OpenRaiser/Intern-Atlas huggingface dataset:
Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics
Venue: arXiv cs.RO 2026
Year: 2026

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On the modeling side, we extend a mass-spring model to more accurately capture object dynamics while remaining lightweight enough for high-throughput rollouts during self-supervised learning. On the learning side, we train a neural controller using a task-oriented cost, enabling end-to-end optimization through interaction with the differentiable object model. In addition, we propose a self-supervised DAgger variant that detects distribution shift during deployment and performs offline self-correction to further enhance robustness without expert supervision. We evaluate our method primarily on the rope stabilization task, where a robot must bring a swinging rope to rest as quickly and smoothly as possible. Extensive experiments in both simulation and the real world demonstrate that the proposed controller achieves fast and smooth rope stabilization, generalizing across unseen initial states, rope lengths, masses, non-uniform mass distributions, and external disturbances. Additionally, we develop an affordable markerless rope perception method and demonstrate that our controller maintains performance with noisy and low-frequency state updates. Furthermore, we demonstrate the generality of the framework by extending it to the rope trajectory tracking task. Overall, SPiD offers a data-efficient, robust, and physically grounded framework for dynamic manipulation of deformable linear objects, featuring strong sim-to-real generalization.
Multi-Objective Optimization for Synthetic-to-Real Style Transfer
Venue: arXiv cs.CV 2026
Year: 2026

Semantic segmentation networks require large amounts of pixel-level annotated data, which are costly to obtain for real-world images. Computer graphics engines can generate synthetic images alongside their ground-truth annotations. However, models trained on such images can perform poorly on real images due to the domain gap between real and synthetic images. Style transfer methods can reduce this difference by applying a realistic style to synthetic images. Choosing effective data transformations and their sequence is difficult due to the large combinatorial search space of style transfer operators. Using multi-objective genetic algorithms, we optimize pipelines to balance structural coherence and style similarity to target domains. We study the use of paired-image metrics on individual image samples during evolution to enable rapid pipeline evaluation, as opposed to standard distributional metrics that require the generation of many images. After optimization, we evaluate the resulting Pareto front using distributional metrics and segmentation performance. We apply this approach to standard datasets in synthetic-to-real domain adaptation: from the video game GTA5 to real image datasets Cityscapes and ACDC, focusing on adverse conditions. Results demonstrate that evolutionary algorithms can propose diverse augmentation pipelines adapted to different objectives. The contribution of this work is the formulation of style transfer as a sequencing problem suitable for evolutionary optimization and the study of efficient metrics that enable feasible search in this space. The source code is available at: https://github.com/echigot/MOOSS.
Can LLMs Do Rocket Science? Exploring the Limits of Complex Reasoning with GTOC 12
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) have demonstrated remarkable proficiency in code generation and general reasoning, yet their capacity for autonomous multi-stage planning in high-dimensional, physically constrained environments remains an open research question. This study investigates the limits of current AI agents by evaluating them against the 12th Global Trajectory Optimization Competition (GTOC 12), a complex astrodynamics challenge requiring the design of a large-scale asteroid mining campaign. We adapt the MLE-Bench framework to the domain of orbital mechanics and deploy an AIDE-based agent architecture to autonomously generate and refine mission solutions. To assess performance beyond binary validity, we employ an "LLM-as-a-Judge" methodology, utilizing a rubric developed by domain experts to evaluate strategic viability across five structural categories. A comparative analysis of models, ranging from GPT-4-Turbo to reasoning-enhanced architectures like Gemini 2.5 Pro, and o3, reveals a significant trend: the average strategic viability score has nearly doubled in the last two years (rising from 9.3 to 17.2 out of 26). However, we identify a critical capability gap between strategy and execution. While advanced models demonstrate sophisticated conceptual understanding, correctly framing objective functions and mission architectures, they consistently fail at implementation due to physical unit inconsistencies, boundary condition errors, and inefficient debugging loops. We conclude that, while current LLMs often demonstrate sufficient knowledge and intelligence to tackle space science tasks, they remain limited by an implementation barrier, functioning as powerful domain facilitators rather than fully autonomous engineers.
CALM: A Self-Adaptive Orchestration Approach for QoS-Aware Routing in Small Language Model based Systems
Venue: arXiv cs.SE 2026
Year: 2026

AI-enabled systems are subjected to various types of runtime uncertainties, ranging from dynamic workloads, resource requirements, model drift, etc. These uncertainties have a big impact on the overall Quality of Service (QoS). This is particularly true in the case of Language Model (LM) enabled systems where the autoregressive nature of token generation introduces variability in latency, energy usage and response quality. These systems, powered by LLMs, are either resource-intensive (if run on-prem) or raise privacy/cost concerns (if leveraged using APIs). While deploying a Small Language Model (SLM) can be resource-efficient, it often falls short in addressing the diversity and scale of real-world requirements. To this, we argue that, rather than relying on any one SLM, leveraging a coordinated fleet of SLMs, each with specialized strengths can enable systems to dynamically adapt to shifting contexts and workload patterns. However, realizing the full potential of such an approach demands intelligent orchestration and continuous adaptation. To this end, we introduce CALM , a self-adaptive orchestration mechanism based on MAPE-K. Our approach continuously monitors user queries, analyzes the QoS metrics of the SLMs, identifies the optimal SLM to be used, routes the query to the identified SLM and further to enhance the effectiveness and efficiency, leverages caching and scheduling to decide the SLMs to be kept in memory. Our evaluation shows that CALM reduces latency by approximately 40% and energy consumption by 50%, while preserving domain-specific task performance when compared to single-LLM baselines.
BIRDTurk: Adaptation of the BIRD Text-to-SQL Dataset to Turkish
Venue: arXiv cs.CL 2026
Year: 2026

Text-to-SQL systems have achieved strong performance on English benchmarks, yet their behavior in morphologically rich, low-resource languages remains largely unexplored. We introduce BIRDTurk, the first Turkish adaptation of the BIRD benchmark, constructed through a controlled translation pipeline that adapts schema identifiers to Turkish while strictly preserving the logical structure and execution semantics of SQL queries and databases. Translation quality is validated on a sample size determined by the Central Limit Theorem to ensure 95% confidence, achieving 98.15% accuracy on human-evaluated samples. Using BIRDTurk, we evaluate inference-based prompting, agentic multi-stage reasoning, and supervised fine-tuning. Our results reveal that Turkish introduces consistent performance degradation, driven by both structural linguistic divergence and underrepresentation in LLM pretraining, while agentic reasoning demonstrates stronger cross-lingual robustness. Supervised fine-tuning remains challenging for standard multilingual baselines but scales effectively with modern instruction-tuned models. BIRDTurk provides a controlled testbed for cross-lingual Text-to-SQL evaluation under realistic database conditions. We release the training and development splits to support future research.
TRE: Encouraging Exploration in the Trust Region
Venue: arXiv cs.CL 2026
Year: 2026

Entropy regularization is a standard technique in reinforcement learning (RL) to enhance exploration, yet it yields negligible effects or even degrades performance in Large Language Models (LLMs). We attribute this failure to the cumulative tail risk inherent to LLMs with massive vocabularies and long generation horizons. In such environments, standard global entropy maximization indiscriminately dilutes probability mass into the vast tail of invalid tokens rather than focusing on plausible candidates, thereby disrupting coherent reasoning. To address this, we propose Trust Region Entropy (TRE), a method that encourages exploration strictly within the model's trust region. Extensive experiments across mathematical reasoning (MATH), combinatorial search (Countdown), and preference alignment (HH) tasks demonstrate that TRE consistently outperforms vanilla PPO, standard entropy regularization, and other exploration baselines. Our code is available at https://github.com/WhyChaos/TRE-Encouraging-Exploration-in-the-Trust-Region.
Can Developers rely on LLMs for Secure IaC Development?
Venue: arXiv cs.CR 2026
Year: 2026

We investigated the capabilities of GPT-4o and Gemini 2.0 Flash for secure Infrastructure as Code (IaC) development. For security smell detection, on the Stack Overflow dataset, which primarily contains small, simplified code snippets, the models detected at least 71% of security smells when prompted to analyze code from a security perspective (general prompt). With a guided prompt (adding clear, step-by-step instructions), this increased to 78%.In GitHub repositories, which contain complete, real-world project scripts, a general prompt was less effective, leaving more than half of the smells undetected. However, with the guided prompt, the models uncovered at least 67% of the smells. For secure code generation, we prompted LLMs with 89 vulnerable synthetic scenarios and observed that only 7% of the generated scripts were secure. Adding an explicit instruction to generate secure code increased GPT secure output rate to 17%, while Gemini changed little (8%). These results highlight the need for further research to improve LLMs' capabilities in assisting developers with secure IaC development.
RIPPLE: Lifecycle-aware Embedding of Service Function Chains in Multi-access Edge Computing
Venue: arXiv cs.NI 2026
Year: 2026

In Multi-access Edge Computing networks, services can be deployed on nearby edge clouds (EC) as service function chains (SFCs) to meet strict quality of service (QoS) requirements. As users move, frequent SFC reconfigurations are required, but these are non-trivial: SFCs can serve users only when all required virtual network functions (VNFs) are available, and VNFs undergo time-consuming lifecycle operations before becoming operational. We show that ignoring lifecycle dynamics oversimplifies deployment, jeopardizes QoS, and must be avoided in practical SFC management. To address this, forecasts of user connectivity can be leveraged to proactively deploy VNFs and reconfigure SFCs. But forecasts are inherently imperfect, requiring lifecycle and connectivity uncertainty to be jointly considered. We present RIPPLE, a lifecycle-aware SFC embedding approach to deploy VNFs at the right time and location, reducing service interruptions. We show that RIPPLE closes the gap with solutions that unrealistically assume instantaneous lifecycle, even under realistic lifecycle constraints.
Reference-Free EM Validation Flow for Detecting Triggered Hardware Trojans
Venue: arXiv cs.CR 2026
Year: 2026

Hardware Trojans (HTs) threaten the trust and reliability of integrated circuits (ICs), particularly when triggered HTs remain dormant during standard testing and activate only under rare conditions. Existing electromagnetic (EM) side-channel-based detection techniques often rely on golden references or labeled data, which are infeasible in modern distributed manufacturing. This paper introduces a reference-free, design-agnostic framework for detecting triggered HTs directly from post-silicon EM emissions. The proposed flow converts each EM trace into a time-frequency scalogram using Continuous Wavelet Transform (CWT), extracts discriminative features through a convolutional neural network (CNN), reduces dimensionality with principal component analysis (PCA), and applies Bayesian Gaussian Mixture Modeling (BGMM) for unsupervised probabilistic clustering. The framework quantifies detection confidence using posterior-based metrics (alpha_{post}, beta_{post}), Bayesian information criterion (Delta BIC), and Mahalanobis cluster separation (D), enabling interpretable anomaly decisions without golden data. Experimental validation on AES-128 designs embedded with four different HTs demonstrates high separability between HT-free and HT-activated conditions and robustness to PCA variance thresholds. The results highlight the method's scalability, statistical interpretability, and potential for extension to runtime and in-field HT monitoring in trusted microelectronics.
MVP-LAM: Learning Action-Centric Latent Action via Cross-Viewpoint Reconstruction
Venue: arXiv cs.RO 2026
Year: 2026

Learning \emph{latent actions} from diverse human videos enables scaling robot learning beyond embodiment-specific robot datasets, and these latent actions have recently been used as pseudo-action labels for vision-language-action (VLA) model pretraining. To make VLA pretraining effective, latent actions should contain information about the underlying agent's actions despite the absence of ground-truth labels. We propose \textbf{M}ulti-\textbf{V}iew\textbf{P}oint \textbf{L}atent \textbf{A}ction \textbf{M}odel (\textbf{MVP-LAM}), which learns discrete latent actions that are highly informative about ground-truth actions from time-synchronized multi-view videos. MVP-LAM trains latent actions with a \emph{cross-viewpoint reconstruction} objective, so that a latent action inferred from one view must explain the future in another view, reducing reliance on viewpoint-specific cues. On Bridge V2, MVP-LAM produces more action-centric latent actions, achieving higher mutual information with ground-truth actions and improved action prediction, including under out-of-distribution evaluation. Finally, pretraining VLAs with MVP-LAM latent actions improves downstream manipulation performance on the SIMPLER and LIBERO-Long benchmarks.
LLM-Inspired Pretrain-Then-Finetune for Small-Data, Large-Scale Optimization
Venue: arXiv cs.LG 2026
Year: 2026

We consider small-data, large-scale decision problems in which a firm must make many operational decisions simultaneously (e.g., across a large product portfolio) while observing only a few, potentially noisy, data points per instance. Inspired by the success of large language models (LLMs), we propose a pretrain-then-finetune approach built on a designed Transformer model to address this challenge. The model is first pretrained on large-scale, domain-informed synthetic data that encode managerial knowledge and structural features of the decision environment, and is then fine-tuned on real observations. This new pipeline offers two complementary advantages: pretraining injects domain knowledge into the learning process and enables the training of high-capacity models using abundant synthetic data, while finetuning adapts the pretrained model to the operational environment and improves alignment with the true data-generating regime. While we have leveraged the Transformer's state-of-the-art representational capacity, particularly its attention mechanism, to efficiently extract cross-task structure, our approach is not an off-the-shelf application. Instead, it relies on problem-specific architectural design and a tailored training procedure to match the decision setting. Theoretically, we develop the first comprehensive error analysis regarding Transformer learning in relevant contexts, establishing nonasymptotic guarantees that validate the method's effectiveness. Critically, our analysis reveals how pretraining and fine-tuning jointly determine performance, with the dominant contribution governed by whichever is more favorable. In particular, finetuning exhibits an economies-of-scale effect, whereby transfer learning becomes increasingly effective as the number of instances grows.
OmniRAG-Agent: Agentic Omnimodal Reasoning for Low-Resource Long Audio-Video Question Answering
Venue: arXiv cs.CL 2026
Year: 2026

Long-horizon omnimodal question answering answers questions by reasoning over text, images, audio, and video. Despite recent progress on OmniLLMs, low-resource long audio-video QA still suffers from costly dense encoding, weak fine-grained retrieval, limited proactive planning, and no clear end-to-end optimization. To address these issues, we propose OmniRAG-Agent, an agentic omnimodal QA method for budgeted long audio-video reasoning. It builds an image-audio retrieval-augmented generation module that lets an OmniLLM fetch short, relevant frames and audio snippets from external banks. Moreover, it uses an agent loop that plans, calls tools across turns, and merges retrieved evidence to answer complex queries. Furthermore, we apply group relative policy optimization to jointly improve tool use and answer quality over time. Experiments on OmniVideoBench, WorldSense, and Daily-Omni show that OmniRAG-Agent consistently outperforms prior methods under low-resource settings and achieves strong results, with ablations validating each component.
Beyond Tokens: Semantic-Aware Speculative Decoding for Efficient Inference by Probing Internal States
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) achieve strong performance across many tasks but suffer from high inference latency due to autoregressive decoding. The issue is exacerbated in Large Reasoning Models (LRMs), which generate lengthy chains of thought. While speculative decoding accelerates inference by drafting and verifying multiple tokens in parallel, existing methods operate at the token level and ignore semantic equivalence (i.e., different token sequences expressing the same meaning), leading to inefficient rejections. We propose SemanticSpec, a semantic-aware speculative decoding framework that verifies entire semantic sequences instead of tokens. SemanticSpec introduces a semantic probability estimation mechanism that probes the model's internal hidden states to assess the likelihood of generating sequences with specific meanings. Experiments on four benchmarks show that SemanticSpec achieves up to 2.7x speedup on DeepSeekR1-32B and 2.1x on QwQ-32B, consistently outperforming token-level and sequence-level baselines in both efficiency and effectiveness.
Multimodal Generative Recommendation for Fusing Semantic and Collaborative Signals
Venue: arXiv cs.IR 2026
Year: 2026

Sequential recommender systems rank relevant items by modeling a user's interaction history and computing the inner product between the resulting user representation and stored item embeddings. To avoid the significant memory overhead of storing large item sets, the generative recommendation paradigm instead models each item as a series of discrete semantic codes. Here, the next item is predicted by an autoregressive model that generates the code sequence corresponding to the predicted item. However, despite promising ranking capabilities on small datasets, these methods have yet to surpass traditional sequential recommenders on large item sets, limiting their adoption in the very scenarios they were designed to address. To resolve this, we propose MSCGRec, a Multimodal Semantic and Collaborative Generative Recommender. MSCGRec incorporates multiple semantic modalities and introduces a novel self-supervised quantization learning approach for images based on the DINO framework. Additionally, MSCGRec fuses collaborative and semantic signals by extracting collaborative features from sequential recommenders and treating them as a separate modality. Finally, we propose constrained sequence learning that restricts the large output space during training to the set of permissible tokens. We empirically demonstrate on three large real-world datasets that MSCGRec outperforms both sequential and generative recommendation baselines and provide an extensive ablation study to validate the impact of each component.
RegionReasoner: Region-Grounded Multi-Round Visual Reasoning
Venue: arXiv cs.CV 2026
Year: 2026

Large vision-language models have achieved remarkable progress in visual reasoning, yet most existing systems rely on single-step or text-only reasoning, limiting their ability to iteratively refine understanding across multiple visual contexts. To address this limitation, we introduce a new multi-round visual reasoning benchmark with training and test sets spanning both detection and segmentation tasks, enabling systematic evaluation under iterative reasoning scenarios. We further propose RegionReasoner, a reinforcement learning framework that enforces grounded reasoning by requiring each reasoning trace to explicitly cite the corresponding reference bounding boxes, while maintaining semantic coherence via a global-local consistency reward. This reward extracts key objects and nouns from both global scene captions and region-level captions, aligning them with the reasoning trace to ensure consistency across reasoning steps. RegionReasoner is optimized with structured rewards combining grounding fidelity and global-local semantic alignment. Experiments on detection and segmentation tasks show that RegionReasoner-7B, together with our newly introduced benchmark RegionDial-Bench, considerably improves multi-round reasoning accuracy, spatial grounding precision, and global-local consistency, establishing a strong baseline for this emerging research direction.
Test-Time Conditioning with Representation-Aligned Visual Features
Venue: arXiv cs.CV 2026
Year: 2026

While representation alignment with self-supervised models has been shown to improve diffusion model training, its potential for enhancing inference-time conditioning remains largely unexplored. We introduce Representation-Aligned Guidance (REPA-G), a framework that leverages these aligned representations, with rich semantic properties, to enable test-time conditioning from features in generation. By optimizing a similarity objective (the potential) at inference, we steer the denoising process toward a conditioned representation extracted from a pre-trained feature extractor. Our method provides versatile control at multiple scales, ranging from fine-grained texture matching via single patches to broad semantic guidance using global image feature tokens. We further extend this to multi-concept composition, allowing for the faithful combination of distinct concepts. REPA-G operates entirely at inference time, offering a flexible and precise alternative to often ambiguous text prompts or coarse class labels. We theoretically justify how this guidance enables sampling from the potential-induced tilted distribution. Quantitative results on ImageNet and COCO demonstrate that our approach achieves high-quality, diverse generations. Code is available at https://github.com/valeoai/REPA-G.