design. Concurrently, recent studies have successfully applied discrete diffusion models to various domains, such as visual understanding and image generation, revealing their considerable potential as a promising backbone for multimodal systems. Drawing inspiration from these pioneering research, we introduce Omni-Diffusion, the first any-to-any multimodal language model built entirely on mask-based discrete diffusion models, which unifies understanding and generation across text, speech, and images. Omni-Diffusion employs a unified mask-based discrete diffusion model to directly capture the joint distribution over discrete multimodal tokens. This approach supports not only bimodal tasks but also more complex scenarios involving multiple modalities. On a diverse set of benchmarks, our method outperforms or performs on par with existing multimodal systems that process two or more modalities, highlighting the significant promise of diffusion models in powering the next generation of multimodal foundation models. Project webpage: https://omni-diffusion.github.io.
Converting Binary Floating-Point Numbers to Shortest Decimal Strings: An Experimental Review
Venue: arXiv cs.AR 2026
Year: 2026

When sharing or logging numerical data, we must convert binary floating-point numbers into their decimal string representations. For example, the number $π$ might become 3.1415927. Engineers have perfected many algorithms for producing such accurate, short strings. We present an empirical comparison across diverse hardware architectures and datasets. Cutting-edge techniques like Schubfach and Dragonbox achieve up to a tenfold speedup over Steele and White's Dragon4, executing as few as 210 instructions per conversion compared to Dragon4's 1500-5000 instructions. Often per their specification, none of the implementations we surveyed consistently produced the shortest possible strings-some generate outputs up to 30% longer than optimal. We find that standard library implementations in languages such as C++ and Swift execute significantly more instructions than the fastest methods, with performance gaps varying across CPU architectures and compilers. We suggest some optimization targets for future research.
AI-Powered Multi-Stakeholder Ecosystems for Global Development: A Design Research Study on the GSI D-Hub Proof-of-Concept Platform
Venue: arXiv cs.HC 2026
Year: 2026

Digital platforms increasingly support collaboration across organizations, yet many remain constrained by fragmented data and limited transparency. This paper presents the Global Solutions Initiative (GSI) D-Hub, a data-driven coordination platform that applies explainable artificial intelligence (AI) for transparent matchmaking among deployers, solution providers, and financiers. The system integrates structured data models, interpretable algorithms, and synthetic data pipelines to reduce information asymmetries and improve data quality. Using a design-science approach, the platform was developed and validated with stakeholders from development, technology, and finance sectors. Results show that explainable recommendations and contextual dashboards enhance trust, usability, and decision confidence. The study contributes to data mining and data governance research by demonstrating how explainable, verifiable algorithms can enable scalable, trustworthy digital ecosystems for public collaboration.
vLLM Hook v0: A Plug-in for Programming Model Internals on vLLM
Venue: arXiv cs.LG 2026
Year: 2026

Modern artificial intelligence (AI) models are deployed on inference engines to optimize runtime efficiency and resource allocation, particularly for transformer-based large language models (LLMs). The vLLM project is a major open-source library to support model serving and inference. However, the current implementation of vLLM limits programmability of the internal states of deployed models. This prevents the use of popular test-time model alignment and enhancement methods. For example, it prevents the detection of adversarial prompts based on attention patterns or the adjustment of model responses based on activation steering. To bridge this critical gap, we present vLLM Hook, an opensource plug-in to enable the programming of internal states for vLLM models. Based on a configuration file specifying which internal states to capture, vLLM Hook provides seamless integration to vLLM and supports two essential features: passive programming and active programming. For passive programming, vLLM Hook probes the selected internal states for subsequent analysis, while keeping the model generation intact. For active programming, vLLM Hook enables efficient intervention of model generation by altering the selected internal states. In addition to presenting the core functions of vLLM Hook, in version 0, we demonstrate 3 use cases including prompt injection detection, enhanced retrieval-augmented retrieval (RAG), and activation steering. Finally, we welcome the community's contribution to improve vLLM Hook via https://github.com/ibm/vllm-hook.
Hierarchical Latent Structures in Data Generation Process Unify Mechanistic Phenomena across Scale
Venue: arXiv cs.CL 2026
Year: 2026

Contemporary studies have uncovered many puzzling phenomena in the neural information processing of Transformer-based language models. Building a robust, unified understanding of these phenomena requires disassembling a model within the scope of its training. While the intractable scale of pretraining corpora limits a bottom-up investigation in this direction, simplistic assumptions of the data generation process limit the expressivity and fail to explain complex patterns. In this work, we use probabilistic context-free grammars (PCFGs) to generate synthetic corpora that are faithful and computationally efficient proxies for web-scale text corpora. We investigate the emergence of three mechanistic phenomena: induction heads, function vectors, and the Hydra effect, under our designed data generation process, as well as in the checkpoints of real-world language models. Our findings suggest that hierarchical structures in the data generation process serve as the X-factor in explaining the emergence of these phenomena. We provide the theoretical underpinnings of the role played by hierarchy in the training dynamics of language models. In a nutshell, our work is the first of its kind to provide a unified explanation behind the emergence of seemingly unrelated mechanistic phenomena in LLMs, augmented with efficient synthetic tooling for future interpretability research.
Hierarchical Embedding Fusion for Retrieval-Augmented Code Generation
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval-augmented code generation often conditions the decoder on large retrieved code snippets. This ties online inference cost to repository size and introduces noise from long contexts. We present Hierarchical Embedding Fusion (HEF), a two-stage approach to repository representation for code completion. First, an offline cache compresses repository chunks into a reusable hierarchy of dense vectors using a small fuser model. Second, an online interface maps a small number of retrieved vectors into learned pseudo-tokens that are consumed by the code generator. This replaces thousands of retrieved tokens with a fixed pseudo-token budget while preserving access to repository-level information. On RepoBench and RepoEval, HEF with a 1.8B-parameter pipeline achieves exact-match accuracy comparable to snippet-based retrieval baselines, while operating at sub-second median latency on a single A100 GPU. Compared to graph-based and iterative retrieval systems in our experimental setup, HEF reduces median end-to-end latency by 13 to 26 times. We also introduce a utility-weighted likelihood signal for filtering training contexts and report ablation studies on pseudo-token budget, embedding models, and robustness to harmful retrieval. Overall, these results indicate that hierarchical dense caching is an effective mechanism for low-latency, repository-aware code completion.
Distributionally Robust Geometric Joint Chance-Constrained Optimization: Neurodynamic Approaches
Venue: arXiv cs.NE 2026
Year: 2026

This paper proposes a two-time scale neurodynamic duplex approach to solve distributionally robust geometric joint chance-constrained optimization problems. The probability distributions of the row vectors are not known in advance and belong to a certain distributional uncertainty set. In our paper, we study three uncertainty sets for the unknown distributions. The neurodynamic duplex is designed based on three projection equations. The main contribution of our work is to propose a neural network-based method to solve distributionally robust joint chance-constrained optimization problems that converges in probability to the global optimum without the use of standard state-of-the-art solving methods. We show that neural networks can be used to solve multiple instances of a problem. In the numerical experiments, we apply the proposed approach to solve a problem of shape optimisation and a telecommunication problem.
Khatri-Rao Clustering for Data Summarization
Venue: arXiv cs.LG 2026
Year: 2026

As datasets continue to grow in size and complexity, finding succinct yet accurate data summaries poses a key challenge. Centroid-based clustering, a widely adopted approach to address this challenge, finds informative summaries of datasets in terms of few prototypes, each representing a cluster in the data. Despite their wide adoption, the resulting data summaries often contain redundancies, limiting their effectiveness particularly in datasets characterized by a large number of underlying clusters. To overcome this limitation, we introduce the Khatri-Rao clustering paradigm that extends traditional centroid-based clustering to produce more succinct but equally accurate data summaries by postulating that centroids arise from the interaction of two or more succinct sets of protocentroids. We study two central approaches to centroid-based clustering, namely the well-established k-Means algorithm and the increasingly popular topic of deep clustering, under the lens of the Khatri-Rao paradigm. To this end, we introduce the Khatri-Rao k-Means algorithm and the Khatri-Rao deep clustering framework. Extensive experiments show that Khatri-Rao k-Means can strike a more favorable trade-off between succinctness and accuracy in data summarization than standard k-Means. Leveraging representation learning, the Khatri-Rao deep clustering framework offers even greater benefits, reducing even more the size of data summaries given by deep clustering while preserving their accuracy.
LegoNet: Memory Footprint Reduction Through Block Weight Clustering
Venue: arXiv cs.LG 2026
Year: 2026

As the need for neural network-based applications to become more accurate and powerful grows, so too does their size and memory footprint. With embedded devices, whose cache and RAM are limited, this growth hinders their ability to leverage state-of-the-art neural network architectures. In this work, we propose \textbf{LegoNet}, a compression technique that \textbf{constructs blocks of weights of the entire model regardless of layer type} and clusters these induced blocks. Using blocks instead of individual values to cluster the weights, we were able to compress ResNet-50 trained for Cifar-10 and ImageNet with only 32 4x4 blocks, compressing the memory footprint by over a factor of \textbf{64x without having to remove any weights} or changing the architecture and \textbf{no loss to accuracy}, nor retraining or any data, and show how to find an arrangement of 16 4x4 blocks that gives a compression ratio of \textbf{128x with less than 3\% accuracy loss}. This was all achieved with \textbf{no need for (re)training or fine-tuning}.
Valid Feature-Level Inference for Tabular Foundation Models via the Conditional Randomization Test
Venue: arXiv cs.LG 2026
Year: 2026

Modern machine learning models are highly expressive but notoriously difficult to analyze statistically. In particular, while black-box predictors can achieve strong empirical performance, they rarely provide valid hypothesis tests or p-values for assessing whether individual features contain information about a target variable. This article presents a practical approach to feature-level hypothesis testing that combines the Conditional Randomization Test (CRT) with TabPFN, a probabilistic foundation model for tabular data. The resulting procedure yields finite-sample valid p-values for conditional feature relevance, even in nonlinear and correlated settings, without requiring model retraining or parametric assumptions.
CapTrack: Multifaceted Evaluation of Forgetting in LLM Post-Training
Venue: arXiv cs.LG 2026
Year: 2026

Large language model (LLM) post-training enhances latent skills, unlocks value alignment, improves performance, and enables domain adaptation. Unfortunately, post-training is known to induce forgetting, especially in the ubiquitous use-case of leveraging third-party pre-trained models, which is typically understood as a loss of parametric or factual knowledge. We argue that this accuracy-centric view is insufficient for modern foundation models and instead define forgetting as systematic model drift that degrades behavior and user experience. In this context, we introduce \textbf{CapTrack}, a capability-centric framework for analyzing forgetting in LLMs that combines a behavioral taxonomy with an evaluation suite built on established benchmarks and targeted adaptations. Using CapTrack, we conduct a large-scale empirical study across post-training algorithms, domains, and model families, including models up to 80B parameters. We find that forgetting extends beyond parametric knowledge, with pronounced drift in robustness and default behaviors. Instruction fine-tuning induces the strongest relative drift, while preference optimization is more conservative and can partially recover lost capabilities. Differences across model families persist, and no universal mitigation emerges.
Annealed Co-Generation: Disentangling Variables via Progressive Pairwise Modeling
Venue: arXiv cs.LG 2026
Year: 2026

For multivariate co-generation in scientific applications, we advocate pairwise block rather than joint modeling of all variables. This design mitigates the computational burden and data imbalance. To this end, we propose an Annealed Co-Generation (ACG) framework that replaces high-dimensional diffusion modeling with a low-dimensional diffusion model, which enables multivariate co-generation by composing pairwise variable generations. We first train an unconditional diffusion model over causal variables that are disentangled into pairs. At inference time, we recover the joint distribution by coupling these pairwise models through shared common variables, enabling coherent multivariate generation without any additional training. By employing a three-stage annealing process-Consensus, Heating, and Cooling-our method enforces consistency across shared common variables and progressively constrains each pairwise data distribution to lie on a learnable manifold, while maintaining high likelihood within each pair. We demonstrate the framework's flexibility and efficacy on two distinct scientific tasks: flow-field completion and antibody generation. All datasets and code will be made publicly available upon publication.
Reward Under Attack: Analyzing the Robustness and Hackability of Process Reward Models
Venue: arXiv cs.LG 2026
Year: 2026

Process Reward Models (PRMs) are rapidly becoming the backbone of LLM reasoning pipelines, yet we demonstrate that state-of-the-art PRMs are systematically exploitable under adversarial optimization pressure. To address this, we introduce a three-tiered diagnostic framework that applies increasing adversarial pressure to quantify these vulnerabilities. Static perturbation analysis uncovers a fluency-logic dissociation: high invariance to surface-level style changes reward changes $<$0.1, yet inconsistent detection of logically-corrupted reasoning, with different models failing on different attack types. Adversarial optimization demonstrates that gradient-based attacks inflate rewards on invalid trajectories, with reward landscapes exhibiting wide, exploitable peaks. RL-induced reward hacking exposes the critical failure mode: policies trained on AIME problems achieve near-perfect PRM rewards ($>$0.9), while ground-truth accuracy remains low (below 4%), with 43% of reward gains attributable to stylistic shortcuts. These findings reveal that current PRMs function as fluency detectors rather than reasoning verifiers, creating systematic blind spots that undermine their use as training signals. We release PRM-BiasBench and a diagnostic toolkit to enable robustness evaluation before deployment. The code and dataset are available at https://github.com/SqueezeAILab/reward-under-attack.
Advances in GRPO for Generation Models: A Survey
Venue: arXiv cs.LG 2026
Year: 2026

Large-scale flow matching models have achieved strong performance across generative tasks such as text-to-image, video, 3D, and speech synthesis. However, aligning their outputs with human preferences and task-specific objectives remains challenging. Flow-GRPO extends Group Relative Policy Optimization (GRPO) to generation models, enabling stable reinforcement learning alignment for generative systems. Since its introduction, Flow-GRPO has triggered rapid research growth, spanning methodological refinements and diverse application domains. This survey provides a comprehensive review of Flow-GRPO and its subsequent developments. We organize existing work along two primary dimensions. First, we analyze methodological advances beyond the original framework, including reward signal design, credit assignment, sampling efficiency, diversity preservation, reward hacking mitigation, and reward model construction. Second, we examine extensions of GRPO-based alignment across generative paradigms and modalities, including text-to-image, video generation, image editing, speech and audio, 3D modeling, embodied vision-language-action systems, unified multimodal models, autoregressive and masked diffusion models, and restoration tasks. By synthesizing theoretical insights and practical adaptations, this survey highlights Flow-GRPO as a general alignment framework for modern generative models and outlines key open challenges for scalable and robust reinforcement-based generation.