OpenRaiser/Intern-Atlas huggingface dataset:
Prior-guided Hierarchical Instance-pixel Contrastive Learning for Ultrasound Speckle Noise Suppression
Venue: arXiv cs.CV 2026
Year: 2026

Ultrasound denoising is essential for mitigating speckle-induced degradations, thereby enhancing image quality and improving diagnostic reliability. Nevertheless, because speckle patterns inherently encode both texture and fine anatomical details, effectively suppressing noise while preserving structural fidelity remains a significant challenge. In this study, we propose a prior-guided hierarchical instance-pixel contrastive learning model for ultrasound denoising, designed to promote noise-invariant and structure-aware feature representations by maximizing the separability between noisy and clean samples at both pixel and instance levels. Specifically, a statistics-guided pixel-level contrastive learning strategy is introduced to enhance distributional discrepancies between noisy and clean pixels, thereby improving local structural consistency. Concurrently, a memory bank is employed to facilitate instance-level contrastive learning in the feature space, encouraging representations that more faithfully approximate the underlying data distribution. Furthermore, a hybrid Transformer-CNN architecture is adopted, coupling a Transformer-based encoder for global context modeling with a CNN-based decoder optimized for fine-grained anatomical structure restoration, thus enabling complementary exploitation of long-range dependencies and local texture details. Extensive evaluations on two publicly available ultrasound datasets demonstrate that the proposed model consistently outperforms existing methods, confirming its effectiveness and superiority.
Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the high-fidelity physical grounding required for contact-rich tool manipulation. Conversely, existing contact-aware policies that leverage tactile or haptic sensing are typically instance-specific and fail to generalize across diverse tool geometries. Bridging this gap requires learning unified contact representations from diverse data, yet a fundamental barrier remains: diverse real-world tactile data are prohibitive at scale, while direct zero-shot sim-to-real transfer is challenging due to the complex dynamics of nonlinear deformation of soft sensors. To address this, we propose Semantic-Contact Fields (SCFields), a unified 3D representation fusing visual semantics with dense contact estimates. We enable this via a two-stage Sim-to-Real Contact Learning Pipeline: first, we pre-train on a large simulation data set to learn general contact physics; second, we fine-tune on a small set of real data, pseudo-labeled via geometric heuristics and force optimization, to align sensor characteristics. This allows physical generalization to unseen tools. We leverage SCFields as the dense observation input for a diffusion policy to enable robust execution of contact-rich tool manipulation tasks. Experiments on scraping, crayon drawing, and peeling demonstrate robust category-level generalization, significantly outperforming vision-only and raw-tactile baselines.
Speculative Decoding with a Speculative Vocabulary
Venue: arXiv cs.CL 2026
Year: 2026

Speculative decoding has rapidly emerged as a leading approach for accelerating language model (LM) inference, as it offers substantial speedups while yielding identical outputs. This relies upon a small draft model, tasked with predicting the outputs of the target model. State-of-the-art speculative decoding methods use a draft model consisting of a single decoder layer and output embedding matrix, with the latter dominating drafting time for the latest LMs. Recent work has sought to address this output distribution bottleneck by reducing the vocabulary of the draft model. Although this can improve throughput, it compromises speculation effectiveness when the target token is out-of-vocabulary. In this paper, we argue for vocabulary speculation as an alternative to a reduced vocabulary. We propose SpecVocab, an efficient and effective method that selects a vocabulary subset per decoding step. Across a variety of tasks, we demonstrate that SpecVocab can achieve a higher acceptance length than state-of-the-art speculative decoding approach, EAGLE-3. Notably, this yields up to an 8.1% increase in average throughput over EAGLE-3.
Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement
Venue: arXiv cs.RO 2026
Year: 2026

Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas non-prehensile pushing can be more efficient but suffers from complex, imprecise dynamics. This paper proposes push-placement, a hybrid action primitive that uses the grasped object to displace obstructing items while being placed, thereby reducing explicit buffering. The method is integrated into a physics-in-the-loop Monte Carlo Tree Search (MCTS) planner and evaluated in the PyBullet simulator. Empirical results show push-placement reduces the manipulator travel cost by up to 11.12% versus a baseline MCTS planner and 8.56% versus dynamic stacking. These findings indicate that hybrid prehensile/non-prehensile action primitives can substantially improve efficiency in long-horizon rearrangement tasks.
Evolving Multi-Channel Confidence-Aware Activation Functions for Missing Data with Channel Propagation
Venue: arXiv cs.NE 2026
Year: 2026

Learning in the presence of missing data can result in biased predictions and poor generalizability, among other difficulties, which data imputation methods only partially address. In neural networks, activation functions significantly affect performance yet typical options (e.g., ReLU, Swish) operate only on feature values and do not account for missingness indicators or confidence scores. We propose Three-Channel Evolved Activations (3C-EA), which we evolve using Genetic Programming to produce multivariate activation functions f(x, m, c) in the form of trees that take (i) the feature value x, (ii) a missingness indicator m, and (iii) an imputation confidence score c. To make these activations useful beyond the input layer, we introduce ChannelProp, an algorithm that deterministically propagates missingness and confidence values via linear layers based on weight magnitudes, retaining reliability signals throughout the network. We evaluate 3C-EA and ChannelProp on datasets with natural and injected (MCAR/MAR/MNAR) missingness at multiple rates under identical preprocessing and splits. Results indicate that integrating missingness and confidence inputs into the activation search improves classification performance under missingness.
Agentic Assistant for 6G: Turn-based Conversations for AI-RAN Hierarchical Co-Management
Venue: arXiv cs.NI 2026
Year: 2026

New generations of radio access networks (RAN), especially with native AI services are increasingly difficult for human engineers to manage in real-time. Enterprise networks are often managed locally, where expertise is scarce. Existing research has focused on creating Retrieval-Augmented Generation (RAG) LLMs that can help to plan and configure RAN and core aspects only. Co-management of RAN and edge AI is the gap, which creates hierarchical and dynamic problems that require turn-based human interactions. Here, we create an agentic network manager and turn-based conversation assistant that can understand human intent-based queries that match hierarchical problems in AI-RAN. The framework constructed consists of: (a) a user interface and evaluation dashboard, (b) an intelligence layer that interfaces with the AI-RAN, and (c) a knowledge layer for providing the basis for evaluations and recommendations. These form 3 layers of capability with the following validation performances (average response time 13s): (1) design and planning a service (78\% accuracy), (2) operating specific AI-RAN tools (89\% accuracy), and (3) tuning AI-RAN performance (67\%). These initial results indicate the universal challenges of hallucination but also fast response performance success that can really reduce OPEX costs for small scale enterprise users.
Parameter-Efficient Fine-Tuning of DINOv2 for Large-Scale Font Classification
Venue: arXiv cs.CV 2026
Year: 2026

We present a font classification system capable of identifying 394 font families from rendered text images. Our approach fine-tunes a DINOv2 Vision Transformer using Low-Rank Adaptation (LoRA), achieving approximately 86% top-1 accuracy while training fewer than 1% of the model's 87.2M parameters. We introduce a synthetic dataset generation pipeline that renders Google Fonts at scale with diverse augmentations including randomized colors, alignment, line wrapping, and Gaussian noise, producing training images that generalize to real-world typographic samples. The model incorporates built-in preprocessing to ensure consistency between training and inference, and is deployed as a HuggingFace Inference Endpoint. We release the model, dataset, and full training pipeline as open-source resources.
RPGD: RANSAC-P3P Gradient Descent for Extrinsic Calibration in 3D Human Pose Estimation
Venue: arXiv cs.CV 2026
Year: 2026

In this paper, we propose RPGD (RANSAC-P3P Gradient Descent), a human-pose-driven extrinsic calibration framework that robustly aligns MoCap-based 3D skeletal data with monocular or multi-view RGB cameras using only natural human motion. RPGD formulates extrinsic calibration as a coarse-to-fine problem tailored to human poses, combining the global robustness of RANSAC-P3P with Gradient-Descent-based refinement. We evaluate RPGD on three large-scale public 3D HPE datasets as well as on a self-collected in-the-wild dataset. Experimental results demonstrate that RPGD consistently recovers extrinsic parameters with accuracy comparable to the provided ground truth, achieving sub-pixel MPJPE reprojection error even in challenging, noisy settings. These results indicate that RPGD provides a practical and automatic solution for reliable extrinsic calibration of large-scale 3D HPE dataset collection.
Common Knowledge Always, Forever
Venue: arXiv cs.LO 2026
Year: 2026

There has been an increasing interest in topological semantics for epistemic logic, which has been shown to be useful for, e.g., modelling evidence, degrees of belief, and self-reference. We introduce a polytopological PDL capable of expressing common knowledge and various generalizations and show it has the finite model property over closure spaces but not over Cantor derivative spaces. The latter is shown by embedding a version of linear temporal logic with `past', which does not have the finite model property.
GREPO: A Benchmark for Graph Neural Networks on Repository-Level Bug Localization
Venue: arXiv cs.LG 2026
Year: 2026

Repository-level bug localization-the task of identifying where code must be modified to fix a bug-is a critical software engineering challenge. Standard Large Language Modles (LLMs) are often unsuitable for this task due to context window limitations that prevent them from processing entire code repositories. As a result, various retrieval methods are commonly used, including keyword matching, text similarity, and simple graph-based heuristics such as Breadth-First Search. Graph Neural Networks (GNNs) offer a promising alternative due to their ability to model complex, repository-wide dependencies; however, their application has been hindered by the lack of a dedicated benchmark. To address this gap, we introduce GREPO, the first GNN benchmark for repository-scale bug localization tasks. GREPO comprises 86 Python repositories and 47294 bug-fixing tasks, providing graph-based data structures ready for direct GNN processing. Our evaluation of various GNN architectures shows outstanding performance compared to established information retrieval baselines. This work highlights the potential of GNNs for bug localization and established GREPO as a foundation resource for future research, The code is available at https://github.com/qingpingmo/GREPO.
A Multi-Agent Framework for Code-Guided, Modular, and Verifiable Automated Machine Learning
Venue: arXiv cs.LG 2026
Year: 2026

Automated Machine Learning (AutoML) has revolutionized the development of data-driven solutions; however, traditional frameworks often function as "black boxes", lacking the flexibility and transparency required for complex, real-world engineering tasks. Recent Large Language Model (LLM)-based agents have shifted toward code-driven approaches. However, they frequently suffer from hallucinated logic and logic entanglement, where monolithic code generation leads to unrecoverable runtime failures. In this paper, we present iML, a novel multi-agent framework designed to shift AutoML from black-box prompting to a code-guided, modular, and verifiable architectural paradigm. iML introduces three main ideas: (1) Code-Guided Planning, which synthesizes a strategic blueprint grounded in autonomous empirical profiling to eliminate hallucination; (2) Code-Modular Implementation, which decouples preprocessing and modeling into specialized components governed by strict interface contracts; and (3) Code-Verifiable Integration, which enforces physical feasibility through dynamic contract verification and iterative self-correction. We evaluate iML across MLE-BENCH and the newly introduced iML-BENCH, comprising a diverse range of real-world Kaggle competitions. The experimental results show iML's superiority over state-of-the-art agents, achieving a valid submission rate of 85% and a competitive medal rate of 45% on MLE-BENCH, with an average standardized performance score (APS) of 0.77. On iML-BENCH, iML significantly outperforms the other approaches by 38%-163% in APS. Furthermore, iML maintains a robust 70% success rate even under stripped task descriptions, effectively filling information gaps through empirical profiling. These results highlight iML's potential to bridge the gap between stochastic generation and reliable engineering, marking a meaningful step toward truly AutoML.
An Adaptive Model Selection Framework for Demand Forecasting under Horizon-Induced Degradation to Support Business Strategy and Operations
Venue: arXiv cs.LG 2026
Year: 2026

Business environments characterized by structural demand intermittency, high variability, and multi-step planning horizons require robust and reproducible model selection mechanisms. Empirical evidence shows that no forecasting model is universally dominant and that relative rankings vary across error metrics, demand regimes, and forecast horizons, generating ambiguity in multi-SKU decision contexts. This study proposes AHSIV (Adaptive Hybrid Selector for Intermittency and Variability), a horizon-aware and regime-conditioned model selection framework designed to address horizon-induced ranking instability. The proposed approach integrates scaled and absolute error metrics adjusted through a Metric Degradation by Forecast Horizon (MDFH) procedure, structural demand classification, multi-objective Pareto dominance, and hierarchical bias refinement within a unified decision architecture. The empirical evaluation is conducted on the Walmart, M3, M4, and M5 datasets under multiple train-test partition schemes and twelve-step forecasting horizons. Results indicate that AHSIV achieves statistical equivalence with the strongest monometric baseline in terms of aggregated performance while increasing the frequency of horizon-specific best-model selection. The findings demonstrate that model selection in heterogeneous demand environments cannot be treated as a static ranking problem, and that horizon-consistent, structurally adaptive mechanisms provide a principled, operationally coherent solution for multi-SKU forecasting.
Fusing Pixels and Genes: Spatially-Aware Learning in Computational Pathology
Venue: arXiv cs.CV 2026
Year: 2026

Recent years have witnessed remarkable progress in multimodal learning within computational pathology. Existing models primarily rely on vision and language modalities; however, language alone lacks molecular specificity and offers limited pathological supervision, leading to representational bottlenecks. In this paper, we propose STAMP, a Spatial Transcriptomics-Augmented Multimodal Pathology representation learning framework that integrates spatially-resolved gene expression profiles to enable molecule-guided joint embedding of pathology images and transcriptomic data. Our study shows that self-supervised, gene-guided training provides a robust and task-agnostic signal for learning pathology image representations. Incorporating spatial context and multi-scale information further enhances model performance and generalizability. To support this, we constructed SpaVis-6M, the largest Visium-based spatial transcriptomics dataset to date, and trained a spatially-aware gene encoder on this resource. Leveraging hierarchical multi-scale contrastive alignment and cross-scale patch localization mechanisms, STAMP effectively aligns spatial transcriptomics with pathology images, capturing spatial structure and molecular variation. We validate STAMP across six datasets and four downstream tasks, where it consistently achieves strong performance. These results highlight the value and necessity of integrating spatially resolved molecular supervision for advancing multimodal learning in computational pathology. The code is included in the supplementary materials. The pretrained weights and SpaVis-6M are available at: https://github.com/Hanminghao/STAMP.
Eureka-Audio: Triggering Audio Intelligence in Compact Language Models
Venue: arXiv cs.SD 2026
Year: 2026

We present Eureka-Audio, a compact yet high-performance audio language model that achieves competitive performance against models that are 4 to 18 times larger across a broad range of audio understanding benchmarks. Despite containing only 1.7B parameters, Eureka-Audio demonstrates strong performance on automatic speech recognition (ASR), audio understanding, and dense audio captioning, matching or surpassing multiple 7B to 30B audio and omni-modal baselines. The model adopts a unified end-to-end architecture composed of a lightweight language backbone, a Whisper-based audio encoder, and a sparsely activated Mixture-of-Experts (MoE) adapter that explicitly accounts for audio heterogeneity and alleviates cross-modal optimization conflicts under limited capacity. To further enhance paralinguistic reasoning, we introduce DataFlux, a closed loop audio instruction data synthesis and verification pipeline that constructs high quality, logically consistent supervision from raw audio. Extensive evaluations across ASR, knowledge reasoning, safety, instruction following, and paralinguistic benchmarks, demonstrate that Eureka-Audio achieves an efficient balance between computational cost and performance. These results establish Eureka Audio as a strong and practical baseline for lightweight audio understanding models.
MarsRetrieval: Benchmarking Vision-Language Models for Planetary-Scale Geospatial Retrieval on Mars
Venue: arXiv cs.CV 2026
Year: 2026

Data-driven approaches like deep learning are rapidly advancing planetary science, particularly in Mars exploration. Despite recent progress, most existing benchmarks remain confined to closed-set supervised visual tasks and do not support text-guided retrieval for geospatial discovery. We introduce MarsRetrieval, a retrieval benchmark for evaluating vision-language models for Martian geospatial discovery. MarsRetrieval includes three tasks: (1) paired image-text retrieval, (2) landform retrieval, and (3) global geo-localization, covering multiple spatial scales and diverse geomorphic origins. We propose a unified retrieval-centric protocol to benchmark multimodal embedding architectures, including contrastive dual-tower encoders and generative vision-language models. Our evaluation shows MarsRetrieval is challenging: even strong foundation models often fail to capture domain-specific geomorphic distinctions. We further show that domain-specific fine-tuning is critical for generalizable geospatial discovery in planetary settings. Our code is available at https://github.com/ml-stat-Sustech/MarsRetrieval
Cognitive Chunking for Soft Prompts: Accelerating Compressor Learning via Block-wise Causal Masking
Venue: arXiv cs.AI 2026
Year: 2026

Providing extensive context via prompting is vital for leveraging the capabilities of Large Language Models (LLMs). However, lengthy contexts significantly increase inference latency, as the computational cost of self-attention grows quadratically with sequence length. To mitigate this issue, context compression-particularly soft prompt compressio-has emerged as a widely studied solution, which converts long contexts into shorter memory embeddings via a trained compressor. Existing methods typically compress the entire context indiscriminately into a set of memory tokens, requiring the compressor to capture global dependencies and necessitating extensive pre-training data to learn effective patterns. Inspired by the chunking mechanism in human working memory and empirical observations of the spatial specialization of memory embeddings relative to original tokens, we propose Parallelized Iterative Compression (PIC). By simply modifying the Transformer's attention mask, PIC explicitly restricts the receptive field of memory tokens to sequential local chunks, thereby lowering the difficulty of compressor training. Experiments across multiple downstream tasks demonstrate that PIC consistently outperforms competitive baselines, with superiority being particularly pronounced in high compression scenarios (e.g., achieving relative improvements of 29.8\% in F1 score and 40.7\% in EM score on QA tasks at the $64\times$ compression ratio). Furthermore, PIC significantly expedites the training process. Specifically, when training the 16$\times$ compressor, it surpasses the peak performance of the competitive baseline while effectively reducing the training time by approximately 40\%.
Bridging AI and Clinical Reasoning: Abductive Explanations for Alignment on Critical Symptoms
Venue: arXiv cs.AI 2026
Year: 2026

Artificial intelligence (AI) has demonstrated strong potential in clinical diagnostics, often achieving accuracy comparable to or exceeding that of human experts. A key challenge, however, is that AI reasoning frequently diverges from structured clinical frameworks, limiting trust, interpretability, and adoption. Critical symptoms, pivotal for rapid and accurate decision-making, may be overlooked by AI models even when predictions are correct. Existing post hoc explanation methods provide limited transparency and lack formal guarantees. To address this, we leverage formal abductive explanations, which offer consistent, guaranteed reasoning over minimal sufficient feature sets. This enables a clear understanding of AI decision-making and allows alignment with clinical reasoning. Our approach preserves predictive accuracy while providing clinically actionable insights, establishing a robust framework for trustworthy AI in medical diagnosis.