OpenRaiser/Intern-Atlas huggingface dataset:
Video-Based Reward Modeling for Computer-Use Agents
Venue: arXiv cs.CV 2026
Year: 2026

Computer-using agents (CUAs) are becoming increasingly capable; however, it remains difficult to scale evaluation of whether a trajectory truly fulfills a user instruction. In this work, we study reward modeling from execution video: a sequence of keyframes from an agent trajectory that is independent of the agent's internal reasoning or actions. Although video-execution modeling is method-agnostic, it presents key challenges, including highly redundant layouts and subtle, localized cues that determine success. We introduce Execution Video Reward 53k (ExeVR-53k), a dataset of 53k high-quality video--task--reward triplets. We further propose adversarial instruction translation to synthesize negative samples with step-level annotations. To enable learning from long, high-resolution execution videos, we design spatiotemporal token pruning, which removes homogeneous regions and persistent tokens while preserving decisive UI changes. Building on these components, we fine-tune an Execution Video Reward Model (ExeVRM) that takes only a user instruction and a video-execution sequence to predict task success. Our ExeVRM 8B achieves 84.7% accuracy and 87.7% recall on video-execution assessment, outperforming strong proprietary models such as GPT-5.2 and Gemini-3 Pro across Ubuntu, macOS, Windows, and Android, while providing more precise temporal attribution. These results show that video-execution reward modeling can serve as a scalable, model-agnostic evaluator for CUAs.
Delta-K: Boosting Multi-Instance Generation via Cross-Attention Augmentation
Venue: arXiv cs.CV 2026
Year: 2026

While Diffusion Models excel in text-to-image synthesis, they often suffer from concept omission when synthesizing complex multi-instance scenes. Existing training-free methods attempt to resolve this by rescaling attention maps, which merely exacerbates unstructured noise without establishing coherent semantic representations. To address this, we propose Delta-K, a backbone-agnostic and plug-and-play inference framework that tackles omission by operating directly in the shared cross-attention Key space. Specifically, with Vision-language model, we extract a differential key $ΔK$ that encodes the semantic signature of missing concepts. This signal is then injected during the early semantic planning stage of the diffusion process. Governed by a dynamically optimized scheduling mechanism, Delta-K grounds diffuse noise into stable structural anchors while preserving existing concepts. Extensive experiments demonstrate the generality of our approach: Delta-K consistently improves compositional alignment across both modern DiT models and classical U-Net architectures, without requiring spatial masks, additional training, or architectural modifications.
FusionNet: a frame interpolation network for 4D heart models
Venue: arXiv cs.CV 2026
Year: 2026

Cardiac magnetic resonance (CMR) imaging is widely used to visualise cardiac motion and diagnose heart disease. However, standard CMR imaging requires patients to lie still in a confined space inside a loud machine for 40-60 min, which increases patient discomfort. In addition, shorter scan times decrease either or both the temporal and spatial resolutions of cardiac motion, and thus, the diagnostic accuracy of the procedure. Of these, we focus on reduced temporal resolution and propose a neural network called FusionNet to obtain four-dimensional (4D) cardiac motion with high temporal resolution from CMR images captured in a short period of time. The model estimates intermediate 3D heart shapes based on adjacent shapes. The results of an experimental evaluation of the proposed FusionNet model showed that it achieved a performance of over 0.897 in terms of the Dice coefficient, confirming that it can recover shapes more precisely than existing methods. This code is available at: https://github.com/smiyauchi199/FusionNet.git
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Venue: arXiv cs.RO 2026
Year: 2026

As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but also on the robot's awareness and adaptivity to changes in the operating environment. While existing motion planners can generate whole-body trajectories to complete sequential tasks, they typically assume that the environment remains static and rely on precomputed maps. This assumption often breaks down during long-term operations, where semi-static changes such as object removal, introduction, or shifts are common. In this work, we propose a novel perceptive hierarchical-task model predictive control (HTMPC) framework for efficient sequential mobile manipulation in unstructured, changing environments. To tackle the challenge, we leverage a Bayesian inference framework to explicitly model object-level changes and thereby maintain a temporally accurate representation of the 3D environment; this up-to-date representation is embedded in a lexicographic optimization framework to enable efficient execution of sequential tasks. We validate our perceptive HTMPC approach through both simulated and real-robot experiments. In contrast to baseline methods, our approach systematically accounts for moved and phantom obstacles, successfully completing sequential tasks with higher efficiency and reactivity, without relying on prior maps or external infrastructure.
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Venue: arXiv cs.RO 2026
Year: 2026

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of tasks. However, there is still a need for a decision-making algorithm that can seamlessly interface with the high-level task planner to carry out the sequence of tasks efficiently. In this work, building on the idea of nonlinear lexicographic optimization, we propose a novel Hierarchical-Task Model Predictive Control framework that is able to complete sequential tasks with improved performance and reactivity by effectively leveraging the robot's redundancy. Compared to the state-of-the-art task-prioritized inverse kinematic control method, our approach has improved hierarchical trajectory tracking performance by 42% on average when facing task changes, robot singularity and reference variations. Compared to a typical single-task architecture, our proposed hierarchical task control architecture enables the robot to traverse a shorter path in task space and achieves an execution time 2.3 times faster when executing a sequence of delivery tasks. We demonstrated the results with real-world experiments on a 9 degrees of freedom mobile manipulator.
nlm: Real-Time Non-linear Modal Synthesis in Max
Venue: arXiv cs.SD 2026
Year: 2026

We present nlm, a set of Max externals that enable efficient real-time non-linear modal synthesis for strings, membranes, and plates. The externals, implemented in C++, offer interactive control of physical parameters, allow the loading of custom modal data, and provide multichannel output. By integrating interactive physical-modelling capabilities into a familiar environment, nlm lowers the barrier for composers, performers, and sound designers to explore the expressive potential of non-linear modal synthesis. The externals are available as open-source software at https://github.com/rodrigodzf/nlm.
Fly-PRAC: Packet Recovery for Random Linear Network Coding
Venue: arXiv cs.IT 2026
Year: 2026

Network Coding (NC) is a compelling solution for increasing network efficiency. However, it discards corrupted packets and cannot achieve optimal performance in noisy communications. Since most of the information in corrupted packets is error-free, discarding them is not the best strategy. Several packet recovery techniques such as PRAC and S-PRAC were proposed to exploit corrupted packets. Yet, they are slow and only practical when the packet size is small and communication channels are not very noisy. We propose a packet recovery scheme called Fly-PRAC to address these issues. Fly-PRAC exploits algebraic relations between a group of coded packets to estimate their corrupted parts and recovers them. Unlike previous schemes, Fly-PRAC can recover coded packets at the intermediate node without decoding them. We have compared Fly-PRAC against S-PRAC. Results show when the bit error rate (ε) is 10^-4, Fly-PRAC outperforms S-PRAC by two folds for a payload of 900B. In two-hop communication with ε = 10^-4 and a payload size of 500B, by enabling the recovery in the intermediate node, Fly-PRAC reduces transmissions by 16%. In a Sparse Network Coding (SNC) scenario, with two non-zero elements in the coefficient vectors and a payload of 800B, there is a reduction by 31% on average for decoding delay.
Post-Quantum Entropy as a Service for Embedded Systems
Venue: arXiv cs.CR 2026
Year: 2026

Embedded cryptography stands or falls on entropy quality, yet small devices have few trustworthy sources and little tolerance for heavyweight protocols. We build a Quantum Entropy as a Service (QEaaS) system that moves QRNG-derived entropy from a Quantis device to ESP32-class clients over post-quantum-secured channels. On the server side, the design exposes two paths: direct quantum entropy through a custom OpenSSL provider and mixed entropy through the Linux system pool. On the client side, we extend libcoap's Zephyr support, integrate wolfSSL-based DTLS 1.3 into the CoAP stack, and add a BLAKE2s entropy pool that preserves the standard Zephyr extraction interface while introducing an injection API for server-provided entropy. Benchmarks on ESP32 hardware, targeting 100 iterations per configuration, show that ML-KEM-512 completes a DTLS 1.3 handshake in 313 ms on average without certificate verification, 35% faster than ECDHE P-256. Pairing ML-KEM-512 with ML-DSA-44 lowers the mean to 225 ms. Certificate verification adds roughly 194 ms for ECDSA but only 17 ms for ML-DSA-44, so the fully post-quantum configuration remains 63% faster than classical ECDHE P-256 with ECDSA even under full verification. Local BLAKE2s pool operations stay below 0.1 ms combined. On this platform, post-quantum key exchange and authentication are not only feasible; they are faster than the classical baseline.
Taming Score-Based Denoisers in ADMM: A Convergent Plug-and-Play Framework
Venue: arXiv cs.LG 2026
Year: 2026

While score-based generative models have emerged as powerful priors for solving inverse problems, directly integrating them into optimization algorithms such as ADMM remains nontrivial. Two central challenges arise: i) the mismatch between the noisy data manifolds used to train the score functions and the geometry of ADMM iterates, especially due to the influence of dual variables, and ii) the lack of convergence understanding when ADMM is equipped with score-based denoisers. To address the manifold mismatch issue, we propose ADMM plug-and-play (ADMM-PnP) with the AC-DC denoiser, a new framework that embeds a three-stage denoiser into ADMM: (1) auto-correction (AC) via additive Gaussian noise, (2) directional correction (DC) using conditional Langevin dynamics, and (3) score-based denoising. In terms of convergence, we establish two results: first, under proper denoiser parameters, each ADMM iteration is a weakly nonexpansive operator, ensuring high-probability fixed-point $\textit{ball convergence}$ using a constant step size; second, under more relaxed conditions, the AC-DC denoiser is a bounded denoiser, which leads to convergence under an adaptive step size schedule. Experiments on a range of inverse problems demonstrate that our method consistently improves solution quality over a variety of baselines.
Conversational AI-Enhanced Exploration System to Query Large-Scale Digitised Collections of Natural History Museums
Venue: arXiv cs.HC 2026
Year: 2026

Recent digitisation efforts in natural history museums have produced large volumes of collection data, yet their scale and scientific complexity often hinder public access and understanding. Conventional data management tools, such as databases, restrict exploration through keyword-based search or require specialised schema knowledge. This paper presents a system design that uses conversational AI to query nearly 1.7 million digitised specimen records from the life-science collections of the Australian Museum. Designed and developed through a human-centred design process, the system contains an interactive map for visual-spatial exploration and a natural-language conversational agent that retrieves detailed specimen data and answers collection-specific questions. The system leverages function-calling capabilities of contemporary large language models to dynamically retrieve structured data from external APIs, enabling fast, real-time interaction with extensive yet frequently updated datasets. Our work provides a new approach of connecting large museum collections with natural language-based queries and informs future designs of scientific AI agents for natural history museums.
Does Reasoning Make Search More Fair? Comparing Fairness in Reasoning and Non-Reasoning Rerankers
Venue: arXiv cs.IR 2026
Year: 2026

While reasoning rerankers, such as Rank1, have demonstrated strong abilities in improving ranking relevance, it is unclear how they perform on other retrieval qualities such as fairness. We conduct the first systematic comparison of fairness between reasoning and non-reasoning rerankers. Using the TREC 2022 Fair Ranking Track dataset, we evaluate six reranking models across multiple retrieval settings and demographic attributes. Our findings demonstrate reasoning neither improve nor harm fairness compared to non-reasoning approaches. Our fairness metric, Attention-Weighted Rank Fairness (AWRF) remained stable (0.33-0.35) across all models, even as relevance varies substantially (nDCG 0.247-1.000). Demographic breakdown analysis revealed fairness gaps for geographic attributes regardless of model architecture. These results indicate that future work in specializing reasoning models to be aware of fairness attributes could lead to improvements, as current implementations preserve the fairness characteristics of their input ranking.
Beyond Scalars: Evaluating and Understanding LLM Reasoning via Geometric Progress and Stability
Venue: arXiv cs.AI 2026
Year: 2026

Evaluating LLM reliability via scalar probabilities often fails to capture the structural dynamics of reasoning. We introduce TRACED, a framework that assesses reasoning quality through theoretically grounded geometric kinematics. By decomposing reasoning traces into Progress (displacement) and Stability (curvature), we reveal a distinct topological divergence: correct reasoning manifests as high-progress, stable trajectories, whereas hallucinations are characterized by low-progress, unstable patterns (stalled displacement with high curvature fluctuations). Leveraging these signatures, our probabilistic framework achieves competitive performance and superior robustness across diverse benchmarks. Crucially, TRACED bridges geometry and cognition by mapping high curvature to ''Hesitation Loops'' and displacement to ''Certainty Accumulation'', offering a physical lens to decode the internal dynamics of machine thought.
Graph-GRPO: Training Graph Flow Models with Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Graph generation is a fundamental task with broad applications, such as drug discovery. Recently, discrete flow matching-based graph generation, \aka, graph flow model (GFM), has emerged due to its superior performance and flexible sampling. However, effectively aligning GFMs with complex human preferences or task-specific objectives remains a significant challenge. In this paper, we propose Graph-GRPO, an online reinforcement learning (RL) framework for training GFMs under verifiable rewards. Our method makes two key contributions: (1) We derive an analytical expression for the transition probability of GFMs, replacing the Monte Carlo sampling and enabling fully differentiable rollouts for RL training; (2) We propose a refinement strategy that randomly perturbs specific nodes and edges in a graph, and regenerates them, allowing for localized exploration and self-improvement of generation quality. Extensive experiments on both synthetic and real datasets demonstrate the effectiveness of Graph-GRPO. With only 50 denoising steps, our method achieves 95.0\% and 97.5\% Valid-Unique-Novelty scores on the planar and tree datasets, respectively. Moreover, Graph-GRPO achieves state-of-the-art performance on the molecular optimization tasks, outperforming graph-based and fragment-based RL methods as well as classic genetic algorithms.
Verbalizing LLM's Higher-order Uncertainty via Imprecise Probabilities
Venue: arXiv cs.AI 2026
Year: 2026

Despite the growing demand for eliciting uncertainty from large language models (LLMs), empirical evidence suggests that LLM behavior is not always adequately captured by the elicitation techniques developed under the classical probabilistic uncertainty framework. This mismatch leads to systematic failure modes, particularly in settings that involve ambiguous question-answering, in-context learning, and self-reflection. To address this, we propose novel prompt-based uncertainty elicitation techniques grounded in \emph{imprecise probabilities}, a principled framework for repesenting and eliciting higher-order uncertainty. Here, first-order uncertainty captures uncertainty over possible responses to a prompt, while second-order uncertainty (uncertainty about uncertainty) quantifies indeterminacy in the underlying probability model itself. We introduce general-purpose prompting and post-processing procedures to directly elicit and quantify both orders of uncertainty, and demonstrate their effectiveness across diverse settings. Our approach enables more faithful uncertainty reporting from LLMs, improving credibility and supporting downstream decision-making.
Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning
Venue: arXiv cs.RO 2026
Year: 2026

Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While many trajectory predictors output Gaussian distributions to represent the multi-modal distribution over future pedestrian positions, the reliability of their confidence levels often remains unaddressed. This limitation can lead to unsafe or overly conservative motion planning when the predictor is integrated with an uncertainty-aware planner. Existing Gaussian trajectory predictors primarily rely on the Negative Log-Likelihood loss, which is prone to predict over- or under-confident distributions, and may compromise downstream planner safety. This paper introduces a novel loss function for calibrating prediction uncertainty which leverages Kernel Density Estimation to estimate the empirical distribution of confidence levels. The proposed formulation enforces consistency with the properties of a Gaussian assumption by explicitly matching the estimated empirical distribution to the Chi-squared distribution. To ensure accurate mean prediction, a Mean Squared Error term is also incorporated in the final loss formulation. Experimental results on real-world trajectory datasets show that our method significantly improves the reliability of confidence levels predicted by different State-Of-The-Art Gaussian trajectory predictors. We also demonstrate the importance of providing planners with reliable probabilistic insights (i.e. calibrated confidence levels) for collision-free navigation in complex scenarios. For this purpose, we integrate Gaussian trajectory predictors trained with our loss function with an uncertainty-aware Model Predictive Control on scenarios extracted from real-world datasets, achieving improved planning performance through calibrated confidence levels.
3-D Trajectory Optimization for Robust Direction Sensing in Movable Antenna Systems
Venue: arXiv cs.IT 2026
Year: 2026

This paper presents a novel wireless sensing system where a movable antenna (MA) continuously moves and receives sensing signals within a three-dimensional (3-D) region to enhance sensing performance compared with conventional fixed-position antenna (FPA)-based sensing. We show that the performance of direction vector estimation for a target is fundamentally related to the 3-D MA trajectory in terms of the mean square angular error lower-bound (MSAEB), which is adopted as a coordinate-invariant performance metric. In particular, the closed-form expression of the MSAEB is derived as a function of the trajectory covariance matrix. Theoretical analysis shows that two-dimensional (2-D) antenna movement suffers from performance divergence for target direction close to the endfire direction of the 2-D MA plane, whereas 3-D movement can achieve isotropic sensing performance over the entire angular region. To achieve robust sensing performance, we formulate a min-max optimization problem to minimize the maximum (worst-case) MSAEB over a given continuous angular region wherein the target is located. An efficient successive convex approximation (SCA) algorithm is developed to optimize the 3-D MA trajectory and obtain a locally optimal solution. Numerical results demonstrate that the proposed 3-D MA sensing scheme is able to significantly reduce the worst-case mean square angular error (MSAE) compared with conventional arrays with FPAs and MA systems with 2-D movement only, thus achieving more accurate and robust direction estimation over the entire angular region.
Muscle Synergy Priors Enhance Biomechanical Fidelity in Predictive Musculoskeletal Locomotion Simulation
Venue: arXiv cs.LG 2026
Year: 2026

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle synergies. We extracted a low-dimensional synergy basis from inverse musculoskeletal analyses of a small set of overground walking trials and used it as the action space for a muscle-driven three-dimensional model trained across variable speeds, slopes and uneven terrain. The resulting controller generated stable gait from 0.7-1.8 m/s and on $\pm$ 6$^{\circ}$ grades and reproduced condition-dependent modulation of joint angles, joint moments and ground reaction forces. Compared with an unconstrained controller, synergy-constrained control reduced non-physiological knee kinematics and kept knee moment profiles within the experimental envelope. Across conditions, simulated vertical ground reaction forces correlated strongly with human measurements, and muscle-activation timing largely fell within inter-subject variability. These results show that embedding neurophysiological structure into reinforcement learning can improve biomechanical fidelity and generalization in predictive human locomotion simulation with limited experimental data.
A Universal Nearest-Neighbor Estimator for Intrinsic Dimensionality
Venue: arXiv cs.LG 2026
Year: 2026

Estimating the intrinsic dimensionality (ID) of data is a fundamental problem in machine learning and computer vision, providing insight into the true degrees of freedom underlying high-dimensional observations. Existing methods often rely on geometric or distributional assumptions and can significantly fail when these assumptions are violated. In this paper, we introduce a novel ID estimator based on nearest-neighbor distance ratios that involves simple calculations and achieves state-of-the-art results. Most importantly, we provide a theoretical analysis proving that our estimator is \emph{universal}, namely, it converges to the true ID independently of the distribution generating the data. We present experimental results on benchmark manifolds and real-world datasets to demonstrate the performance of our estimator.