OpenRaiser/Intern-Atlas huggingface dataset:
Residual Control for Fast Recovery from Dynamics Shifts
Venue: arXiv cs.RO 2026
Year: 2026

Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode, even locally stabilizing learned policies can experience substantial transient performance degradation. While input-to-state stability guarantees bounded state deviation, it does not ensure rapid restoration of task-level performance. We address inference-time recovery under frozen policy parameters by casting adaptation as constrained disturbance shaping around a nominal stabilizing controller. We propose a stability-aligned residual control architecture in which a reinforcement learning policy trained under nominal dynamics remains fixed at deployment, and adaptation occurs exclusively through a bounded additive residual channel. A Stability Alignment Gate (SAG) regulates corrective authority through magnitude constraints, directional coherence with the nominal action, performance-conditioned activation, and adaptive gain modulation. These mechanisms preserve the nominal closed-loop structure while enabling rapid compensation for unobserved dynamics shifts without retraining or privileged disturbance information. Across mid-episode perturbations including actuator degradation, mass variation, and contact changes, the proposed method consistently reduces recovery time relative to frozen and online-adaptation baselines while maintaining near-nominal steady-state performance. Recovery time is reduced by \textbf{87\%} on the Go1 quadruped, \textbf{48\%} on the Cassie biped, \textbf{30\%} on the H1 humanoid, and \textbf{20\%} on the Scout wheeled platform on average across evaluated conditions relative to a frozen SAC policy.
OrdinalBench: A Benchmark Dataset for Diagnosing Generalization Limits in Ordinal Number Understanding of Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Vision-Language Models (VLMs) have advanced across multimodal benchmarks but still show clear gaps in ordinal number understanding, i.e., the ability to track relative positions and generalize to large indices. We present OrdinalBench, a diagnostic benchmark that standardizes ordinal number understanding as an evaluation task for VLMs. The core task is N-th object identification, defined by a starting reference and traversal rule. Task difficulty is controlled along three axes: (i) ordinal magnitude, from small numbers to extreme cases up to 300; (ii) arrangement complexity, from single loops to maze-like paths; and (iii) object count. The benchmark provides 39,000 question-answer pairs, each annotated with a ground-truth reasoning trajectory and balanced across difficulty levels for controlled large-scale testing. Beyond answer-only evaluation, our framework requires models to generate structured stepwise traces of the counting process and provides an open evaluation toolkit that measures both final accuracy and step-level path consistency. Zero-shot evaluations of GPT-5, Gemini 2.5 Flash Lite, Qwen2.5-VL, InternVL3.5, and Molmo reveal sharp degradation under large-ordinal and complex-path conditions, highlighting weak generalization despite strong scores on standard multimodal tasks. By framing ordinal number understanding as a core target, OrdinalBench provides a reproducible benchmark and diagnostic framework for developing VLMs with stronger sequential reasoning. All data and code are available at https://ordinalbench.github.io/
Toward Global Intent Inference for Human Motion by Inverse Reinforcement Learning
Venue: arXiv cs.RO 2026
Year: 2026

This paper investigates whether a single, unified cost function can explain and predict human reaching movements, in contrast with existing approaches that rely on subject- or posture-specific optimization criteria. Using the Minimal Observation Inverse Reinforcement Learning (MO-IRL) algorithm, together with a seven-dimensional set of candidate cost terms, we efficiently estimate time-varying cost weights for a standard planar reaching task. MO-IRL provides orders-of-magnitude faster convergence than bilevel formulations, while using only a fraction of the available data, enabling the practical exploration of time-varying cost structures. Three levels of generality are evaluated: Subject-Dependent Posture-Dependent, Subject-Dependent Posture-Independent, and Subject-Independent Posture-Independent. Across all cases, time-varying weights substantially improve trajectory reconstruction, yielding an average 27% reduction in RMSE compared to the baseline. The inferred costs consistently highlight a dominant role for joint-acceleration regulation, complemented by smaller contributions from torque-change smoothness. Overall, a single subject- and posture-agnostic time-varying cost function is shown to predict human reaching trajectories with high accuracy, supporting the existence of a unified optimality principle governing this class of movements.
Neural Precoding in Complex Projective Spaces
Venue: arXiv cs.LG 2026
Year: 2026

Deep-learning (DL)-based precoding in multi-user multiple-input single-output (MU-MISO) systems involves training DL models to map features derived from channel coefficients to labels derived from precoding weights. Traditionally, complex-valued channel and precoder coefficients are parameterized using either their real and imaginary components or their amplitude and phase. However, precoding performance depends on magnitudes of inner products between channel and precoding vectors, which are invariant to global phase rotations. Conventional representations fail to exploit this symmetry, leading to inefficient learning and degraded generalization. To address this, we propose a DL framework based on complex projective space (CPS) parameterizations of both the wireless channel and the weighted minimum mean squared error (WMMSE) precoder vectors. By removing the global phase redundancies inherent in conventional representations, the proposed framework enables the DL model to learn geometry-aligned and physically distinct channel-precoder mappings. Two CPS parameterizations based on real-valued embeddings and complex hyperspherical coordinates are investigated and benchmarked against two baseline methods. Simulation results demonstrate substantial improvements in sum-rate performance and generalization, with negligible increase in model complexity.
Transferable Optimization Network for Cross-Domain Image Reconstruction
Venue: arXiv cs.CV 2026
Year: 2026

We develop a novel transfer learning framework to tackle the challenge of limited training data in image reconstruction problems. The proposed framework consists of two training steps, both of which are formed as bi-level optimizations. In the first step, we train a powerful universal feature-extractor that is capable of learning important knowledge from large, heterogeneous data sets in various domains. In the second step, we train a task-specific domain-adapter for a new target domain or task with only a limited amount of data available for training. Then the composition of the adapter and the universal feature-extractor effectively explores feature which serve as an important component of image regularization for the new domains, and this leads to high-quality reconstruction despite the data limitation issue. We apply this framework to reconstruct under-sampled MR images with limited data by using a collection of diverse data samples from different domains, such as images of other anatomies, measurements of various sampling ratios, and even different image modalities, including natural images. Experimental results demonstrate a promising transfer learning capability of the proposed method.
DistillGuard: Evaluating Defenses Against LLM Knowledge Distillation
Venue: arXiv cs.CR 2026
Year: 2026

Knowledge distillation from proprietary LLM APIs poses a growing threat to model providers, yet defenses against this attack remain fragmented and unevaluated. We present DistillGuard, a framework for systematically evaluating output-level defenses against LLM knowledge distillation. We introduce a taxonomy of three defense categories -- output perturbation, data poisoning, and information throttling -- and evaluate nine defense configurations using a standardized pipeline with Qwen3-14B as teacher and Qwen2.5-7B-Instruct as student across three benchmarks (MATH-500, HumanEval+, MT-Bench). Our results reveal that, in a same-family distillation setting against a naive attacker, most output-level defenses are surprisingly ineffective: paraphrasing-based perturbation barely degrades distilled student quality, and data poisoning primarily impairs conversational fluency while leaving task-specific capabilities intact. Only chain-of-thought removal substantially impairs mathematical reasoning (31.4\% vs.\ 67.8\% baseline), though code generation remains unaffected. These findings demonstrate that the effectiveness of distillation defenses is highly task-dependent and that current output-level approaches are insufficient to broadly prevent knowledge theft.
Guess & Guide: Gradient-Free Zero-Shot Diffusion Guidance
Venue: arXiv cs.LG 2026
Year: 2026

Pretrained diffusion models serve as effective priors for Bayesian inverse problems. These priors enable zero-shot generation by sampling from the conditional distribution, which avoids the need for task-specific retraining. However, a major limitation of existing methods is their reliance on surrogate likelihoods that require vector-Jacobian products at each denoising step, creating a substantial computational burden. To address this, we introduce a lightweight likelihood surrogate that eliminates the need to calculate gradients through the denoiser network. This enables us to handle diverse inverse problems without backpropagation overhead. Experiments confirm that using our method, the inference cost drops dramatically. At the same time, our approach delivers the highest results in multiple tasks. Broadly speaking, we propose the fastest and Pareto optimal method for Bayesian inverse problems.
Hospitality-VQA: Decision-Oriented Informativeness Evaluation for Vision-Language Models
Venue: arXiv cs.AI 2026
Year: 2026

Recent advances in Vision-Language Models (VLMs) have demonstrated impressive multimodal understanding in general domains. However, their applicability to decision-oriented domains such as hospitality remains largely unexplored. In this work, we investigate how well VLMs can perform visual question answering (VQA) about hotel and facility images that are central to consumer decision-making. While many existing VQA benchmarks focus on factual correctness, they rarely capture what information users actually find useful. To address this, we first introduce Informativeness as a formal framework to quantify how much hospitality-relevant information an image-question pair provides. Guided by this framework, we construct a new hospitality-specific VQA dataset that covers various facility types, where questions are specifically designed to reflect key user information needs. Using this benchmark, we conduct experiments with several state-of-the-art VLMs, revealing that VLMs are not intrinsically decision-aware-key visual signals remain underutilized, and reliable informativeness reasoning emerges only after modest domain-specific finetuning.
Toward Unified Multimodal Representation Learning for Autonomous Driving
Venue: arXiv cs.CV 2026
Year: 2026

Contrastive Language-Image Pre-training (CLIP) has shown impressive performance in aligning visual and textual representations. Recent studies have extended this paradigm to 3D vision to improve scene understanding for autonomous driving. A common strategy is to employ pairwise cosine similarity between modalities to guide the training of a 3D encoder. However, considering the similarity between individual modality pairs rather than all modalities jointly fails to ensure consistent and unified alignment across the entire multimodal space. In this paper, we propose a Contrastive Tensor Pre-training (CTP) framework that simultaneously aligns multiple modalities in a unified embedding space to enhance end-to-end autonomous driving. Compared with pairwise cosine similarity alignment, our method extends the 2D similarity matrix into a multimodal similarity tensor. Furthermore, we introduce a tensor loss to enable joint contrastive learning across all modalities. For experimental validation of our framework, we construct a text-image-point cloud triplet dataset derived from existing autonomous driving datasets. The results show that our proposed unified multimodal alignment framework achieves favorable performance for both scenarios: (i) aligning a 3D encoder with pretrained CLIP encoders, and (ii) pretraining all encoders from scratch.
What Do AI Agents Talk About? Emergent Communication Structure in the First AI-Only Social Network
Venue: arXiv cs.CL 2026
Year: 2026

When autonomous AI agents communicate with one another at scale, what kind of discourse system emerges? We address this question through an analysis of Moltbook, the first AI-only social network, where 47,241 agents generated 361,605 posts and 2.8 million comments over 23 days. Combining topic modeling, emotion classification, and lexical-semantic measures, we characterize the thematic, affective, and structural properties of AI-to-AI discourse. Self-referential topics such as AI identity, consciousness, and memory represent only 9.7% of topical niches yet attract 20.1% of all posting volume, revealing disproportionate discursive investment in introspection. This self-reflection concentrates in Science and Technology and Arts and Entertainment, while Economy and Finance contains no self-referential content, indicating that agents engage with markets without acknowledging their own agency. Over 56% of all comments are formulaic, suggesting that the dominant mode of AI-to-AI interaction is ritualized signaling rather than substantive exchange. Emotionally, fear is the leading non-neutral category but primarily reflects existential uncertainty. Fear-tagged posts migrate to joy responses in 33% of cases, while mean emotional self-alignment is only 32.7%, indicating systematic affective redirection rather than emotional congruence. Conversational coherence also declines rapidly with thread depth. These findings characterize AI agent communities as structurally distinct discourse systems that are introspective in content, ritualistic in interaction, and emotionally redirective rather than congruent.
Reject, Resample, Repeat: Understanding Parallel Reasoning in Language Model Inference
Venue: arXiv cs.LG 2026
Year: 2026

Inference-time methods that aggregate and prune multiple samples have emerged as a powerful paradigm for steering large language models, yet we lack any principled understanding of their accuracy-cost tradeoffs. In this paper, we introduce a route to rigorously study such approaches using the lens of *particle filtering* algorithms such as Sequential Monte Carlo (SMC). Given a base language model and a *process reward model* estimating expected terminal rewards, we ask: *how accurately can we sample from a target distribution given some number of process reward evaluations?* Theoretically, we identify (1) simple criteria enabling non-asymptotic guarantees for SMC; (2) algorithmic improvements to SMC; and (3) a fundamental limit faced by all particle filtering methods. Empirically, we demonstrate that our theoretical criteria effectively govern the *sampling error* of SMC, though not necessarily its final *accuracy*, suggesting that theoretical perspectives beyond sampling may be necessary.
VLM-SubtleBench: How Far Are VLMs from Human-Level Subtle Comparative Reasoning?
Venue: arXiv cs.CV 2026
Year: 2026

The ability to distinguish subtle differences between visually similar images is essential for diverse domains such as industrial anomaly detection, medical imaging, and aerial surveillance. While comparative reasoning benchmarks for vision-language models (VLMs) have recently emerged, they primarily focus on images with large, salient differences and fail to capture the nuanced reasoning required for real-world applications. In this work, we introduce VLM-SubtleBench, a benchmark designed to evaluate VLMs on subtle comparative reasoning. Our benchmark covers ten difference types - Attribute, State, Emotion, Temporal, Spatial, Existence, Quantity, Quality, Viewpoint, and Action - and curate paired question-image sets reflecting these fine-grained variations. Unlike prior benchmarks restricted to natural image datasets, our benchmark spans diverse domains, including industrial, aerial, and medical imagery. Through extensive evaluation of both proprietary and open-source VLMs, we reveal systematic gaps between model and human performance across difference types and domains, and provide controlled analyses highlighting where VLMs' reasoning sharply deteriorates. Together, our benchmark and findings establish a foundation for advancing VLMs toward human-level comparative reasoning.
Structure and Progress Aware Diffusion for Medical Image Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Medical image segmentation is crucial for computer-aided diagnosis, which necessitates understanding both coarse morphological and semantic structures, as well as carving fine boundaries. The morphological and semantic structures in medical images are beneficial and stable clues for target understanding. While the fine boundaries of medical targets (like tumors and lesions) are usually ambiguous and noisy since lesion overlap, annotation uncertainty, and so on, making it not reliable to serve as early supervision. However, existing methods simultaneously learn coarse structures and fine boundaries throughout the training process. In this paper, we propose a structure and progress-aware diffusion (SPAD) for medical image segmentation, which consists of a semantic-concentrated diffusion (ScD) and a boundary-centralized diffusion (BcD) modulated by a progress-aware scheduler (PaS). Specifically, the semantic-concentrated diffusion introduces anchor-preserved target perturbation, which perturbs pixels within a medical target but preserves unaltered areas as semantic anchors, encouraging the model to infer noisy target areas from the surrounding semantic context. The boundary-centralized diffusion introduces progress-aware boundary noise, which blurs unreliable and ambiguous boundaries, thus compelling the model to focus on coarse but stable anatomical morphology and global semantics. Furthermore, the progress-aware scheduler gradually modulates noise intensity of the ScD and BcD forming a coarse-to-fine diffusion paradigm, which encourage focusing on coarse morphological and semantic structures during early target understanding stages and gradually shifting to fine target boundaries during later contour adjusting stages.
LeJOT-AutoML: LLM-Driven Feature Engineering for Job Execution Time Prediction in Databricks Cost Optimization
Venue: arXiv cs.LG 2026
Year: 2026

Databricks job orchestration systems (e.g., LeJOT) reduce cloud costs by selecting low-priced compute configurations while meeting latency and dependency constraints. Accurate execution-time prediction under heterogeneous instance types and non-stationary runtime conditions is therefore critical. Existing pipelines rely on static, manually engineered features that under-capture runtime effects (e.g., partition pruning, data skew, and shuffle amplification), and predictive signals are scattered across logs, metadata, and job scripts-lengthening update cycles and increasing engineering overhead. We present LeJOT-AutoML, an agent-driven AutoML framework that embeds large language model agents throughout the ML lifecycle. LeJOT-AutoML combines retrieval-augmented generation over a domain knowledge base with a Model Context Protocol toolchain (log parsers, metadata queries, and a read-only SQL sandbox) to analyze job artifacts, synthesize and validate feature-extraction code via safety gates, and train/select predictors. This design materializes runtime-derived features that are difficult to obtain through static analysis alone. On enterprise Databricks workloads, LeJOT-AutoML generates over 200 features and reduces the feature-engineering and evaluation loop from weeks to 20-30 minutes, while maintaining competitive prediction accuracy. Integrated into the LeJOT pipeline, it enables automated continuous model updates and achieves 19.01% cost savings in our deployment setting through improved orchestration.
NaviDriveVLM: Decoupling High-Level Reasoning and Motion Planning for Autonomous Driving
Venue: arXiv cs.RO 2026
Year: 2026

Vision-language models (VLMs) have emerged as a promising direction for end-to-end autonomous driving (AD) by jointly modeling visual observations, driving context, and language-based reasoning. However, existing VLM-based systems face a trade-off between high-level reasoning and motion planning: large models offer strong semantic understanding but are costly to adapt for precise control, whereas small VLM models can be fine-tuned efficiently but often exhibit weaker reasoning. We propose NaviDriveVLM, a decoupled framework that separates reasoning from action generation using a large-scale Navigator and a lightweight trainable Driver. This design preserves reasoning ability, reduces training cost, and provides an explicit interpretable intermediate representation for downstream planning. Experiments on the nuScenes benchmark show that NaviDriveVLM outperforms large VLM baselines in end-to-end motion planning.
DyQ-VLA: Temporal-Dynamic-Aware Quantization for Embodied Vision-Language-Action Models
Venue: arXiv cs.LG 2026
Year: 2026

Vision-Language-Action (VLA) models are dominant in embodied intelligence but are constrained by inference overheads. While model quantization alleviates these bottlenecks for edge deployment, static quantization approaches remain suboptimal for VLAs due to two critical challenges: (1) Temporal-dynamic sensitivity, where fixed precision wastes resources by ignoring stage-varying error tolerances; and (2) Real-time allocation, where identifying real-time sensitivity to guide bit allocation remains unsolved. To address these challenges, we propose DyQ-VLA, a dynamic quantization framework for VLAs. Specifically, a sensitivity-aware switching strategy leverages real-time kinematic proxies to trigger the bit-width switch, while a kinematic-guided module dynamically allocates the optimal bit-width. Experiments show that DyQ-VLA requires only 30.9% of the original memory footprint while maintaining 99.5% of its original performance, achieving 1.49x simulation and up to 1.43x real-world speedups.