OpenRaiser/Intern-Atlas huggingface dataset:
Generative Pseudo-Labeling for Pre-Ranking with LLMs
Venue: arXiv cs.IR 2026
Year: 2026

Pre-ranking is a critical stage in industrial recommendation systems, tasked with efficiently scoring thousands of recalled items for downstream ranking. A key challenge is the train-serving discrepancy: pre-ranking models are trained only on exposed interactions, yet must score all recalled candidates -- including unexposed items -- during online serving. This mismatch not only induces severe sample selection bias but also degrades generalization, especially for long-tail content. Existing debiasing approaches typically rely on heuristics (e.g., negative sampling) or distillation from biased rankers, which either mislabel plausible unexposed items as negatives or propagate exposure bias into pseudo-labels. In this work, we propose Generative Pseudo-Labeling (GPL), a framework that leverages large language models (LLMs) to generate unbiased, content-aware pseudo-labels for unexposed items, explicitly aligning the training distribution with the online serving space. By offline generating user-specific interest anchors and matching them with candidates in a frozen semantic space, GPL provides high-quality supervision without adding online latency. Deployed in a large-scale production system, GPL improves click-through rate by 3.07%, while significantly enhancing recommendation diversity and long-tail item discovery.
Le-DETR: Revisiting Real-Time Detection Transformer with Efficient Encoder Design
Venue: arXiv cs.CV 2026
Year: 2026

Real-time object detection is crucial for real-world applications as it requires high accuracy with low latency. While Detection Transformers (DETR) have demonstrated significant performance improvements, current real-time DETR models are challenging to reproduce from scratch due to excessive pre-training overheads on the backbone, constraining research advancements by hindering the exploration of novel backbone architectures. In this paper, we want to show that by using general good design, it is possible to have \textbf{high performance} with \textbf{low pre-training cost}. After a thorough study of the backbone architecture, we propose EfficientNAT at various scales, which incorporates modern efficient convolution and local attention mechanisms. Moreover, we re-design the hybrid encoder with local attention, significantly enhancing both performance and inference speed. Based on these advancements, we present Le-DETR (\textbf{L}ow-cost and \textbf{E}fficient \textbf{DE}tection \textbf{TR}ansformer), which achieves a new \textbf{SOTA} in real-time detection using only ImageNet1K and COCO2017 training datasets, saving about 80\% images in pre-training stage compared with previous methods. We demonstrate that with well-designed, real-time DETR models can achieve strong performance without the need for complex and computationally expensive pretraining. Extensive experiments show that Le-DETR-M/L/X achieves \textbf{52.9/54.3/55.1 mAP} on COCO Val2017 with \textbf{4.45/5.01/6.68 ms} on an RTX4090. It surpasses YOLOv12-L/X by \textbf{+0.6/-0.1 mAP} while achieving similar speed and \textbf{+20\%} speedup. Compared with DEIM-D-FINE, Le-DETR-M achieves \textbf{+0.2 mAP} with slightly faster inference, and surpasses DEIM-D-FINE-L by \textbf{+0.4 mAP} with only \textbf{0.4 ms} additional latency. Code and weights will be open-sourced.
Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks
Venue: arXiv cs.RO 2026
Year: 2026

Many dexterous manipulation tasks are non-markovian in nature, yet little attention has been paid to this fact in the recent upsurge of the vision-language-action (VLA) paradigm. Although they are successful in bringing internet-scale semantic understanding to robotics, existing VLAs are primarily "stateless" and struggle with memory-dependent long horizon tasks. In this work, we explore a way to impart both spatial and temporal memory to a VLA by incorporating a language scratchpad. The scratchpad makes it possible to memorize task-specific information, such as object positions, and it allows the model to keep track of a plan and progress towards subgoals within that plan. We evaluate this approach on a split of memory-dependent tasks from the ClevrSkills environment, on MemoryBench, as well as on a challenging real-world pick-and-place task. We show that incorporating a language scratchpad significantly improves generalization on these tasks for both non-recurrent and recurrent models.
Matching Multiple Experts: On the Exploitability of Multi-Agent Imitation Learning
Venue: arXiv cs.LG 2026
Year: 2026

Multi-agent imitation learning (MA-IL) aims to learn optimal policies from expert demonstrations of interactions in multi-agent interactive domains. Despite existing guarantees on the performance of the resulting learned policies, characterizations of how far the learned polices are from a Nash equilibrium are missing for offline MA-IL. In this paper, we demonstrate impossibility and hardness results of learning low-exploitable policies in general $n$-player Markov Games. We do so by providing examples where even exact measure matching fails, and demonstrating a new hardness result on characterizing the Nash gap given a fixed measure matching error. We then show how these challenges can be overcome using strategic dominance assumptions on the expert equilibrium. Specifically, for the case of dominant strategy expert equilibria, assuming Behavioral Cloning error $ε_{\text{BC}}$, this provides a Nash imitation gap of $\mathcal{O}\left(nε_{\text{BC}}/(1-γ)^2\right)$ for a discount factor $γ$. We generalize this result with a new notion of best-response continuity, and argue that this is implicitly encouraged by standard regularization techniques.
Is a LOCAL algorithm computable?
Venue: arXiv cs.DC 2026
Year: 2026

Common definitions of the "standard" LOCAL model tend to be sloppy and even self-contradictory on one point: do the nodes update their state using an arbitrary function or a computable function? So far, this distinction has been safe to neglect, since problems where it matters seem contrived and quite different from e.g. typical local graph problems studied in this context. We show that this question matters even for locally checkable labeling problems (LCLs), perhaps the most widely studied family of problems in the context of the LOCAL model. Furthermore, we show that assumptions about computability are directly connected to another aspect already recognized as highly relevant: whether we have any knowledge of $n$, the size of the graph. Concretely, we show that there is an LCL problem $Π$ with the following properties: 1. $Π$ can be solved in $O(\log n)$ rounds if the LOCAL model is uncomputable. 2. $Π$ can be solved in $O(\log n)$ rounds in the computable model if we know any upper bound on $n$. 3. $Π$ requires $Ω(\sqrt{n})$ rounds in the computable model if we do not know anything about $n$. We also show that the connection between computability and knowledge of $n$ holds in general: for any LCL problem $Π$, if you have any bound on $n$, then $Π$ has the same round complexity in the computable and uncomputable models.
Automated Detection and Mitigation of Dependability Failures in Healthcare Scenarios through Digital Twins
Venue: arXiv cs.SE 2026
Year: 2026

Medical Cyber-Physical Systems (CPSs) integrating Patients, Devices, and healthcare personnel (Physicians) form safety-critical PDP triads whose dependability is challenged by system heterogeneity and uncertainty in human and physiological behavior. While existing clinical decision support systems support clinical practice, there remains a need for proactive, reliability-oriented methodologies capable of identifying and mitigating failure scenarios before patient safety is compromised. This paper presents M-GENGAR, a methodology based on a closed-loop Digital Twin (DT) paradigm for dependability assurance of medical CPSs. The approach combines Stochastic Hybrid Automata modeling, data-driven learning of patient dynamics, and Statistical Model Checking with an offline critical scenario detection phase that integrates model-space exploration and diversity analysis to systematically identify and classify scenarios violating expert-defined dependability requirements. M-GENGAR also supports the automated synthesis of mitigation strategies, enabling runtime feedback and control within the DT loop. We evaluate M-GENGAR on a representative use case study involving a pulmonary ventilator. Results show that, in 87.5% of the evaluated scenarios, strategies synthesized through formal game-theoretic analysis stabilize patient vital metrics at least as effectively as human decision-making, while maintaining relevant metrics 20% closer to nominal healthy values on average.
Tool Building as a Path to "Superintelligence"
Venue: arXiv cs.AI 2026
Year: 2026

The Diligent Learner framework suggests LLMs can achieve superintelligence via test-time search, provided a sufficient step-success probability $γ$. In this work, we design a benchmark to measure $γ$ on logical out-of-distribution inference. We construct a class of tasks involving GF(2) circuit reconstruction that grow more difficult with each reasoning step, and that are, from an information-theoretic standpoint, impossible to reliably solve unless the LLM carefully integrates all of the information provided. Our analysis demonstrates that while the $γ$ value for small LLMs declines superlinearly as depth increases, frontier models exhibit partial robustness on this task. Furthermore, we find that successful reasoning at scale is contingent upon precise tool calls, identifying tool design as a critical capability for LLMs to achieve general superintelligence through the Diligent Learner framework.
Automata Learning with an Incomplete but Inductive Teacher
Venue: arXiv cs.FL 2026
Year: 2026

Active automata learning (AAL) under a Minimally Adequate Teacher (MAT) has been successfully used to infer a regular language through membership and equivalence queries. This language might not be fully characterized: we are then interested in finding any solution in a target class of possibly many regular languages. Some problems such as regular language separation or inductive invariant synthesis in the context of regular model checking (RMC) may indeed admit more than one answer. We therefore introduce IdMAT: a new teacher formalism answering queries with respect to any language in the target class, all at once. Such a teacher tailored towards invariant synthesis might provide incomplete "don't know" answers, but also inductive facts of the form "if w1 is accepted, so is w2". We pair IdMAT with a novel AAL algorithm LIndA that 1. encodes all uncertainties as a unique SAT instance and does not fork, 2. leverages incremental SAT solving and UNSAT core analysis, and 3. handles counterexamples of the simple or inductive type in a frugal manner inspired by the Rivest-Schapire refinement technique. We finally evaluate a prototype implementation in the context of regular language separation and RMC.
SparkMe: Adaptive Semi-Structured Interviewing for Qualitative Insight Discovery
Venue: arXiv cs.HC 2026
Year: 2026

Qualitative insights from user experiences are critical for informing product and policy decisions, but collecting such data at scale is constrained by the time and availability of experts to conduct semi-structured interviews. Recent work has explored using large language models (LLMs) to automate interviewing, yet existing systems lack a principled mechanism for balancing systematic coverage of predefined topics with adaptive exploration, or the ability to pursue follow-ups, deep dives, and emergent themes that arise organically during conversation. In this work, we formulate adaptive semi-structured interviewing as an optimization problem over the interviewer's behavior. We define interview utility as a trade-off between coverage of a predefined interview topic guide, discovery of relevant emergent themes, and interview cost measured by length. Based on this formulation, we introduce SparkMe, a multi-agent LLM interviewer that performs deliberative planning via simulated conversation rollouts to select questions with high expected utility. We evaluate SparkMe through controlled experiments with LLM-based interviewees, showing that it achieves higher interview utility, improving topic guide coverage (+4.7% over the best baseline) and eliciting richer emergent insights while using fewer conversational turns than prior LLM interviewing approaches. We further validate SparkMe in a user study with 70 participants across 7 professions on the impact of AI on their workflows. Domain experts rate SparkMe as producing high-quality adaptive interviews that surface helpful profession-specific insights not captured by prior approaches. The code, datasets, and evaluation protocols for SparkMe are available as open-source at https://github.com/SALT-NLP/SparkMe.
UDVideoQA: A Traffic Video Question Answering Dataset for Multi-Object Spatio-Temporal Reasoning in Urban Dynamics
Venue: arXiv cs.CV 2026
Year: 2026

Understanding the complex, multi-agent dynamics of urban traffic remains a fundamental challenge for video language models. This paper introduces Urban Dynamics VideoQA, a benchmark dataset that captures the unscripted real-world behavior of dynamic urban scenes. UDVideoQA is curated from 16 hours of traffic footage recorded at multiple city intersections under diverse traffic, weather, and lighting conditions. It employs an event-driven dynamic blur technique to ensure privacy preservation without compromising scene fidelity. Using a unified annotation pipeline, the dataset contains 28K question-answer pairs generated across 8 hours of densely annotated video, averaging one question per second. Its taxonomy follows a hierarchical reasoning level, spanning basic understanding and attribution to event reasoning, reverse reasoning, and counterfactual inference, enabling systematic evaluation of both visual grounding and causal reasoning. Comprehensive experiments benchmark 10 SOTA VideoLMs on UDVideoQA and 8 models on a complementary video question generation benchmark. Results reveal a persistent perception-reasoning gap, showing models that excel in abstract inference often fail with fundamental visual grounding. While models like Gemini Pro achieve the highest zero-shot accuracy, fine-tuning the smaller Qwen2.5-VL 7B model on UDVideoQA bridges this gap, achieving performance comparable to proprietary systems. In VideoQGen, Gemini 2.5 Pro, and Qwen3 Max generate the most relevant and complex questions, though all models exhibit limited linguistic diversity, underscoring the need for human-centric evaluation. The UDVideoQA suite, including the dataset, annotation tools, and benchmarks for both VideoQA and VideoQGen, provides a foundation for advancing robust, privacy-aware, and real-world multimodal reasoning. UDVideoQA is available at https://ud-videoqa.github.io/UD-VideoQA/UD-VideoQA/.
SynthRender and IRIS: Open-Source Framework and Dataset for Bidirectional Sim-Real Transfer in Industrial Object Perception
Venue: arXiv cs.CV 2026
Year: 2026

Object perception is fundamental for tasks such as robotic material handling and quality inspection. However, modern supervised deep-learning perception models require large datasets for robust automation under semi-uncontrolled conditions. The cost of acquiring and annotating such data for proprietary parts is a major barrier for widespread deployment. In this context, we release SynthRender, an open source framework for synthetic image generation with Guided Domain Randomization capabilities. Furthermore, we benchmark recent Reality-to-Simulation techniques for 3D asset creation from 2D images of real parts. Combined with Domain Randomization, these synthetic assets provide low-overhead, transferable data even for parts lacking 3D files. We also introduce IRIS, the Industrial Real-Sim Imagery Set, containing 32 categories with diverse textures, intra-class variation, strong inter-class similarities and about 20,000 labels. Ablations on multiple benchmarks outline guidelines for efficient data generation with SynthRender. Our method surpasses existing approaches, achieving 99.1% mAP@50 on a public robotics dataset, 98.3% mAP@50 on an automotive benchmark, and 95.3% mAP@50 on IRIS.
SPRITETOMESH: Automatic Mesh Generation for 2D Skeletal Animation Using Learned Segmentation and Contour-Aware Vertex Placement
Venue: arXiv cs.CV 2026
Year: 2026

We present SPRITETOMESH, a fully automatic pipeline for converting 2D game sprite images into triangle meshes compatible with skeletal animation frameworks such as Spine2D. Creating animation-ready meshes is traditionally a tedious manual process requiring artists to carefully place vertices along visual boundaries, a task that typically takes 15-60 minutes per sprite. Our method addresses this through a hybrid learned-algorithmic approach. A segmentation network (EfficientNet-B0 encoder with U-Net decoder) trained on over 100,000 sprite-mask pairs from 172 games achieves an IoU of 0.87, providing accurate binary masks from arbitrary input images. From these masks, we extract exterior contour vertices using Douglas-Peucker simplification with adaptive arc subdivision, and interior vertices along visual boundaries detected via bilateral-filtered multi-channel Canny edge detection with contour-following placement. Delaunay triangulation with mask-based centroid filtering produces the final mesh. Through controlled experiments, we demonstrate that direct vertex position prediction via neural network heatmap regression is fundamentally not viable for this task: the heatmap decoder consistently fails to converge (loss plateau at 0.061) while the segmentation decoder trains normally under identical conditions. We attribute this to the inherently artistic nature of vertex placement - the same sprite can be meshed validly in many different ways. This negative result validates our hybrid design: learned segmentation where ground truth is unambiguous, algorithmic placement where domain heuristics are appropriate. The complete pipeline processes a sprite in under 3 seconds, representing a speedup of 300x-1200x over manual creation. We release our trained model to the game development community.
HALO: A Unified Vision-Language-Action Model for Embodied Multimodal Chain-of-Thought Reasoning
Venue: arXiv cs.RO 2026
Year: 2026

Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but often struggle in long-horizon or out-of-distribution scenarios due to the lack of explicit mechanisms for multimodal reasoning and anticipating how the world will evolve under action. Recent works introduce textual chain-of-thought or visual subgoal prediction within VLA models to reason, but still fail to offer a unified human-like reasoning framework for joint textual reasoning, visual foresight, and action prediction. To this end, we propose HALO, a unified VLA model that enables embodied multimodal chain-of-thought (EM-CoT) reasoning through a sequential process of textual task reasoning, visual subgoal prediction for fine-grained guidance, and EM-CoT-augmented action prediction. We instantiate HALO with a Mixture-of-Transformers (MoT) architecture that decouples semantic reasoning, visual foresight, and action prediction into specialized experts while allowing seamless cross-expert collaboration. To enable HALO learning at scale, we introduce an automated pipeline to synthesize EM-CoT training data along with a carefully crafted training recipe. Extensive experiments demonstrate that: (1) HALO achieves superior performance in both simulated and real-world environments, surpassing baseline policy pi_0 by 34.1% on RoboTwin benchmark; (2) all proposed components of the training recipe and EM-CoT design help improve task success rate; and (3) HALO exhibits strong generalization capabilities under aggressive unseen environmental randomization with our proposed EM-CoT reasoning.
SELAUR: Self Evolving LLM Agent via Uncertainty-aware Rewards
Venue: arXiv cs.LG 2026
Year: 2026

Large language models (LLMs) are increasingly deployed as multi-step decision-making agents, where effective reward design is essential for guiding learning. Although recent work explores various forms of reward shaping and step-level credit assignment, a key signal remains largely overlooked: the intrinsic uncertainty of LLMs. Uncertainty reflects model confidence, reveals where exploration is needed, and offers valuable learning cues even in failed trajectories. We introduce SELAUR: Self Evolving LLM Agent via Uncertainty-aware Rewards, a reinforcement learning framework that incorporates uncertainty directly into the reward design. SELAUR integrates entropy-, least-confidence-, and margin-based metrics into a combined token-level uncertainty estimate, providing dense confidence-aligned supervision, and employs a failure-aware reward reshaping mechanism that injects these uncertainty signals into step- and trajectory-level rewards to improve exploration efficiency and learning stability. Experiments on two benchmarks, ALFWorld and WebShop, show that our method consistently improves success rates over strong baselines. Ablation studies further demonstrate how uncertainty signals enhance exploration and robustness.
ActionReasoning: Robot Action Reasoning in 3D Space with LLM for Robotic Brick Stacking
Venue: arXiv cs.RO 2026
Year: 2026

Classical robotic systems typically rely on custom planners designed for constrained environments. While effective in restricted settings, these systems lack generalization capabilities, limiting the scalability of embodied AI and general-purpose robots. Recent data-driven Vision-Language-Action (VLA) approaches aim to learn policies from large-scale simulation and real-world data. However, the continuous action space of the physical world significantly exceeds the representational capacity of linguistic tokens, making it unclear if scaling data alone can yield general robotic intelligence. To address this gap, we propose ActionReasoning, an LLM-driven framework that performs explicit action reasoning to produce physics-consistent, prior-guided decisions for robotic manipulation. ActionReasoning leverages the physical priors and real-world knowledge already encoded in Large Language Models (LLMs) and structures them within a multi-agent architecture. We instantiate this framework on a tractable case study of brick stacking, where the environment states are assumed to be already accurately measured. The environmental states are then serialized and passed to a multi-agent LLM framework that generates physics-aware action plans. The experiments demonstrate that the proposed multi-agent LLM framework enables stable brick placement while shifting effort from low-level domain-specific coding to high-level tool invocation and prompting, highlighting its potential for broader generalization. This work introduces a promising approach to bridging perception and execution in robotic manipulation by integrating physical reasoning with LLMs.