OpenRaiser/Intern-Atlas huggingface dataset:
Boundary-Guided Trajectory Prediction for Road Aware and Physically Feasible Autonomous Driving
Venue: arXiv cs.RO 2026
Year: 2026

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring kinematic feasibility. Existing methods incorporate road-awareness modules and enforce kinematic constraints but lack plausibility guarantees and often introduce trade-offs in complexity and flexibility. This paper proposes a novel framework that formulates trajectory prediction as a constrained regression guided by permissible driving directions and their boundaries. Using the agent's current state and an HD map, our approach defines the valid boundaries and ensures on-road predictions by training the network to learn superimposed paths between left and right boundary polylines. To guarantee feasibility, the model predicts acceleration profiles that determine the vehicle's travel distance along these paths while adhering to kinematic constraints. We evaluate our approach on the Argoverse-2 dataset against the HPTR baseline. Our approach shows a slight decrease in benchmark metrics compared to HPTR but notably improves final displacement error and eliminates infeasible trajectories. Moreover, the proposed approach has superior generalization to less prevalent maneuvers and unseen out-of-distribution scenarios, reducing the off-road rate under adversarial attacks from 66% to just 1%. These results highlight the effectiveness of our approach in generating feasible and robust predictions.
Multi-Agent DRL for Multi-Objective Twin Migration Routing with Workload Prediction in 6G-enabled IoV
Venue: arXiv cs.NI 2026
Year: 2026

Sixth Generation (6G)-enabled Internet of Vehicles (IoV) facilitates efficient data synchronization through ultra-fast bandwidth and high-density connectivity, enabling the emergence of Vehicle Twins (VTs). As highly accurate replicas of vehicles, VTs can support intelligent vehicular applications for occupants in 6G-enabled IoV. Thanks to the full coverage capability of 6G, resource-constrained vehicles can offload VTs to edge servers, such as roadside units, unmanned aerial vehicles, and satellites, utilizing their computing and storage resources for VT construction and updates. However, communication between vehicles and edge servers with limited coverage is prone to interruptions due to the dynamic mobility of vehicles. Consequently, VTs must be migrated among edge servers to maintain uninterrupted and high-quality services for users. In this paper, we introduce a VT migration framework in 6G-enabled IoV. Specifically, we first propose a Long Short-Term Memory (LSTM)-based Transformer model to accurately predict long-term workloads of edge servers for migration decision-making. Then, we propose a Dynamic Mask Multi-Agent Proximal Policy Optimization (DM-MAPPO) algorithm to identify optimal migration routes in the highly complex environment of 6G-enabled IoV. Finally, we develop a practical platform to validate the effectiveness of the proposed scheme using real datasets. Simulation results demonstrate that the proposed DM-MAPPO algorithm significantly reduces migration latency by 20.82% and packet loss by 75.07% compared with traditional deep reinforcement learning algorithms.
BioProBench: Comprehensive Dataset and Benchmark in Biological Protocol Understanding and Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

The realization of autonomous scientific experimentation is currently limited by LLMs' struggle to grasp the strict procedural logic and accuracy required by biological protocols. To address this fundamental challenge, we present \textbf{BioProBench}, a comprehensive resource for procedural reasoning in biology. BioProBench is grounded in \textbf{BioProCorpus}, a foundational collection of 27,000 human-written protocols. From this corpus, we systematically constructed a dataset of over 550,000 task instances, offering both a large-scale training resource and a rigorous benchmark with novel metrics. Evaluating 10 mainstream LLMs, we find that while general comprehension is high, performance drops significantly on tasks demanding deep reasoning, quantitative precision, and safety awareness. To demonstrate the value of BioProCorpus in mitigating these issues, we developed \textbf{ProAgent}, grounded in our corpus, ProAgent substantially advances the state-of-the-art. BioProBench provides a rigorous diagnostic benchmark and a foundational resource for developing the next generation of reliable scientific AI. Code and data are available at: https://github.com/YuyangSunshine/bioprotocolbench and https://huggingface.co/datasets/BioProBench/BioProBench.
Manifold Learning with Normalizing Flows: Towards Regularity, Expressivity and Iso-Riemannian Geometry
Venue: arXiv cs.LG 2026
Year: 2026

Modern machine learning increasingly leverages the insight that high-dimensional data often lie near low-dimensional, non-linear manifolds, an idea known as the manifold hypothesis. By explicitly modeling the geometric structure of data through learning Riemannian geometry algorithms can achieve improved performance and interpretability in tasks like clustering, dimensionality reduction, and interpolation. In particular, learned pullback geometry has recently undergone transformative developments that now make it scalable to learn and scalable to evaluate, which further opens the door for principled non-linear data analysis and interpretable machine learning. However, there are still steps to be taken when considering real-world multi-modal data. This work focuses on addressing distortions and modeling errors that can arise in the multi-modal setting and proposes to alleviate both challenges through isometrizing the learned Riemannian structure and balancing regularity and expressivity of the diffeomorphism parametrization. We showcase the effectiveness of the synergy of the proposed approaches in several numerical experiments with both synthetic and real data.
Large Language Model Psychometrics: A Systematic Review of Evaluation, Validation, and Enhancement
Venue: arXiv cs.CL 2026
Year: 2026

The advancement of large language models (LLMs) has outpaced traditional evaluation methodologies. This progress presents novel challenges, such as measuring human-like psychological constructs, moving beyond static and task-specific benchmarks, and establishing human-centered evaluation. These challenges intersect with psychometrics, the science of quantifying the intangible aspects of human psychology, such as personality, values, and intelligence. This review paper introduces and synthesizes the emerging interdisciplinary field of LLM Psychometrics, which leverages psychometric instruments, theories, and principles to evaluate, understand, and enhance LLMs. The reviewed literature systematically shapes benchmarking principles, broadens evaluation scopes, refines methodologies, validates results, and advances LLM capabilities. Diverse perspectives are integrated to provide a structured framework for researchers across disciplines, enabling a more comprehensive understanding of this nascent field. Ultimately, the review provides actionable insights for developing future evaluation paradigms that align with human-level AI and promote the advancement of human-centered AI systems for societal benefit. A curated repository of LLM psychometric resources is available at https://github.com/valuebyte-ai/Awesome-LLM-Psychometrics.
Automatic Curriculum Learning for Driving Scenarios: Towards Robust and Efficient Reinforcement Learning
Venue: arXiv cs.RO 2026
Year: 2026

This paper addresses the challenges of training end-to-end autonomous driving agents using Reinforcement Learning (RL). RL agents are typically trained in a fixed set of scenarios and nominal behavior of surrounding road users in simulations, limiting their generalization and real-life deployment. While domain randomization offers a potential solution by randomly sampling driving scenarios, it frequently results in inefficient training and sub-optimal policies due to the high variance among training scenarios. To address these limitations, we propose an automatic curriculum learning framework that dynamically generates driving scenarios with adaptive complexity based on the agent's evolving capabilities. Unlike manually designed curricula that introduce expert bias and lack scalability, our framework incorporates a ``teacher'' that automatically generates and mutates driving scenarios based on their learning potential -- an agent-centric metric derived from the agent's current policy -- eliminating the need for expert design. The framework enhances training efficiency by excluding scenarios the agent has mastered or finds too challenging. We evaluate our framework in a reinforcement learning setting where the agent learns a driving policy from camera images. Comparative results against baseline methods, including fixed scenario training and domain randomization, demonstrate that our approach leads to enhanced generalization, achieving higher success rates: +9% in low traffic density, +21% in high traffic density, and faster convergence with fewer training steps. Our findings highlight the potential of ACL in improving the robustness and efficiency of RL-based autonomous driving agents.
Density Ratio-based Causal Discovery from Bivariate Continuous-Discrete Data
Venue: arXiv cs.LG 2026
Year: 2026

We address the problem of inferring the causal direction between a continuous variable $X$ and a discrete variable $Y$ from observational data. For the model $X \to Y$, we adopt the threshold model used in prior work. For the model $Y \to X$, we consider two cases: (1) the conditional distributions of $X$ given different values of $Y$ form a location-shift family, and (2) they are mixtures of generalized normal distributions with independently parameterized components. We establish identifiability of the causal direction through three theoretical results. First, we prove that under $X \to Y$, the density ratio of $X$ conditioned on different values of $Y$ is monotonic. Second, we establish that under $Y \to X$ with non-location-shift conditionals, monotonicity of the density ratio holds only on a set of Lebesgue measure zero in the parameter space. Third, we show that under $X \to Y$, the conditional distributions forming a location-shift family requires a precise coordination between the causal mechanism and input distribution, which is non-generic under the principle of independent mechanisms. Together, these results imply that monotonicity of the density ratio characterizes the direction $X \to Y$, whereas non-monotonicity or location-shift conditionals characterizes $Y \to X$. Based on this, we propose Density Ratio-based Causal Discovery (DRCD), a method that determines causal direction by testing for location-shift conditionals and monotonicity of the estimated density ratio. Experiments on synthetic and real-world datasets demonstrate that DRCD outperforms existing methods.
Augmented Reality for RObots (ARRO): Pointing Visuomotor Policies Towards Visual Robustness
Venue: arXiv cs.RO 2026
Year: 2026

Visuomotor policies trained on human expert demonstrations have recently shown strong performance across a wide range of robotic manipulation tasks. However, these policies remain highly sensitive to domain shifts stemming from background or robot embodiment changes, which limits their generalization capabilities. In this paper, we present ARRO, a novel visual representation that leverages zero-shot open-vocabulary segmentation and object detection models to efficiently mask out task-irrelevant regions of the scene in real time without requiring additional training, modeling of the setup, or camera calibration. By filtering visual distractors and overlaying virtual guides during both training and inference, ARRO improves robustness to scene variations and reduces the need for additional data collection. We extensively evaluate ARRO with Diffusion Policy on a range of tabletop manipulation tasks in both simulation and real-world environments, and further demonstrate its compatibility and effectiveness with generalist robot policies, such as Octo, OpenVLA and Pi Zero. Across all settings in our evaluation, ARRO yields consistent performance gains, allows for selective masking to choose between different objects, and shows robustness even to challenging segmentation conditions. Videos showcasing our results are available at: https://augmented-reality-for-robots.github.io/
FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesis
Venue: arXiv cs.RO 2026
Year: 2026

Due to the deformability of garments, generating a large amount of high-quality data for robotic garment manipulation tasks is highly challenging. In this paper, we present a synthetic garment dataset that can be used for robotic garment folding. We begin by constructing geometric garment templates based on keypoints and applying generative models to generate realistic texture patterns. Leveraging these keypoint annotations, we generate folding demonstrations in simulation and train folding policies via closed-loop imitation learning. To improve robustness, we propose KG-DAgger, which uses a keypoint-based strategy to generate demonstration data for recovering from failures. KG-DAgger significantly improves the model performance, boosting the real-world success rate by 25\%. After training with 15K trajectories (about 2M image-action pairs), the model achieves a 75\% success rate in the real world. Experiments in both simulation and real-world settings validate the effectiveness of our proposed framework.
Efficient Graph Embedding at Scale: Optimizing CPU-GPU-SSD Integration
Venue: arXiv cs.DC 2026
Year: 2026

Graph embeddings map graph nodes to continuous vectors and are foundational to community detection, recommendation, and many scientific applications. At billion-scale, however, existing graph embedding systems face a trade-off: they either rely on large in-memory footprints across many GPUs (limited scalability) or repeatedly stream data from disk (incurring severe I/O overhead and low GPU utilization). In this paper, we propose Legend, a lightweight heterogeneous system for graph embedding that systematically redesigns data management across CPU, GPU, and NVMe SSD resources. Legend combines three practical ideas: (1) a prefetch-friendly embedding-loading order that lets GPUs efficiently prefetch necessary embeddings directly from NVMe SSD with low I/O amplification; (2) a high-throughput GPU-SSD direct-access driver tuned for the access patterns of embedding training; and (3) a customized parallel execution strategy that maximizes GPU utilization. Together, these components let Legend store and stream vast embedding data without overprovisioning GPU memory or suffering I/O stalls. Extensive experiments on billion-scale graphs demonstrate that Legend speeds up end-to-end workloads by up to 4.8x versus state-of-the-art systems, and matches their performance on the largest workloads while using only one quarter of the GPUs.
DRA-GRPO: Your GRPO Needs to Know Diverse Reasoning Paths for Mathematical Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Post-training LLMs with Reinforcement Learning, specifically Group Relative Policy Optimization (GRPO), has emerged as a paradigm for enhancing mathematical reasoning. However, standard GRPO relies on scalar correctness rewards that are often non-injective with respect to semantic content: distinct reasoning paths receive identical rewards. This leads to a Diversity-Quality Inconsistency, where the policy collapses into a narrow set of dominant modes while ignoring equally valid but structurally novel strategies. To bridge this gap, we propose Diversity-aware Reward Adjustment (DRA), a theoretically grounded framework that calibrates the reward signal using the semantic density of sampled groups. By leveraging Submodular Mutual Information (SMI), DRA implements an Inverse Propensity Scoring (IPS) mechanism that effectively de-biases the gradient estimation. This creates a repulsive force against redundancy, driving the policy to achieve better coverage of the high-reward landscape. Our method is plug-and-play and integrates seamlessly with GRPO variants. Empirical evaluations on five math benchmarks demonstrate that DRA-GRPO consistently outperforms strong baselines, achieving an average accuracy of 58.2% on DeepSeek-R1-Distill-Qwen-1.5B with only 7,000 training samples and $55 cost, highlighting the critical role of diversity calibration in data-efficient alignment. The code is available at https://github.com/xiwenc1/DRA-GRPO.
Rethinking Prompt Optimizers: From Prompt Merits to Optimization
Venue: arXiv cs.CL 2026
Year: 2026

Prompt optimization (PO) provides a practical way to improve response quality when users lack the time or expertise to manually craft effective prompts. Existing methods typically rely on LLMs' self-generation ability to optimize prompts. However, due to limited downward compatibility, the instruction-heavy prompts generated by advanced LLMs can overwhelm lightweight inference models and degrade response quality, while also lacking interpretability due to implicit optimization. In this work, we rethink prompt optimization through the lens of explicit and interpretable design. We first identify a set of model-agnostic prompt quality merits and empirically validate their effectiveness in enhancing prompt and response quality. We then introduce MePO, a merit-guided, locally deployable prompt optimizer trained on our merit-guided prompt preference dataset generated by a lightweight LLM. MePO avoids online optimization, reduces privacy concerns, and, by learning clear, interpretable merits, generalizes effectively to both large-scale and lightweight inference models. Experiments demonstrate that MePO achieves better results across diverse tasks and model types, offering a scalable and robust solution for real-world deployment. The code, model and dataset can be found in https://github.com/MidiyaZhu/MePO
What Does Neuro Mean to Cardio? Investigating the Role of Clinical Specialty Data in Medical LLMs
Venue: arXiv cs.CL 2026
Year: 2026

In this paper, we introduce S-MedQA, an English medical question-answering (QA) dataset designed for benchmarking large language models (LLMs) in fine-grained clinical specialties. S-MedQA consists of over 24k examples, covering 15 medical specialties, with QA pairs that can have multiple specialty annotations, such as when a question is cross-disciplinary. The dataset is constructed using both machine and expert verification to maximize data availability and reliability. We use S-MedQA to investigate the role of clinical specialties in the knowledge-intensive scenario of medical QA. Our results show that training on data from a clinical specialty does not necessarily lead to the best performance on that specialty. Additionally, regardless of the specialty the LLM was fine-tuned on, token probabilities of clinically relevant terms consistently increase across all specialties. Based on these findings, we hypothesize that improvement gains, at least in our settings, are derived primarily from domain shifting (e.g., general to medical) rather than from injecting specialty-specific knowledge. This suggests a need to rethink the role of fine-tuning data in the medical domain. To encourage further advancements in the clinical NLP field, we release S-MedQA along with all the code required to reproduce our experiments for the research community.
Learning Virtual Machine Scheduling in Cloud Computing through Language Agents
Venue: arXiv cs.LG 2026
Year: 2026

In cloud services, virtual machine (VM) scheduling is a typical Online Dynamic Multidimensional Bin Packing (ODMBP) problem, characterized by large-scale complexity and fluctuating demands. Traditional optimization methods struggle to adapt to real-time changes, domain-expert-designed heuristic approaches suffer from rigid strategies, and existing learning-based methods often lack generalizability and interpretability. To address these limitations, this paper proposes a hierarchical language agent framework named MiCo, which provides a large language model (LLM)-driven heuristic design paradigm for solving ODMBP. Specifically, ODMBP is formulated as a Semi-Markov Decision Process with Options (SMDP-Option), enabling dynamic scheduling through a two-stage architecture, i.e., Option Miner and Option Composer. Option Miner utilizes LLMs to discover diverse and useful non-context-aware strategies by interacting with constructed environments. Option Composer employs LLMs to discover a composing strategy that integrates the non-context-aware strategies with the contextual ones. Extensive experiments on real-world enterprise datasets demonstrate that MiCo achieves a 96.9\% competitive ratio in large-scale scenarios involving more than 10,000 virtual machines. It maintains high performance even under nonstationary request flows and diverse configurations, thus validating its effectiveness in complex and large-scale cloud environments.
RainPro-8: An Efficient Deep Learning Model to Estimate Rainfall Probabilities Over 8 Hours
Venue: arXiv cs.LG 2026
Year: 2026

We present a deep learning model for high-resolution probabilistic precipitation forecasting over an 8-hour horizon in Europe, overcoming the limitations of radar-only deep learning models with short forecast lead times. Our model efficiently integrates multiple data sources - including radar, satellite, and physics-based numerical weather prediction (NWP) - while capturing long-range interactions, resulting in accurate forecasts with robust uncertainty quantification through consistent probabilistic maps. Featuring a compact architecture, it enables more efficient training and faster inference than existing models. Extensive experiments demonstrate that our model surpasses current operational NWP systems, extrapolation-based methods, and deep-learning nowcasting models, setting a new standard for high-resolution precipitation forecasting in Europe, ensuring a balance between accuracy, interpretability, and computational efficiency.
Generative Muscle Stimulation: Providing Users with Physical Assistance by Constraining Multimodal-AI with Embodied Knowledge
Venue: arXiv cs.HC 2026
Year: 2026

Electrical muscle stimulation (EMS) can support physical-assistance (e.g., shaking a spray-can before painting). However, EMS-assistance is highly-specialized because it is (1) fixed (e.g., one program for shaking spray-cans, another for opening windows); and (2) non-contextual (e.g., a spray-can for cooking dispenses cooking-oil, not paint-shaking it is unnecessary). Instead, we explore a different approach where muscle-stimulation instructions are generated considering the user's context (e.g., pose, location, surroundings). The resulting system is more general-enabling unprecedented EMS interactions (e.g., opening a pill bottle) yet also replicating existing systems (e.g., Affordance++) without task-specific programming. It uses computer-vision/large-language-models to generate EMS-instructions, constraining these to a muscle-stimulation knowledge-base & joint-limits. In our user-study, we found participants successfully completed physical-tasks while guided by generative-EMS, even when EMS-instructions were (purposely) erroneous. Participants understood generated gestures and, even during forced-errors, understood partial-instructions, identified errors, and re-prompted the system. We believe our concept marks a shift toward more general-purpose EMS-interfaces.