OpenRaiser/Intern-Atlas huggingface dataset:
From Spatial to Actions: Grounding Vision-Language-Action Model in Spatial Foundation Priors
Venue: arXiv cs.RO 2026
Year: 2026

Existing vision-language-action (VLA) models act in 3D real-world but are typically built on 2D encoders, leaving a spatial reasoning gap that limits generalization and adaptability. Recent 3D integration techniques for VLAs either require specialized sensors and transfer poorly across modalities, or inject weak cues that lack geometry and degrade vision-language alignment. In this work, we introduce FALCON (From Spatial to Action), a novel paradigm that injects rich 3D spatial tokens into the action head. FALCON leverages spatial foundation models to deliver strong geometric priors from RGB alone, and includes an Embodied Spatial Model that can optionally fuse depth, or pose for higher fidelity when available, without retraining or architectural changes. To preserve language reasoning, spatial tokens are consumed by a Spatial-Enhanced Action Head rather than being concatenated into the vision-language backbone. These designs enable FALCON to address limitations in spatial representation, modality transferability, and alignment. In comprehensive evaluations across three simulation benchmarks and eleven real-world tasks, our proposed FALCON achieves state-of-the-art performance, consistently surpasses competitive baselines, and remains robust under clutter, spatial-prompt conditioning, and variations in object scale and height.
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Venue: arXiv cs.RO 2026
Year: 2026

We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable via outputs. Fixing an operating point, each meld induces a distinct feedback-linearizing coordinate chart defined on a common neighborhood. Switching between melds therefore produces state-dependent coordinate mismatches that are not captured by classical switched-system analyses. We quantify this effect through Lipschitz bounds on the cross-chart maps over a compact safe set and introduce a reference-compatibility constant that measures mismatch among reference families across melds. We derive an explicit dwell-time condition depending on controller decay rates and the compatibility constant, that guarantees exponential decay of the active-output tracking errors between switches, seamless tracking of outputs shared by consecutive melds, and uniform boundedness of the state error within the safe set. A planar 3R manipulator illustrates the results.
Unified Privacy Guarantees for Decentralized Learning via Matrix Factorization
Venue: arXiv cs.LG 2026
Year: 2026

Decentralized Learning (DL) enables users to collaboratively train models without sharing raw data by iteratively averaging local updates with neighbors in a network graph. This setting is increasingly popular for its scalability and its ability to keep data local under user control. Strong privacy guarantees in DL are typically achieved through Differential Privacy (DP), with results showing that DL can even amplify privacy by disseminating noise across peer-to-peer communications. Yet in practice, the observed privacy-utility trade-off often appears worse than in centralized training, which may be due to limitations in current DP accounting methods for DL. In this paper, we show that recent advances in centralized DP accounting based on Matrix Factorization (MF) for analyzing temporal noise correlations can also be leveraged in DL. By generalizing existing MF results, we show how to cast both standard DL algorithms and common trust models into a unified formulation. This yields tighter privacy accounting for existing DP-DL algorithms and provides a principled way to develop new ones. To demonstrate the approach, we introduce MAFALDA-SGD, a gossip-based DL algorithm with user-level correlated noise that outperforms existing methods on synthetic and real-world graphs.
From Charts to Code: A Hierarchical Benchmark for Multimodal Models
Venue: arXiv cs.SE 2026
Year: 2026

We introduce Chart2Code, a new benchmark for evaluating the chart understanding and code generation capabilities of large multimodal models (LMMs). Chart2Code is explicitly designed from a user-driven perspective, capturing diverse real-world scenarios and progressively increasing task difficulty. It consists of three levels: Level 1 (Chart Reproduction) reproduces charts from a reference figure and user query; Level 2 (Chart Editing) involves complex modifications such as changing chart types or adding elements; and Level 3 (Long-Table to Chart Generation) requires models to transform long, information-dense tables into faithful charts following user instructions. To our knowledge, this is the first hierarchical benchmark that reflects practical chart2code usage while systematically scaling task complexity. In total, Chart2Code contains 2,023 tasks across 22 chart types, paired with multi-level evaluation metrics that assess both code correctness and the visual fidelity of rendered charts. We benchmark 25 state-of-the-art (SoTA) LMMs, including both proprietary and the latest open-source models such as GPT-5, Qwen2.5-VL, InternVL3/3.5, MiMo-VL, and Seed-1.6-VL. Experimental results demonstrate that even the SoTA model GPT-5 averages only 0.57 on code-based evaluation and 0.22 on chart-quality assessment across the editing tasks, underscoring the difficulty of Chart2Code. We anticipate this benchmark will drive advances in multimodal reasoning and foster the development of more robust and general-purpose LMMs. Our code and data are available on Chart2Code.
Why Policy Gradient Algorithms Work for Undiscounted Total-Reward MDPs
Venue: arXiv cs.LG 2026
Year: 2026

The classical policy gradient method is the theoretical and conceptual foundation of modern policy-based reinforcement learning (RL) algorithms. Most rigorous analyses of such methods, particularly those establishing convergence guarantees, assume a discount factor $γ< 1$. In contrast, however, a recent line of work on policy-based RL for large language models uses the undiscounted total-reward setting with $γ= 1$, rendering much of the existing theory inapplicable. In this paper, we provide analyses of the policy gradient method for undiscounted expected total-reward infinite-horizon MDPs based on two key insights: (i) the classification of the MDP states into recurrent and transient states is invariant over the set of policies that assign strictly positive probability to every action (as is typical in deep RL models employing a softmax output layer) and (ii) the classical state visitation measure (which may be ill-defined when $γ= 1$) can be replaced with a new object that we call the transient visitation measure.
Towards Fair ASR For Second Language Speakers Using Fairness Prompted Finetuning
Venue: arXiv cs.CL 2026
Year: 2026

In this work, we address the challenge of building fair English ASR systems for second-language speakers. Our analysis of widely used ASR models, Whisper and Seamless-M4T, reveals large fluctuations in word error rate (WER) across 26 accent groups, indicating significant fairness gaps. To mitigate this, we propose fairness-prompted finetuning with lightweight adapters, incorporating Spectral Decoupling (SD), Group Distributionally Robust Optimization (Group-DRO), and Invariant Risk Minimization (IRM). Our proposed fusion of traditional empirical risk minimization (ERM) with cross-entropy and fairness-driven objectives (SD, Group DRO, and IRM) enhances fairness across accent groups while maintaining overall recognition accuracy. In terms of macro-averaged word error rate, our approach achieves a relative improvement of 58.7% and 58.5% over the large pretrained Whisper and SeamlessM4T, and 9.7% and 7.8% over them, finetuning with standard empirical risk minimization with cross-entropy loss.
Demonstrators for Industrial Cyber-Physical System Research: A Requirements Hierarchy Driven by Software-Intensive Design
Venue: arXiv cs.SE 2026
Year: 2026

One of the challenges apparent in the organisation of research projects is the uncertainties around the subject of demonstrators. A precise and detailed elicitation of the coverage for project demonstrators is often an afterthought and not sufficiently detailed during proposal writing. This practice leads to continuous confusion and a mismatch between targeted and achievable demonstration of results, hindering progress. The reliance on the TRL scale as a loose descriptor does not help either. We propose a demonstrator requirements elaboration framework aiming to evaluate the feasibility of targeted demonstrations, making realistic adjustments, and assist in describing requirements. In doing so, we define 5 hierarchical levels of demonstration, clearly connected to expectations, e.g., work package interaction, and also connected to the project's industrial use-cases. The considered application scope in this paper is the domain of software-intensive systems and industrial cyber-physical systems. A complete validation is not accessible, as it would require application of our framework at the start of a project and observing the results at the end, taking 4-5 years. Nonetheless, we have applied it to two research projects from our portfolio, one at the early and another at the final stages, revealing its effectiveness.
Least Restrictive Hyperplane Control Barrier Functions
Venue: arXiv cs.RO 2026
Year: 2026

Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order dynamics, and moving close to obstacles of complex shape. A common solution to this problem is to use a purely distance-based CBF. In this paper, we study Hyperplane CBFs (H-CBFs), where a hyperplane separates the agent from the obstacle. First, we note that the common distance-based CBF is a special case of an H-CBF where the hyperplane is a supporting hyperplane of the obstacle that is orthogonal to a line between the agent and the obstacle. Then we show that a less conservative CBF can be found by optimising over the orientation of the supporting hyperplane, in order to find the Least Restrictive Hyperplane CBF. This enables us to maintain the safety guarantees while allowing controls that are closer to the desired ones, especially when moving fast and passing close to obstacles. We illustrate the approach on a double integrator dynamical system with acceleration constraints, moving through a group of arbitrarily shaped static and moving obstacles.
Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations
Venue: arXiv cs.RO 2026
Year: 2026

A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advances in semantic scene representations have enriched robotic scene understanding, current approaches lack a connection between spatial features and dynamic events; e.g., connecting the blue mug to the event washing a mug. In this work, we introduce the event-grounding graph (EGG), a framework grounding event interactions to spatial features of a scene. This representation allows robots to perceive, reason, and respond to complex spatio-temporal queries. Experiments using real robotic data demonstrate EGG's capability to retrieve relevant information and respond accurately to human inquiries concerning the environment and events within. Furthermore, the EGG framework's source code and evaluation dataset are released as open-source at: https://github.com/aalto-intelligent-robotics/EGG.
MetaCluster: Enabling Deep Compression of Kolmogorov-Arnold Network
Venue: arXiv cs.LG 2026
Year: 2026

Kolmogorov-Arnold Networks (KANs) replace scalar weights with per-edge vectors of basis coefficients, thereby increasing expressivity and accuracy while also resulting in a multiplicative increase in parameters and memory. We propose MetaCluster, a framework that makes KANs highly compressible without sacrificing accuracy. Specifically, a lightweight meta-learner, trained jointly with the KAN, maps low-dimensional embeddings to coefficient vectors, thereby shaping them to lie on a low-dimensional manifold that is amenable to clustering. We then run K-means in coefficient space and replace per-edge vectors with shared centroids. Afterwards, the meta-learner can be discarded, and a brief fine-tuning of the centroid codebook recovers any residual accuracy loss. The resulting model stores only a small codebook and per-edge indices, exploiting the vector nature of KAN parameters to amortize storage across multiple coefficients. On MNIST, CIFAR-10, and CIFAR-100, across standard KANs and ConvKANs using multiple basis functions, MetaCluster achieves a reduction of up to $80\times$ in parameter storage, with no loss in accuracy. Similarly, on high-dimensional equation modeling tasks, MetaCluster achieves a parameter reduction of $124.1\times$, without impacting performance. Code will be released upon publication.
Instance-Dependent Regret Bounds for Nonstochastic Linear Partial Monitoring
Venue: arXiv cs.LG 2026
Year: 2026

In contrast to the classic formulation of partial monitoring, linear partial monitoring can model infinite outcome spaces, while imposing a linear structure on both the losses and the observations. This setting can be viewed as a generalization of linear bandits where loss and feedback are decoupled in a flexible manner. In this work, we address a nonstochastic (adversarial), finite-actions version of the problem through a simple instance of the exploration-by-optimization method that is amenable to efficient implementation. We derive regret bounds that depend on the game structure in a more transparent manner than previous theoretical guarantees for this paradigm. Our bounds feature instance-specific quantities that reflect the degree of alignment between observations and losses, and resemble known guarantees in the stochastic setting. Notably, they achieve the standard $\sqrt{T}$ rate in easy (locally observable) games and $T^{2/3}$ in hard (globally observable) games, where $T$ is the time horizon. We instantiate these bounds in a selection of old and new partial information settings subsumed by this model, and illustrate that the achieved dependence on the game structure can be tight in interesting cases.
Step-Aware Residual-Guided Diffusion for EEG Spatial Super-Resolution
Venue: arXiv cs.MM 2026
Year: 2026

For real-world BCI applications, lightweight Electroencephalography (EEG) systems offer the best cost-deployment balance. However, such spatial sparsity of EEG limits spatial fidelity, hurting learning and introducing bias. EEG spatial super-resolution methods aim to recover high-density EEG signals from sparse measurements, yet is often hindered by distribution shift and signal distortion and thus reducing fidelity and usability for EEG analysis and visualization. To overcome these challenges, we introduce SRGDiff, a step-aware residual-guided diffusion model that formulates EEG spatial super-resolution as dynamic conditional generation. Our key idea is to learn a dynamic residual condition from the low-density input that predicts the step-wise temporal and spatial details to add and uses the evolving cue to steer the denoising process toward high density reconstructions. At each denoising step, the proposed residual condition is additively fused with the previous denoiser feature maps, then a step-dependent affine modulation scales and shifts the activation to produce the current features. This iterative procedure dynamically extracts step-wise temporal rhythms and spatial-topographic cues to steer high-density recovery and maintain a fidelity-consistency balance. We adopt a comprehensive evaluation protocol spanning signal-, feature-, and downstream-level metrics across SEED, SEED-IV, and Localize-MI and multiple upsampling scales. SRGDiff achieves consistent gains of up to 40% over strong baselines, proving its superiority in the task of EEG spatial super-resolution. Moreover, topographic visualizations comparison and substantial EEG-FID gains jointly indicate that our SR EEG mitigates the spatial-spectral shift between low- and high-density recordings. Our code is available at https://github.com/DhrLhj/ICLR2026SRGDiff.
Continual Knowledge Adaptation for Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Reinforcement Learning enables agents to learn optimal behaviors through interactions with environments. However, real-world environments are typically non-stationary, requiring agents to continuously adapt to new tasks and changing conditions. Although Continual Reinforcement Learning facilitates learning across multiple tasks, existing methods often suffer from catastrophic forgetting and inefficient knowledge utilization. To address these challenges, we propose Continual Knowledge Adaptation for Reinforcement Learning (CKA-RL), which enables the accumulation and effective utilization of historical knowledge. Specifically, we introduce a Continual Knowledge Adaptation strategy, which involves maintaining a task-specific knowledge vector pool and dynamically using historical knowledge to adapt the agent to new tasks. This process mitigates catastrophic forgetting and enables efficient knowledge transfer across tasks by preserving and adapting critical model parameters. Additionally, we propose an Adaptive Knowledge Merging mechanism that combines similar knowledge vectors to address scalability challenges, reducing memory requirements while ensuring the retention of essential knowledge. Experiments on three benchmarks demonstrate that the proposed CKA-RL outperforms state-of-the-art methods, achieving an improvement of 4.20% in overall performance and 8.02% in forward transfer. The source code is available at https://github.com/Fhujinwu/CKA-RL.
AgenticMath: Enhancing LLM Reasoning via Agentic-based Math Data Generation
Venue: arXiv cs.CL 2026
Year: 2026

The creation of high-quality datasets to improve Large Language Model (LLM) reasoning remains a significant challenge, as current methods often suffer from generating low-quality/incorrect answers and limited information richness from available data sources. To address this, we propose AgenticMath, a novel agentic method for generating high-quality mathematical question-answer pairs to enhance the supervised fine-tuning of LLMs. Our method operates through four stages: (1) Seed Question Filter that selects questions with high information richness, complexity, and clarity; (2) an Agentic Question Rephrase step that employs a multi-agent system to generate diverse, logically consistent paraphrases; (3) an Answer Augment step where rewrite answers using chain-of-thought reasoning to enhance numerical and logical correctness, without reliance on human-provided labels; and (4) a final Question and Answer Evaluation that retains only the most superior pairs. Extensive experiments demonstrate that, fine-tuning 3B-8B parameter LLMs on AgenticMath generated datasets (comprising only 30-60K math samples) achieves competitive or superior performance on diverse in domain and out-of-domain mathematical reasoning benchmarks compared to baselines trained on much more data (e.g., 400K or 2.3M samples). Our work demonstrates that targeted, high-quality data generation is a more efficient path to improving mathematical reasoning in LLMs than large-scale, low-quality alternatives.
ETOM: A Five-Level Benchmark for Evaluating Tool Orchestration within the MCP Ecosystem
Venue: arXiv cs.AI 2026
Year: 2026

We introduce ETOM, a five-level benchmark for evaluating multi-hop, end-to-end tool orchestration by LLM agents within a hierarchical Model-Context Protocol (MCP) ecosystem. Existing benchmarks often assess tools in isolation, overlooking challenges such as functional overlap and cross-server orchestration, which can lead to overly optimistic evaluations. ETOM addresses these gaps by constructing ground truth through "equal function sets", enabling objective metrics such as F1 score and reducing reliance on LLM-as-a-judge evaluation. Its five-level curriculum systematically tests agent capabilities, from single-tool orchestration to complex cross-server planning, as well as robustness to out-of-scope requests. Experiments reveal that rigid hierarchies can hinder performance without co-designed strategies, and even state-of-the-art agents exhibit systemic weaknesses in robustness. ETOM provides a diagnostic framework to expose these limitations and guide the development of more capable and efficient tool-using agents.
Polynomial-time Configuration Generator for Connected Unlabeled Multi-Agent Pathfinding
Venue: arXiv cs.MA 2026
Year: 2026

We consider Connected Unlabeled Multi-Agent Pathfinding (CUMAPF), a variant of MAPF where interchangeable agents must be connected at all times. This problem is fundamental to swarm robotics applications such as self-reconfiguration and marching, where standard MAPF is insufficient as it does not guarantee the connectivity constraint. Despite its simple structure, CUMAPF remains understudied and lacks practical algorithms. We first develop an Integer Linear Programming (ILP) reduction to solve CUMAPF. Although this formulation provides a makespan-optimal plan, it is severely limited in terms of scalability and real-time responsiveness due to the large number of variables. We therefore propose a suboptimal but complete algorithm named PULL. It is based on a rule-based one-step function that computes a subsequent configuration that preserves connectivity and advances towards the target configuration. PULL is lightweight, and runs in $O(n^2)$ time per step in a 2D grid, where $n$ is the number of agents. Empirically, PULL can quickly solve randomly generated instances containing hundreds of agents, which ILP cannot handle. Furthermore, PULL's solution substantially improves upon a naive approach to CUMAPF.
Toward Agentic Software Engineering Beyond Code: Framing Vision, Values, and Vocabulary
Venue: arXiv cs.SE 2026
Year: 2026

Agentic AI is poised to usher in a seismic paradigm shift in Software Engineering (SE). As technologists rush head-along to make agentic AI a reality, SE researchers are driven to establish agentic SE as a research area. While early visions of agentic SE are primarily focused on code-related activities, early empirical evidence calls for a consideration of a wider range of socio-technical activities and concerns to make it work in practice. This paper contributes to the emerging visions by: (a) recommending an expansion of its scope beyond code, toward a 'whole of process' vision, grounding it in SE foundations and evolution and emerging agentic SE frameworks, (b) proposing a preliminary set of values and principles to guide community efforts, and (c) sharing guidance on designing and using well-defined vocabulary for agentic SE. It is hoped that these ideas will encourage collaborations and steer the SE community toward laying strong foundations of agentic SE so it is not limited to enabling coding acceleration but becomes the next process-level paradigm shift.