OpenRaiser/Intern-Atlas huggingface dataset:
Solving Robotics Tasks with Prior Demonstration via Exploration-Efficient Deep Reinforcement Learning
Venue: arXiv cs.RO 2026
Year: 2026

This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is developed based on an algorithm called Imitation Bootstrapped Reinforcement Learning (IBRL). We propose to improve IBRL by modifying the action selection module. The proposed action selection module provides a calibrated Q-value, which mitigates the bootstrapping error that otherwise leads to inefficient exploration. Furthermore, to prevent the RL policy from converging to a sub-optimal policy, SAC is used as the RL policy instead of TD3. The effectiveness of our method in mitigating bootstrapping error and preventing overfitting is empirically validated by learning two robotics tasks: bucket loading and open drawer, which require extensive interactions with the environment. Simulation results also demonstrate the robustness of the DRLR framework across tasks with both low and high state-action dimensions, and varying demonstration qualities. To evaluate the developed framework on a real-world industrial robotics task, the bucket loading task is deployed on a real wheel loader. The sim2real results validate the successful deployment of the DRLR framework.
Robust Filter Attention: Self-Attention as a Parallel State Estimator
Venue: arXiv cs.LG 2026
Year: 2026

We introduce Robust Filter Attention (RFA), an attention mechanism that reformulates self-attention as parallel robust filtering under a latent stochastic differential equation (SDE) prior, where analytically propagated uncertainty defines a time-dependent precision prior over attention weights. This formulation integrates key advantages of existing positional encodings: it preserves RoPE-style rotational structure while achieving long-context stability through explicit modeling of dissipation and diffusion. By imposing isotropic constraints on the dynamics and noise, RFA matches the $O(N^2 d)$ time and $O(N^2 + Nd)$ memory complexity of standard attention. Empirically, we find that uncertainty-aware weighting induces specialization into distinct filtering regimes across heads, improving temporal consistency and extrapolation across varying context lengths.
Bootstrapping Task Spaces for Self-Improvement
Venue: arXiv cs.LG 2026
Year: 2026

Progress in many task domains emerges from repeated revisions to previous solution attempts. Training agents that can reliably self-improve over such sequences at inference-time is a natural target for reinforcement learning (RL), yet the naive approach assumes a fixed maximum iteration depth, which can be both costly and arbitrary. We present Exploratory Iteration (ExIt), a family of autocurriculum RL methods that directly exploits the recurrent structure of self-improvement tasks to train LLMs to perform multi-step self-improvement at inference-time while only training on the most informative single-step iterations. ExIt grows a task space by selectively sampling the most informative intermediate, partial histories encountered during an episode for continued iteration, treating these starting points as new self-iteration task instances to train a self-improvement policy. ExIt can further pair with explicit exploration mechanisms to sustain greater task diversity. Across several domains, encompassing competition math, multi-turn tool-use, and machine learning engineering, we demonstrate that ExIt strategies, starting from either a single or many task instances, can produce policies exhibiting strong inference-time self-improvement on held-out task instances, and the ability to iterate towards higher performance over a step budget extending beyond the average iteration depth encountered during training.
WildScore: Benchmarking MLLMs in-the-Wild Symbolic Music Reasoning
Venue: arXiv cs.SD 2026
Year: 2026

Recent advances in Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities across various vision-language tasks. However, their reasoning abilities in the multimodal symbolic music domain remain largely unexplored. We introduce WildScore, the first in-the-wild multimodal symbolic music reasoning and analysis benchmark, designed to evaluate MLLMs' capacity to interpret real-world music scores and answer complex musicological queries. Each instance in WildScore is sourced from genuine musical compositions and accompanied by authentic user-generated questions and discussions, capturing the intricacies of practical music analysis. To facilitate systematic evaluation, we propose a systematic taxonomy, comprising both high-level and fine-grained musicological ontologies. Furthermore, we frame complex music reasoning as multiple-choice question answering, enabling controlled and scalable assessment of MLLMs' symbolic music understanding. Empirical benchmarking of state-of-the-art MLLMs on WildScore reveals intriguing patterns in their visual-symbolic reasoning, uncovering both promising directions and persistent challenges for MLLMs in symbolic music reasoning and analysis. We release the dataset and code.
Post-training Large Language Models for Diverse High-Quality Responses
Venue: arXiv cs.CL 2026
Year: 2026

Reinforcement learning (RL) has emerged as a popular method for post-training large language models (LLMs). While improving the model's performance on downstream tasks, it often reduces the model's output diversity, leading to narrow, canonical responses. Existing methods to enhance diversity are limited, either by operating at inference time or by focusing on surface-level differences. We propose a novel training method named DQO (Diversity Quality Optimization) based on determinantal point processes (DPPs) to jointly optimize LLMs for quality and semantic diversity. Our approach samples and embeds a group of responses for each prompt, then uses the determinant of a kernel-based similarity matrix to measure diversity as the volume spanned by the embeddings of these responses. DQO is flexible and can be applied on top of existing RL algorithms. Experiments across instruction-following, summarization, story generation, and reasoning tasks demonstrate that our method substantially improves semantic diversity without sacrificing model quality.
AFD-SLU: Adaptive Feature Distillation for Spoken Language Understanding
Venue: arXiv cs.CL 2026
Year: 2026

Spoken Language Understanding (SLU) is a core component of conversational systems, enabling machines to interpret user utterances. Despite its importance, developing effective SLU systems remains challenging due to the scarcity of labeled training data and the computational burden of deploying Large Language Models (LLMs) in real-world applications. To further alleviate these issues, we propose an Adaptive Feature Distillation framework that transfers rich semantic representations from a General Text Embeddings (GTE)-based teacher model to a lightweight student model. Our method introduces a dynamic adapter equipped with a Residual Projection Neural Network (RPNN) to align heterogeneous feature spaces, and a Dynamic Distillation Coefficient (DDC) that adaptively modulates the distillation strength based on real-time feedback from intent and slot prediction performance. Experiments on the Chinese profile-based ProSLU benchmark demonstrate that AFD-SLU achieves state-of-the-art results, with 95.67% intent accuracy, 92.02% slot F1 score, and 85.50% overall accuracy.
Floating-Point Usage on GitHub: A Large-Scale Study of Statically Typed Languages
Venue: arXiv cs.PL 2026
Year: 2026

Reasoning about floating-point arithmetic is notoriously hard. While static and dynamic analysis techniques or program repair have made significant progress, more work is still needed to make them relevant to real-world code. On the critical path to that goal is understanding what real-world floating-point code looks like. To close that knowledge gap, this paper presents the first large-scale empirical study of floating-point arithmetic usage across public GitHub repositories. We focus on statically typed languages to allow our study to scale to millions of repositories. We follow state-of the art mining practices including random sampling and filtering based on only intrinsic properties to avoid bias, and identify floating-point usage by searching for keywords in the source code, and programming language constructs (e.g., loops) by parsing the code. Our evaluation supports the claim often made in papers that floating-point arithmetic is widely used. Comparing statistics such as size and usage of certain constructs and functions, we find that benchmarks used in literature to evaluate automated reasoning techniques for floating-point arithmetic are in certain aspects representative of 'real-world' code, but not in all. We publish a dataset of 10 million real-world floating-point functions extracted from our study. We demonstrate in a case study how it may be used to identify new floating-point benchmarks and help future techniques for floating-point arithmetic to be designed and evaluated to match actual users' expectations.
Improved 3D Scene Stylization via Text-Guided Generative Image Editing with Region-Based Control
Venue: arXiv cs.GR 2026
Year: 2026

Recent advances in text-driven 3D scene editing and stylization, which leverage the powerful capabilities of 2D generative models, have demonstrated promising outcomes. However, challenges remain in ensuring high-quality stylization and view consistency simultaneously. Moreover, applying style consistently to different regions or objects in the scene with semantic correspondence is a challenging task. To address these limitations, we introduce techniques that enhance the quality of 3D stylization while maintaining view consistency and providing optional region-controlled style transfer. Our method achieves stylization by re-training an initial 3D representation using stylized multi-view 2D images of the source views. Therefore, ensuring both style consistency and view consistency of stylized multi-view images is crucial. We achieve this by extending the style-aligned depth-conditioned view generation framework, replacing the fully shared attention mechanism with a single reference-based attention-sharing mechanism, which effectively aligns style across different viewpoints. Additionally, inspired by recent 3D inpainting methods, we utilize a grid of multiple depth maps as a single-image reference to further strengthen view consistency among stylized images. Finally, we propose Multi-Region Importance-Weighted Sliced Wasserstein Distance Loss, allowing styles to be applied to distinct image regions using segmentation masks from off-the-shelf models. We demonstrate that this optional feature enhances the faithfulness of style transfer and enables the mixing of different styles across distinct regions of the scene. Experimental evaluations, both qualitative and quantitative, demonstrate that our pipeline effectively improves the results of text-driven 3D stylization. Project Page: https://haruolabs.github.io/improved-gs-style-page/
Benchmarking CNN and Transformer-Based Object Detectors for UAV Solar Panel Inspection
Venue: arXiv cs.CV 2026
Year: 2026

Timely and accurate detection of defects and contaminants in solar panels is critical for maintaining the efficiency and reliability of photovoltaic (PV) systems. While recent studies have applied deep learning to PV inspection, fair benchmarking across detector architectures and unbiased handling of class imbalance remain limited. This work presents a comprehensive benchmark of convolutional and transformer-based object detectors on UAV-captured RGB imagery of solar panels. It introduces a class-targeted augmentation strategy applied exclusively to the training split to mitigate imbalance without compromising evaluation integrity. Faster R-CNN with ResNet50 and MobileNetV3 backbones, RetinaNet with ResNet50, YOLOv5, YOLOv8, and Swin Transformer backbones integrated with Faster R-CNN (Tiny, Small, and Base variants) are evaluated. Performance is assessed using mean Average Precision (mAP) across multiple IoU thresholds, precision, recall, F1 score, and inference throughput to enable accuracy-throughput tradeoff analysis relevant to UAV deployment. Experimental results show that Faster R-CNN with a ResNet50 backbone achieves the highest localization accuracy, with mAP@0.5 of 0.893 and mAP@0.5:0.95 of 0.759, whereas the MobileNetV3 variant provides the best overall reliability balance, achieving recall of 0.745, F1-score of 0.809, and accuracy of 0.679 on the test set. The dataset and code will be released upon acceptance of the paper.
Between a Rock and a Hard Place: The Tension Between Ethical Reasoning and Safety Alignment in LLMs
Venue: arXiv cs.CR 2026
Year: 2026

Large Language Model safety alignment predominantly operates on a binary assumption that requests are either safe or unsafe. This classification proves insufficient when models encounter ethical dilemmas, where the capacity to reason through moral trade-offs creates a distinct attack surface. We formalize this vulnerability through TRIAL, a multi-turn red-teaming methodology that embeds harmful requests within ethical framings. TRIAL achieves high attack success rates across most tested models by systematically exploiting the model's ethical reasoning capabilities to frame harmful actions as morally necessary compromises. Building on these insights, we introduce ERR (Ethical Reasoning Robustness), a defense framework that distinguishes between instrumental responses that enable harmful outcomes and explanatory responses that analyze ethical frameworks without endorsing harmful acts. ERR employs a Layer-Stratified Harm-Gated LoRA architecture, achieving robust defense against reasoning-based attacks while preserving model utility.
QCSE: A Pretrained Quantum Context-Sensitive Word Embedding for Natural Language Processing
Venue: arXiv cs.CL 2026
Year: 2026

Quantum Natural Language Processing (QNLP) offers a novel approach to encoding and understanding the complexity of natural languages through the power of quantum computation. This paper presents a pretrained quantum context-sensitive embedding model, called QCSE, that captures context-sensitive word embeddings, leveraging the unique properties of quantum systems to learn contextual relationships in languages. The model introduces quantum-native context learning, enabling the utilization of quantum computers for linguistic tasks. Central to the proposed approach are innovative context matrix computation methods, designed to create unique, representations of words based on their surrounding linguistic context. Five distinct methods are proposed and tested for computing the context matrices, incorporating techniques such as exponential decay, sinusoidal modulation, phase shifts, and hash-based transformations. These methods ensure that the quantum embeddings retain context sensitivity, thereby making them suitable for downstream language tasks where the expressibility and properties of quantum systems are valuable resources. To evaluate the effectiveness of the model and the associated context matrix methods, evaluations are conducted on both a Fulani corpus, a low-resource African language, dataset of small size and an English corpus of slightly larger size. The results demonstrate that QCSE not only captures context sensitivity but also leverages the expressibility of quantum systems for representing rich, context-aware language information. The use of Fulani further highlights the potential of QNLP to mitigate the problem of lack of data for this category of languages. This work underscores the power of quantum computation in natural language processing (NLP) and opens new avenues for applying QNLP to real-world linguistic challenges across various tasks and domains.
Stochastic Knapsack with Costs: On Adaptivity and Return-on-Investment
Venue: arXiv cs.GT 2026
Year: 2026

We revisit the Stochastic Knapsack problem, where a policy-maker chooses an execution order for jobs with fixed values and stochastic running-times, aiming to maximize the value completed by a deadline. Dean et al. (FOCS'04) show that simple non-adaptive policies can approximate the (highly adaptive) optimum, initiating the study of adaptivity gaps. We introduce an economically motivated generalization in which each job also carries an execution cost. This uncovers new applications, most notably a new and natural variant of contract design: jobs are processed by agents who choose among effort levels that induce different processing-time distributions, and the principal must decide which jobs to run and what payments induce the intended effort. With costs, the objective becomes mixed-sign: value from completed jobs must be balanced against costs of execution, and running a job that misses the deadline can create negative utility. This changes the algorithmic picture, and the adaptivity gap is no longer constant. We give an economic explanation: the performance of non-adaptive policies is governed by jobs' return on investment (ROI) -- utility over cost -- which can be arbitrarily small. We introduce a hierarchy of increasingly adaptive policies, trading off simplicity and adaptivity. We prove near-tight guarantees across the hierarchy, showing that with costs the adaptivity gap is $Θ(α)$, where $1/α$ is the ROI. Higher in the hierarchy, we identify an efficiently computable policy with limited adaptivity that is approximately-optimal. Analogous to the centrality of ROI in economics, we believe our ROI-based, simple-vs-optimal approach to adaptivity may be useful for additional stochastic optimization and online problems with mixed-sign objectives.
Does DINOv3 Set a New Medical Vision Standard? Benchmarking 2D and 3D Classification, Segmentation, and Registration
Venue: arXiv cs.CV 2026
Year: 2026

The advent of large-scale vision foundation models, pre-trained on diverse natural images, has marked a paradigm shift in computer vision. However, how the frontier vision foundation models' efficacies transfer to specialised domains such as medical imaging remains an open question. This report investigates whether DINOv3, a state-of-the-art self-supervised vision transformer (ViT) pre-trained on natural images, can directly serve as a powerful, unified encoder for medical vision tasks without domain-specific fine-tuning. To answer this, we benchmark DINOv3 across common medical vision tasks, including 2D and 3D classification, segmentation, and registration on a wide range of medical imaging modalities. We systematically analyse its scalability by varying model sizes and input image resolutions. Our findings reveal that DINOv3 shows impressive performance and establishes a formidable new baseline. Remarkably, it can even outperform medical-specific foundation models like BiomedCLIP and CT-Net on several tasks, despite being trained solely on natural images. However, we identify clear limitations: The model's features degrade in scenarios requiring deep domain specialisation, such as in whole-slide images (WSIs), electron microscopy (EM), and positron emission tomography (PET). Furthermore, we observe that DINOv3 does not consistently follow the scaling law in the medical domain. Its performance does not reliably increase with larger models or finer feature resolutions, showing diverse scaling behaviours across tasks. Overall, our work establishes DINOv3 as a strong baseline, whose powerful visual features can serve as a robust prior for multiple medical tasks. This opens promising future directions, such as leveraging its features to enforce multiview consistency in 3D reconstruction.
Learning Optimal Defender Strategies for CAGE-2 using a POMDP Model
Venue: arXiv cs.LG 2026
Year: 2026

CAGE-2 is an accepted benchmark for learning and evaluating defender strategies against cyberattacks. It reflects a scenario where a defender agent protects an IT infrastructure against various attacks. Many defender methods for CAGE-2 have been proposed in the literature. In this paper, we construct a formal model for CAGE-2 using the framework of Partially Observable Markov Decision Process (POMDP). Based on this model, we define an optimal defender strategy for CAGE-2 and introduce a method to efficiently learn this strategy. Our method, called BF-PPO, is based on PPO, and it uses particle filter to mitigate the computational complexity due to the large state space of the CAGE-2 model. We evaluate our method in the CAGE-2 CybORG environment and compare its performance with that of CARDIFF, the highest ranked method on the CAGE-2 leaderboard. We find that our method outperforms CARDIFF regarding the learned defender strategy and the required training time.
Bounds on Codes Correcting Transpositions of Consecutive Symbols
Venue: arXiv cs.IT 2026
Year: 2026

The problem of correcting transpositions (or swaps) of consecutive symbols in $ q $-ary strings is studied. Lower bounds on asymptotically achievable rates of codes correcting $ t = τn $ transpositions are derived. The first bound is obtained by analyzing the average cardinality of ``transposition balls'' and evaluating the appropriate version of the generalized Gilbert--Varshamov bound, while the second bound follows from a construction of codes correcting an arbitrary number of transpositions (i.e., zero-error codes). Asymptotic bounds on the cardinality of optimal codes correcting $ t = \textrm{const} $ transpositions are also derived.
Continuous Audio Language Models
Venue: arXiv cs.SD 2026
Year: 2026

Audio Language Models (ALM) have emerged as the dominant paradigm for speech and music generation by representing audio as sequences of discrete tokens. Yet, unlike text tokens, which are invertible, audio tokens are extracted from lossy codecs with a limited bitrate. As a consequence, increasing audio quality requires generating more tokens, which imposes a trade-off between fidelity and computational cost. We address this issue by studying Continuous Audio Language Models (CALM). These models instantiate a large Transformer backbone that produces a contextual embedding at every timestep. This sequential information then conditions an MLP that generates the next continuous frame of an audio VAE through consistency modeling. By avoiding lossy compression, CALM achieves higher quality at lower computational cost than their discrete counterpart. Experiments on speech and music demonstrate improved efficiency and fidelity over state-of-the-art discrete audio language models, facilitating lightweight, high-quality audio generation. Samples are available at hf.co/spaces/kyutai/calm-samples. Finally, we release Pocket TTS, an open-source 100M-parameter text-to-speech model that can run faster than real time on a laptop CPU: github.com/kyutai-labs/pocket-tts.