OpenRaiser/Intern-Atlas huggingface dataset:
When does predictive inverse dynamics outperform behavior cloning?
Venue: arXiv cs.LG 2026
Year: 2026

Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDM) that combine a future state predictor with an inverse dynamics model (IDM). While PIDM often outperforms BC, the reasons behind its benefits remain unclear. In this paper, we provide a theoretical explanation: PIDM introduces a bias-variance tradeoff. While predicting the future state introduces bias, conditioning the IDM on the prediction can significantly reduce variance. We establish conditions on the state predictor bias for PIDM to achieve lower prediction error and higher sample efficiency than BC, with the gap widening when additional data sources are available. We validate the theoretical insights empirically in 2D navigation tasks, where BC requires up to five times (three times on average) more demonstrations than PIDM to reach comparable performance; and in a complex 3D environment in a modern video game with high-dimensional visual inputs and stochastic transitions, where BC requires over 66\% more samples than PIDM.
From Global to Granular: Revealing IQA Model Performance via Correlation Surface
Venue: arXiv cs.CV 2026
Year: 2026

Evaluation of Image Quality Assessment (IQA) models has long been dominated by global correlation metrics, such as Pearson Linear Correlation Coefficient (PLCC) and Spearman Rank-Order Correlation Coefficient (SRCC). While widely adopted, these metrics reduce performance to a single scalar, failing to capture how ranking consistency varies across the local quality spectrum. For example, two IQA models may achieve identical SRCC values, yet one ranks high-quality images (related to high Mean Opinion Score, MOS) more reliably, while the other better discriminates image pairs with small quality/MOS differences (related to $|Δ$MOS$|$). Such complementary behaviors are invisible under global metrics. Moreover, SRCC and PLCC are sensitive to test-sample quality distributions, yielding unstable comparisons across test sets. To address these limitations, we propose \textbf{Granularity-Modulated Correlation (GMC)}, which provides a structured, fine-grained analysis of IQA performance. GMC includes: (1) a \textbf{Granularity Modulator} that applies Gaussian-weighted correlations conditioned on absolute MOS values and pairwise MOS differences ($|Δ$MOS$|$) to examine local performance variations, and (2) a \textbf{Distribution Regulator} that regularizes correlations to mitigate biases from non-uniform quality distributions. The resulting \textbf{correlation surface} maps correlation values as a joint function of MOS and $|Δ$MOS$|$, providing a 3D representation of IQA performance. Experiments on standard benchmarks show that GMC reveals performance characteristics invisible to scalar metrics, offering a more informative and reliable paradigm for analyzing, comparing, and deploying IQA models. Codes are available at https://github.com/Dniaaa/GMC.
MIDI-LLaMA: An Instruction-Following Multimodal LLM for Symbolic Music Understanding
Venue: arXiv cs.MM 2026
Year: 2026

Recent advances in multimodal large language models (MLLM) for audio music have demonstrated strong capabilities in music understanding, yet symbolic music, a fundamental representation of musical structure, remains unexplored. In this work, we introduce MIDI-LLaMA, the first instruction-following MLLM for symbolic music understanding. Our approach aligns the MIDI encoder MusicBERT and Llama-3-8B via a two-stage pipeline comprising feature alignment and instruction tuning. To support training, we design a scalable annotation pipeline that annotates GiantMIDI-Piano with fine-grained metadata, resulting in a MIDI-text dataset. Compared with the baseline trained on converting MIDI into ABC notation under the same instruction-tuning procedure, MIDI-LLaMA substantially outperforms in captioning and semantic alignment in question answering. Human evaluation further confirms the advantages of MIDI-LLaMA in music understanding, emotion recognition, creativity, and overall preference. These findings demonstrate that incorporating symbolic music into large language models enhances their capacity for musical understanding.
Dynamic Topology Awareness: Breaking the Granularity Rigidity in Vision-Language Navigation
Venue: arXiv cs.CV 2026
Year: 2026

Vision-Language Navigation in Continuous Environments (VLN-CE) presents a core challenge: grounding high-level linguistic instructions into precise, safe, and long-horizon spatial actions. Explicit topological maps have proven to be a vital solution for providing robust spatial memory in such tasks. However, existing topological planning methods suffer from a "Granularity Rigidity" problem. Specifically, these methods typically rely on fixed geometric thresholds to sample nodes, which fails to adapt to varying environmental complexities. This rigidity leads to a critical mismatch: the model tends to over-sample in simple areas, causing computational redundancy, while under-sampling in high-uncertainty regions, increasing collision risks and compromising precision. To address this, we propose DGNav, a framework for Dynamic Topological Navigation, introducing a context-aware mechanism to modulate map density and connectivity on-the-fly. Our approach comprises two core innovations: (1) A Scene-Aware Adaptive Strategy that dynamically modulates graph construction thresholds based on the dispersion of predicted waypoints, enabling "densification on demand" in challenging environments; (2) A Dynamic Graph Transformer that reconstructs graph connectivity by fusing visual, linguistic, and geometric cues into dynamic edge weights, enabling the agent to filter out topological noise and enhancing instruction adherence. Extensive experiments on the R2R-CE and RxR-CE benchmarks demonstrate DGNav exhibits superior navigation performance and strong generalization capabilities. Furthermore, ablation studies confirm that our framework achieves an optimal trade-off between navigation efficiency and safe exploration. The code is available at https://github.com/shannanshouyin/DGNav.
Language-based Trial and Error Falls Behind in the Era of Experience
Venue: arXiv cs.AI 2026
Year: 2026

While Large Language Models (LLMs) excel in language-based agentic tasks, their applicability to unseen, nonlinguistic environments (e.g., symbolic or spatial tasks) remains limited. Previous work attributes this performance gap to the mismatch between the pretraining distribution and the testing distribution. In this work, we demonstrate the primary bottleneck is the prohibitive cost of exploration: mastering these tasks requires extensive trial-and-error, which is computationally unsustainable for parameter-heavy LLMs operating in a high dimensional semantic space. To address this, we propose SCOUT (Sub-Scale Collaboration On Unseen Tasks), a novel framework that decouples exploration from exploitation. We employ lightweight "scouts" (e.g., small MLPs) to probe environmental dynamics at a speed and scale far exceeding LLMs. The collected trajectories are utilized to bootstrap the LLM via Supervised Fine-Tuning (SFT), followed by multi-turn Reinforcement Learning (RL) to activate its latent world knowledge. Empirically, SCOUT enables a Qwen2.5-3B-Instruct model to achieve an average score of 0.86, significantly outperforming proprietary models, including Gemini-2.5-Pro (0.60), while saving about 60% GPU hours consumption.
Subjective Distortion: Achievability and Outer Bounds for Distortion Functions with Memory
Venue: arXiv cs.IT 2026
Year: 2026

In some rate-distortion-type problems, the required fidelity of information is affected by past actions. As a result, the distortion function depends not only on the instantaneous distortion between a source symbol and its representation symbol, but also on past representations. In this paper, we give a formal definition of this problem and introduce both inner (achievable) and outer bounds on the rate-distortion tradeoff. We also discuss convexification of the problem, which makes it easier to find bounds. Problems of this type arise in biological information processing, as well as in recommendation engines; we provide an example applied to a simplified biological information processing problem.
Influence Guided Sampling for Domain Adaptation of Text Retrievers
Venue: arXiv cs.IR 2026
Year: 2026

General-purpose open-domain dense retrieval systems are usually trained with a large, eclectic mix of corpora and search tasks. How should these diverse corpora and tasks be sampled for training? Conventional approaches sample them uniformly, proportional to their instance population sizes, or depend on human-level expert supervision. It is well known that the training data sampling strategy can greatly impact model performance. However, how to find the optimal strategy has not been adequately studied in the context of embedding models. We propose Inf-DDS, a novel reinforcement learning driven sampling framework that adaptively reweighs training datasets guided by influence-based reward signals and is much more lightweight with respect to GPU consumption. Our technique iteratively refines the sampling policy, prioritizing datasets that maximize model performance on a target development set. We evaluate the efficacy of our sampling strategy on a wide range of text retrieval tasks, demonstrating strong improvements in retrieval performance and better adaptation compared to existing gradient-based sampling methods, while also being 1.5x to 4x cheaper in GPU compute. Our sampling strategy achieves a 5.03 absolute NDCG@10 improvement while training a multilingual bge-m3 model and an absolute NDCG@10 improvement of 0.94 while training all-MiniLM-L6-v2, even when starting from expert-assigned weights on a large pool of training datasets.
Zonkey: A Hierarchical Diffusion Language Model with Differentiable Tokenization and Probabilistic Attention
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) have revolutionized natural language processing, yet they remain constrained by fixed, non-differentiable tokenizers like Byte Pair Encoding (BPE), which hinder end-to-end optimization and adaptability to noisy or domain-specific data. We introduce Zonkey, a hierarchical diffusion model that addresses these limitations through a fully trainable pipeline from raw characters to document-level representations. At its core is a differentiable tokenizer (Segment Splitter) that learns probabilistic beginning-of-sequence (BOS) decisions, enabling adaptive splits that emerge as linguistically meaningful (e.g., word boundaries at spaces, sentence starts at periods) without explicit supervision. This differentiability is enabled by our novel Probabilistic Attention mechanism, which incorporates position-specific existence probabilities to simulate soft masking over theoretically infinite sequences while preserving gradients. Sequences decay probabilistically rather than relying on end-of-sequence tokens, supporting variable-length outputs. Hierarchical levels compress sequences into higher abstractions (e.g., character n-grams to word-like vectors, then sentence-like), with reconstruction via our Denoising Diffusion Mixed Model (DDMM) for stable and efficient denoising in latent space. A Stitcher ensures overlap invariance across segments. Trained end-to-end on Wikipedia, Zonkey generates coherent, variable-length text from noise, demonstrating emergent hierarchies and promising qualitative alignment to data distributions compared to entropy-based learnable tokenizers. Our approach advances toward fully gradient-based LLMs, with potential for better domain adaptation and scalable generation. We release the source code for training and reproducing our experiments.
OneMall: One Architecture, More Scenarios -- End-to-End Generative Recommender Family at Kuaishou E-Commerce
Venue: arXiv cs.IR 2026
Year: 2026

In the wave of generative recommendation, we present OneMall, an end-to-end generative recommendation framework tailored for e-commerce services at Kuaishou. Our OneMall systematically unifies the e-commerce's multiple item distribution scenarios, such as Product-card, short-video and live-streaming. Specifically, it comprises three key components, aligning the entire model training pipeline to the LLM's pre-training/post-training: (1) E-commerce Semantic Tokenizer: we provide a tokenizer solution that captures both real-world semantics and business-specific item relations across different scenarios; (2) Transformer-based Architecture: we largely utilize Transformer as our model backbone, e.g., employing Query-Former for long sequence compression, Cross-Attention for multi-behavior sequence fusion, and Sparse MoE for scalable auto-regressive generation; (3) Reinforcement Learning Pipeline: we further connect retrieval and ranking models via RL, enabling the ranking model to serve as a reward signal for end-to-end policy retrieval model optimization. Extensive experiments demonstrate that OneMall achieves consistent improvements across all e-commerce scenarios: +13.01\% GMV in product-card, +15.32\% Orders in Short-Video, and +2.78\% Orders in Live-Streaming. OneMall has been deployed, serving over 400 million daily active users at Kuaishou.
Synthetic-to-Real Domain Bridging for Single-View 3D Reconstruction of Ships for Maritime Monitoring
Venue: arXiv cs.CV 2026
Year: 2026

Three-dimensional (3D) reconstruction of ships is an important part of maritime monitoring, allowing improved visualization, inspection, and decision-making in real-world monitoring environments. However, most state-ofthe-art 3D reconstruction methods require multi-view supervision, annotated 3D ground truth, or are computationally intensive, making them impractical for real-time maritime deployment. In this work, we present an efficient pipeline for single-view 3D reconstruction of real ships by training entirely on synthetic data and requiring only a single view at inference. Our approach uses the Splatter Image network, which represents objects as sparse sets of 3D Gaussians for rapid and accurate reconstruction from single images. The model is first fine-tuned on synthetic ShapeNet vessels and further refined with a diverse custom dataset of 3D ships, bridging the domain gap between synthetic and real-world imagery. We integrate a state-of-the-art segmentation module based on YOLOv8 and custom preprocessing to ensure compatibility with the reconstruction network. Postprocessing steps include real-world scaling, centering, and orientation alignment, followed by georeferenced placement on an interactive web map using AIS metadata and homography-based mapping. Quantitative evaluation on synthetic validation data demonstrates strong reconstruction fidelity, while qualitative results on real maritime images from the ShipSG dataset confirm the potential for transfer to operational maritime settings. The final system provides interactive 3D inspection of real ships without requiring real-world 3D annotations. This pipeline provides an efficient, scalable solution for maritime monitoring and highlights a path toward real-time 3D ship visualization in practical applications. Interactive demo: https://dlr-mi.github.io/ship3d-demo/.
Enhancing Conversational Agents via Task-Oriented Adversarial Memory Adaptation
Venue: arXiv cs.CL 2026
Year: 2026

Conversational agents struggle to handle long conversations due to context window limitations. Therefore, memory systems are developed to leverage essential historical information. Existing memory systems typically follow a pipeline of offline memory construction and update, and online retrieval. Despite the flexible online phase, the offline phase remains fixed and task-independent. In this phase, memory construction operates under a predefined workflow and fails to emphasize task relevant information. Meanwhile, memory updates are guided by generic metrics rather than task specific supervision. This leads to a misalignment between offline memory preparation and task requirements, which undermines downstream task performance. To this end, we propose an Adversarial Memory Adaptation mechanism (AMA) that aligns memory construction and update with task objectives by simulating task execution. Specifically, first, a challenger agent generates question answer pairs based on the original dialogues. The constructed memory is then used to answer these questions, simulating downstream inference. Subsequently, an evaluator agent assesses the responses and performs error analysis. Finally, an adapter agent analyzes the error cases and performs dual level updates on both the construction strategy and the content. Through this process, the memory system receives task aware supervision signals in advance during the offline phase, enhancing its adaptability to downstream tasks. AMA can be integrated into various existing memory systems, and extensive experiments on long dialogue benchmark LoCoMo demonstrate its effectiveness.
CG-MLLM: Captioning and Generating 3D content via Multi-modal Large Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Large Language Models(LLMs) have revolutionized text generation and multimodal perception, but their capabilities in 3D content generation remain underexplored. Existing methods compromise by producing either low-resolution meshes or coarse structural proxies, failing to capture fine-grained geometry natively. In this paper, we propose CG-MLLM, a novel Multi-modal Large Language Model (MLLM) capable of 3D captioning and high-resolution 3D generation in a single framework. Leveraging the Mixture-of-Transformer architecture, CG-MLLM decouples disparate modeling needs, where the Token-level Autoregressive (TokenAR) Transformer handles token-level content, and the Block-level Autoregressive (BlockAR) Transformer handles block-level content. By integrating a pre-trained vision-language backbone with a specialized 3D VAE latent space, CG-MLLM facilitates long-context interactions between standard tokens and spatial blocks within a single integrated architecture. Experimental results show that CG-MLLM significantly outperforms existing MLLMs in generating high-fidelity 3D objects, effectively bringing high-resolution 3D content creation into the mainstream LLM paradigm.
Looking Beyond Accuracy: A Holistic Benchmark of ECG Foundation Models
Venue: arXiv cs.AI 2026
Year: 2026

The electrocardiogram (ECG) is a cost-effective, highly accessible and widely employed diagnostic tool. With the advent of Foundation Models (FMs), the field of AI-assisted ECG interpretation has begun to evolve, as they enable model reuse across different tasks by relying on embeddings. However, to responsibly employ FMs, it is crucial to rigorously assess to which extent the embeddings they produce are generalizable, particularly in error-sensitive domains such as healthcare. Although prior works have already addressed the problem of benchmarking ECG-expert FMs, they focus predominantly on the evaluation of downstream performance. To fill this gap, this study aims to find an in-depth, comprehensive benchmarking framework for FMs, with a specific focus on ECG-expert ones. To this aim, we introduce a benchmark methodology that complements performance-based evaluation with representation-level analysis, leveraging SHAP and UMAP techniques. Furthermore, we rely on the methodology for carrying out an extensive evaluation of several ECG-expert FMs pretrained via state-of-the-art techniques over different cross-continental datasets and data availability settings; this includes ones featuring data scarcity, a fairly common situation in real-world medical scenarios. Experimental results show that our benchmarking protocol provides a rich insight of ECG-expert FMs' embedded patterns, enabling a deeper understanding of their representational structure and generalizability.
Embodied Task Planning via Graph-Informed Action Generation with Large Language Model
Venue: arXiv cs.CL 2026
Year: 2026

While Large Language Models (LLMs) have demonstrated strong zero-shot reasoning capabilities, their deployment as embodied agents still faces fundamental challenges in long-horizon planning. Unlike open-ended text generation, embodied agents must decompose high-level intent into actionable sub-goals while strictly adhering to the logic of a dynamic, observed environment. Standard LLM planners frequently fail to maintain strategy coherence over extended horizons due to context window limitation or hallucinate transitions that violate constraints. We propose GiG, a novel planning framework that structures embodied agents' memory using a Graph-in-Graph architecture. Our approach employs a Graph Neural Network (GNN) to encode environmental states into embeddings, organizing these embeddings into action-connected execution trace graphs within an experience memory bank. By clustering these graph embeddings, the framework enables retrieval of structure-aware priors, allowing agents to ground current decisions in relevant past structural patterns. Furthermore, we introduce a novel bounded lookahead module that leverages symbolic transition logic to enhance the agents' planning capabilities through the grounded action projection. We evaluate our framework on three embodied planning benchmarks-Robotouille Synchronous, Robotouille Asynchronous, and ALFWorld. Our method outperforms state-of-the-art baselines, achieving Pass@1 performance gains of up to 22% on Robotouille Synchronous, 37% on Asynchronous, and 15% on ALFWorld with comparable or lower computational cost.
Bridging Forecast Accuracy and Inventory KPIs: A Simulation-Based Software Framework
Venue: arXiv cs.AI 2026
Year: 2026

Efficient management of spare parts inventory is crucial in the automotive aftermarket, where demand is highly intermittent and uncertainty drives substantial cost and service risks. Forecasting is therefore central, but the quality of forecasting models should be judged not by statistical accuracy (e.g., MAE, RMSE) but rather by its impact on key operational performance indicators (KPIs), such as total cost and service level. Yet most existing work evaluates models exclusively using accuracy metrics, and the relationship between these metrics and KPIs remains poorly understood. To address this gap, we propose a decision-centric simulation software framework that enables systematic evaluation of forecasting models in realistic inventory management setting. The framework comprises: (i) a synthetic demand generator tailored to spare-parts demand characteristics, (ii) a flexible forecasting module that can host arbitrary predictive models, and (iii) an inventory control simulator that consumes the forecasts and computes operational KPIs. This closed-loop setup enables researchers to evaluate models not only in terms of statistical error but also in terms of downstream inventory implications. Using a wide range of simulation scenarios, we show that improvements in accuracy metrics do not necessarily lead to better KPIs, and that models with similar error profiles can induce different cost-service trade-offs. We analyze these discrepancies to characterize how forecast performance affects inventory outcomes and derive guidance for model selection. Overall, the framework links demand forecasting and inventory management, shifting evaluation from predictive accuracy toward operational relevance in the automotive aftermarket and related domains. An open-source implementation of the software is available at https://github.com/caisr-hh/TruckParts-Demand-Inventory-Simulator/releases/tag/IDA_2026.