OpenRaiser/Intern-Atlas huggingface dataset:
Joint MDPs and Reinforcement Learning in Coupled-Dynamics Environments
Venue: arXiv cs.LG 2026
Year: 2026

Many distributional quantities in reinforcement learning are intrinsically joint across actions, including distributions of gaps and probabilities of superiority. However, the classical Markov decision process (MDP) formalism specifies only marginal laws and leaves the joint law of counterfactual one-step outcomes across multiple possible actions at a state unspecified. We study coupled-dynamics environments with a multi-action generative interface which can sample counterfactual one-step outcomes for multiple actions under shared exogenous randomness. We propose joint MDPs (JMDPs) as a formalism for such environments by augmenting an MDP with a multi-action sample transition model which specifies a coupling of one-step counterfactual outcomes, while preserving standard MDP interaction as marginal observations. We adopt and formalize a one-step coupling regime where dependence across actions is confined to immediate counterfactual outcomes at the queried state. In this regime, we derive Bellman operators for $n$th-order return moments, providing dynamic programming and incremental algorithms with convergence guarantees.
Not All Neighbors Matter: Understanding the Impact of Graph Sparsification on GNN Pipelines
Venue: arXiv cs.LG 2026
Year: 2026

As graphs scale to billions of nodes and edges, graph Machine Learning workloads are constrained by the cost of multi-hop traversals over exponentially growing neighborhoods. While various system-level and algorithmic optimizations have been proposed to accelerate Graph Neural Network (GNN) pipelines, data management and movement remain the primary bottlenecks at scale. In this paper, we explore whether graph sparsification, a well-established technique that reduces edges to create sparser neighborhoods, can serve as a lightweight pre-processing step to address these bottlenecks while preserving accuracy on node classification tasks. We develop an extensible experimental framework that enables systematic evaluation of how different sparsification methods affect the performance and accuracy of GNN models. We conduct the first comprehensive study of GNN training and inference on sparsified graphs, revealing several key findings. First, sparsification often preserves or even improves predictive performance. As an example, random sparsification raises the accuracy of the GAT model by 6.8% on the PubMed graph. Second, benefits increase with scale, substantially accelerating both training and inference. Our results show that the K-Neighbor sparsifier improves model serving performance on the Products graph by 11.7x with only a 0.7% accuracy drop. Importantly, we find that the computational overhead of sparsification is quickly amortized, making it practical for very large graphs.
Virtual Intraoperative CT (viCT): Sequential Anatomic Updates for Modeling Tissue Resection Throughout Endoscopic Sinus Surgery
Venue: arXiv cs.CV 2026
Year: 2026

Purpose: Incomplete dissection is a common cause of persistent disease and revision endoscopic sinus surgery (ESS) in chronic rhinosinusitis. Current image-guided surgery systems typically reference static preoperative CT (pCT), and do not model evolving resection boundaries. We present Virtual Intraoperative CT (viCT), a method for sequentially updating pCT throughout ESS using intraoperative 3D reconstructions from monocular endoscopic video to enable visualization of evolving anatomy in CT format. Methods: Monocular endoscopic video is processed using a depth-supervised NeRF framework with virtual stereo synthesis to generate metrically scaled 3D reconstructions at multiple surgical intervals. Reconstructions undergo rigid, landmark-based registration in 3D Slicer guided by anatomical correspondences, and are then voxelized into the pCT grid. viCT volumes were generated using a ray-based occupancy comparison between pCT and reconstruction to delete outdated voxels and remap preserved anatomy and updated boundaries. Performance is evaluated in a cadaveric feasibility study of four specimens across four ESS stages using volumetric overlap (DSC, Jaccard) and surface metrics (HD95, Chamfer, MSD, RMSD), and qualitative comparisons to ground-truth CT. Results: viCT updates show agreement with ground-truth anatomy across surgical stages, with submillimeter mean surface errors. Dice Similarity Coefficient (DSC) = 0.88 +/- 0.05 and Jaccard Index = 0.79 +/- 0.07, and Hausdorff Distance 95% (HD95) = 0.69 +/- 0.28 mm, Chamfer Distance = 0.09 +/- 0.05 mm, Mean Surface Distance (MSD) = 0.11 +/- 0.05 mm, and Root Mean Square Distance (RMSD) = 0.32 +/- 0.10 mm. Conclusion: viCT enables CT-format anatomic updating in an ESS setting without ancillary hardware. Future work will focus on fully automating registration, validation in live cases, and optimizing runtime for real-time deployment.
Elenchus: Generating Knowledge Bases from Prover-Skeptic Dialogues
Venue: arXiv cs.CL 2026
Year: 2026

We present Elenchus, a dialogue system for knowledge base construction grounded in inferentialist semantics, where knowledge engineering is re-conceived as explicitation rather than extraction from expert testimony or textual content. A human expert develops a bilateral position (commitments and denials) about a topic through prover-skeptic dialogue with a large language model (LLM) opponent. The LLM proposes tensions (claims that parts of the position are jointly incoherent) which the expert resolves by retraction, refinement, or contestation. The LLM thus serves as a defeasible derivability oracle whose unreliability is structurally contained by the expert's authority. Our main technical contribution is a mapping from Elenchus dialectical states to material bases in Hlobil and Brandom's NonMonotonic MultiSuccedent (NMMS) logic, satisfying Containment and enabling the elaboration of logical vocabulary that makes explicit the inferential relationships negotiated in the dialectic. We demonstrate the approach on the W3C PROV-O provenance ontology, where a single dialogue session elicits and structures design tensions that a domain expert can articulate, corresponding to decisions documented in a retrospective analysis of the ontology's design. Using pyNMMS, an automated NMMS reasoner, we verify that the structural properties of the resulting material base (nontransitivity, nonmonotonicity, and independence) correspond to specific PROV design rationales, demonstrating end-to-end integration from dialogue through formal reasoning.
VSL-Skin: Individually Addressable Phase-Change Voxel Skin for Variable-Stiffness and Virtual Joints Bridging Soft and Rigid Robots
Venue: arXiv cs.RO 2026
Year: 2026

Soft robots are compliant but often cannot support loads or hold their shape, while rigid robots provide structural strength but are less adaptable. Existing variable-stiffness systems usually operate at the scale of whole segments or patches, which limits precise control over stiffness distribution and virtual joint placement. This paper presents the Variable Stiffness Lattice Skin (VSL-Skin), the first system to enable individually addressable voxel-level morphological control with centimeter-scale precision. The system provides three main capabilities: nearly two orders of magnitude stiffness modulation across axial (15-1200 N/mm), shear (45-850 N/mm), bending (8*10^2 - 3*10^4 N/deg), and torsional modes with centimeter-scale spatial control; the first demonstrated 30% axial compression in phase-change systems while maintaining structural integrity; and autonomous component-level self-repair through thermal cycling, which eliminates fatigue accumulation and enables programmable sacrificial joints for predictable failure management. Selective voxel activation creates six canonical virtual joint types with programmable compliance while preserving structural integrity in non-activated regions. The platform incorporates closed-form design models and finite element analysis for predictive synthesis of stiffness patterns and joint placement. Experimental validation demonstrates 30% axial contraction, thermal switching in 75-second cycles, and cut-to-fit integration that preserves addressability after trimming. The row-column architecture enables platform-agnostic deployment across diverse robotic systems without specialized infrastructure. This framework establishes morphological intelligence as an engineerable system property and advances autonomous reconfigurable robotics.
Foundational World Models Accurately Detect Bimanual Manipulator Failures
Venue: arXiv cs.RO 2026
Year: 2026

Deploying visuomotor robots at scale is challenging due to the potential for anomalous failures to degrade performance, cause damage, or endanger human life. Bimanual manipulators are no exception; these robots have vast state spaces comprised of high-dimensional images and proprioceptive signals. Explicitly defining failure modes within such state spaces is infeasible. In this work, we overcome these challenges by training a probabilistic, history informed, world model within the compressed latent space of a pretrained vision foundation model (NVIDIA's Cosmos Tokenizer). The model outputs uncertainty estimates alongside its predictions that serve as non-conformity scores within a conformal prediction framework. We use these scores to develop a runtime monitor, correlating periods of high uncertainty with anomalous failures. To test these methods, we use the simulated Push-T environment and the Bimanual Cable Manipulation dataset, the latter of which we introduce in this work. This new dataset features trajectories with multiple synchronized camera views, proprioceptive signals, and annotated failures from a challenging data center maintenance task. We benchmark our methods against baselines from the anomaly detection and out-of-distribution detection literature, and show that our approach considerably outperforms statistical techniques. Furthermore, we show that our approach requires approximately one twentieth of the trainable parameters as the next-best learning-based approach, yet outperforms it by 3.8% in terms of failure detection rate, paving the way toward safely deploying manipulator robots in real-world environments where reliability is non-negotiable.
Large Language Model-Driven Full-Component Evolution of Adaptive Large Neighborhood Search
Venue: arXiv cs.NE 2026
Year: 2026

Adaptive Large Neighborhood Search (ALNS) is a prominent metaheuristic and a widely adopted approach for production and logistics optimization. However, it has long relied on hand-crafted components built on expert experience, which makes development slow and costly to adapt to new problems. This paper proposes a closed-loop, large-language-model-driven evolutionary framework that decouples ALNS and automatically rebuilds all of its components. We break ALNS into seven key modules: destroy, repair, operator selection, weight update, initial solution construction, acceptance rule, and destroy-rate control, and evolve each module through a dedicated task. By incorporating the MAP-Elites mechanism, the framework maintains a multi-dimensional elite archive to simultaneously drive the evolution of solution quality and strategic diversity. On TSPLIB benchmarks, the evolved algorithms consistently outperform optimized classic ALNS baselines under both fixed-iteration and fixed-time limits. The gains are especially clear on large-scale instances, where the average optimality gap drops from 3.18% to 0.74%. Code analysis also uncovers several counterintuitive yet meaningful design patterns that emerged naturally during evolution, offering practical and theoretical insights for future ALNS design. Finally, comparisons across multiple language models highlight clear differences in their ability to support evolutionary algorithm design, helping guide model selection for real-world engineering use.
Two-Stage Path Following for Mobile Manipulators via Dimensionality-Reduced Graph Search and Numerical Optimization
Venue: arXiv cs.RO 2026
Year: 2026

Efficient path following for mobile manipulators is often hindered by high-dimensional configuration spaces and kinematic constraints. This paper presents a robust two-stage configuration planning framework that decouples the 8-DoF planning problem into a tractable 2-DoF base optimization under a yaw-fixed base planning assumption. In the first stage, the proposed approach utilizes IRM to discretize the task-space path into a multi-layer graph, where an initial feasible path is extracted via a Dijkstra-based dynamic programming approach to ensure computational efficiency and global optimality within the discretized graph. In the second stage, to overcome discrete search quantization, feasible base regions are transformed into convex hulls, enabling subsequent continuous refinement via the L-BFGS algorithm to maximize trajectory smoothness while strictly enforcing reachability constraints. Simulation results demonstrate the theoretical precision of the proposed method by achieving sub-millimeter kinematic accuracy in simulation, and physical experiments on an omnidirectional mobile manipulator further validate the framework's robustness and practical applicability.
Combinatorial Allocation Bandits with Nonlinear Arm Utility
Venue: arXiv cs.LG 2026
Year: 2026

A matching platform is a system that matches different types of participants, such as companies and job-seekers. In such a platform, merely maximizing the number of matches can result in matches being concentrated on highly popular participants, which may increase dissatisfaction among other participants, such as companies, and ultimately lead to their churn, reducing the platform's profit opportunities. To address this issue, we propose a novel online learning problem, Combinatorial Allocation Bandits (CAB), which incorporates the notion of *arm satisfaction*. In CAB, at each round $t=1,\dots,T$, the learner observes $K$ feature vectors corresponding to $K$ arms for each of $N$ users, assigns each user to an arm, and then observes feedback following a generalized linear model (GLM). Unlike prior work, the learner's objective is not to maximize the number of positive feedback, but rather to maximize the arm satisfaction. For CAB, we provide an upper confidence bound algorithm that achieves an approximate regret upper bound, which matches the existing lower bound for the special case. Furthermore, we propose a TS algorithm and provide an approximate regret upper bound. Finally, we conduct experiments on synthetic data to demonstrate the effectiveness of the proposed algorithms compared to other methods.
RESCHED: Rethinking Flexible Job Shop Scheduling from a Transformer-based Architecture with Simplified States
Venue: arXiv cs.LG 2026
Year: 2026

Neural approaches to the Flexible Job Shop Scheduling Problem (FJSP), particularly those based on deep reinforcement learning (DRL), have gained growing attention in recent years. However, existing methods rely on complex feature-engineered state representations (i.e., often requiring more than 20 handcrafted features) and graph-biased neural architectures. To reduce modeling complexity and advance a more generalizable framework for FJSP, we introduce \textsc{ReSched}, a minimalist DRL framework that rethinks both the scheduling formulation and model design. First, by revisiting the Markov Decision Process (MDP) formulation of FJSP, we condense the state space to just four essential features, eliminating historical dependencies through a subproblem-based perspective. Second, we employ Transformer blocks with dot-product attention, augmented by three lightweight but effective architectural modifications tailored to scheduling tasks. Extensive experiments show that \textsc{ReSched} outperforms classical dispatching rules and state-of-the-art DRL methods on FJSP. Moreover, \textsc{ReSched} also generalizes well to the Job Shop Scheduling Problem (JSSP) and the Flexible Flow Shop Scheduling Problem (FFSP), achieving competitive performance against neural baselines specifically designed for these variants.
OV-DEIM: Real-time DETR-Style Open-Vocabulary Object Detection with GridSynthetic Augmentation
Venue: arXiv cs.CV 2026
Year: 2026

Real-time open-vocabulary object detection (OVOD) is essential for practical deployment in dynamic environments, where models must recognize a large and evolving set of categories under strict latency constraints. Current real-time OVOD methods are predominantly built upon YOLO-style models. In contrast, real-time DETR-based methods still lag behind in terms of inference latency, model lightweightness, and overall performance. In this work, we present OV-DEIM, an end-to-end DETR-style open-vocabulary detector built upon the recent DEIMv2 framework with integrated vision-language modeling for efficient open-vocabulary inference. We further introduce a simple query supplement strategy that improves Fixed AP without compromising inference speed. Beyond architectural improvements, we introduce GridSynthetic, a simple yet effective data augmentation strategy that composes multiple training samples into structured image grids. By exposing the model to richer object co-occurrence patterns and spatial layouts within a single forward pass, GridSynthetic mitigates the negative impact of noisy localization signals on the classification loss and improves semantic discrimination, particularly for rare categories. Extensive experiments demonstrate that OV-DEIM achieves state-of-the-art performance on open-vocabulary detection benchmarks, delivering superior efficiency and notable improvements on challenging rare categories. Code and pretrained models are available at https://github.com/wleilei/OV-DEIM.
Fine-Grained 3D Facial Reconstruction for Micro-Expressions
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in 3D facial expression reconstruction have demonstrated remarkable performance in capturing macro-expressions, yet the reconstruction of micro-expressions remains unexplored. This novel task is particularly challenging due to the subtle, transient, and low-intensity nature of micro-expressions, which complicate the extraction of stable and discriminative features essential for accurate reconstruction. In this paper, we propose a fine-grained micro-expression reconstruction method that integrates a global dynamic feature capturing stable facial motion patterns with a locally-enriched feature incorporating multiple informative cues from 2D motions, facial priors and 3D facial geometry. Specifically, we devise a plug-and-play dynamic-encoded module to extract micro-expression feature for global facial action, allowing it to leverage prior knowledge from abundant macro-expression data to mitigate the scarcity of micro-expression data. Subsequently, a dynamic-guided mesh deformation module is designed for extracting aggregated local features from dense optical flow, sparse landmark cues and facial mesh geometry, which adaptively refines fine-grained facial micro-expression without compromising global 3D geometry. Extensive experiments on micro-expression datasets demonstrate that our method consistently outperforms state-of-the-art methods in both geometric accuracy and perceptual detail.
Bi-directional digital twin prototype anchoring with multi-periodicity learning for few-shot fault diagnosis
Venue: arXiv cs.AI 2026
Year: 2026

Intelligent fault diagnosis (IFD) has emerged as a powerful paradigm for ensuring the safety and reliability of industrial machinery. However, traditional IFD methods rely heavily on abundant labeled data for training, which is often difficult to obtain in practical industrial environments. Constructing a digital twin (DT) of the physical asset to obtain simulation data has therefore become a promising alternative. Nevertheless, existing DT-assisted diagnosis methods mainly transfer diagnostic knowledge through domain adaptation techniques, which still require a considerable amount of unlabeled data from the target asset. To address the challenges in few-shot scenarios where only extremely limited samples are available, a bi-directional DT prototype anchoring method with multi-periodicity learning is proposed. Specifically, a framework involving meta-training in the DT virtual space and test-time adaptation in the physical space is constructed for reliable few-shot model adaptation for the target asset. A bi-directional twin-domain prototype anchoring strategy with covariance-guided augmentation for adaptation is further developed to improve the robustness of prototype estimation. In addition, a multi-periodicity feature learning module is designed to capture the intrinsic periodic characteristics within current signals. A DT of an asynchronous motor is built based on finite element method, and experiments are conducted under multiple few-shot settings and three working conditions. Comparative and ablation studies demonstrate the superiority and effectiveness of the proposed method for few-shot fault diagnosis.
GuideTWSI: A Diverse Tactile Walking Surface Indicator Dataset from Synthetic and Real-World Images for Blind and Low-Vision Navigation
Venue: arXiv cs.RO 2026
Year: 2026

Tactile Walking Surface Indicators (TWSIs) are safety-critical landmarks that blind and low-vision (BLV) pedestrians use to locate crossings and hazard zones. From our observation sessions with BLV guide dog handlers, trainers, and an O&M specialist, we confirmed the critical importance of reliable and accurate TWSI segmentation for navigation assistance of BLV individuals. Achieving such reliability requires large-scale annotated data. However, TWSIs are severely underrepresented in existing urban perception datasets, and even existing dedicated paving datasets are limited: they lack robot-relevant viewpoints (e.g., egocentric or top-down) and are geographically biased toward East Asian directional bars - raised parallel strips used for continuous guidance along sidewalks. This narrow focus overlooks truncated domes - rows of round bumps used primarily in North America and Europe as detectable warnings at curbs, crossings, and platform edges. As a result, models trained only on bar-centric data struggle to generalize to dome-based warnings, leading to missed detections and false stops in safety-critical environments.
MedSteer: Counterfactual Endoscopic Synthesis via Training-Free Activation Steering
Venue: arXiv cs.CV 2026
Year: 2026

Generative diffusion models are increasingly used for medical imaging data augmentation, but text prompting cannot produce causal training data. Re-prompting rerolls the entire generation trajectory, altering anatomy, texture, and background. Inversion-based editing methods introduce reconstruction error that causes structural drift. We propose MedSteer, a training-free activation-steering framework for endoscopic synthesis. MedSteer identifies a pathology vector for each contrastive prompt pair in the cross-attention layers of a diffusion transformer. At inference time, it steers image activations along this vector, generating counterfactual pairs from scratch where the only difference is the steered concept. All other structure is preserved by construction. We evaluate MedSteer across three experiments on Kvasir v3 and HyperKvasir. On counterfactual generation across three clinical concept pairs, MedSteer achieves flip rates of 0.800, 0.925, and 0.950, outperforming the best inversion-based baseline in both concept flip rate and structural preservation. On dye disentanglement, MedSteer achieves 75% dye removal against 20% (PnP) and 10% (h-Edit). On downstream polyp detection, augmenting with MedSteer counterfactual pairs achieves ViT AUC of 0.9755 versus 0.9083 for quantity-matched re-prompting, confirming that counterfactual structure drives the gain. Code is at link https://github.com/phamtrongthang123/medsteer