OpenRaiser/Intern-Atlas huggingface dataset:
PVminer: A Domain-Specific Tool to Detect the Patient Voice in Patient Generated Data
Venue: arXiv cs.CL 2026
Year: 2026

Patient-generated text such as secure messages, surveys, and interviews contains rich expressions of the patient voice (PV), reflecting communicative behaviors and social determinants of health (SDoH). Traditional qualitative coding frameworks are labor intensive and do not scale to large volumes of patient-authored messages across health systems. Existing machine learning (ML) and natural language processing (NLP) approaches provide partial solutions but often treat patient-centered communication (PCC) and SDoH as separate tasks or rely on models not well suited to patient-facing language. We introduce PVminer, a domain-adapted NLP framework for structuring patient voice in secure patient-provider communication. PVminer formulates PV detection as a multi-label, multi-class prediction task integrating patient-specific BERT encoders (PV-BERT-base and PV-BERT-large), unsupervised topic modeling for thematic augmentation (PV-Topic-BERT), and fine-tuned classifiers for Code, Subcode, and Combo-level labels. Topic representations are incorporated during fine-tuning and inference to enrich semantic inputs. PVminer achieves strong performance across hierarchical tasks and outperforms biomedical and clinical pre-trained baselines, achieving F1 scores of 82.25% (Code), 80.14% (Subcode), and up to 77.87% (Combo). An ablation study further shows that author identity and topic-based augmentation each contribute meaningful gains. Pre-trained models, source code, and documentation will be publicly released, with annotated datasets available upon request for research use.
NoRD: A Data-Efficient Vision-Language-Action Model that Drives without Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Vision-Language-Action (VLA) models are advancing autonomous driving by replacing modular pipelines with unified end-to-end architectures. However, current VLAs face two expensive requirements: (1) massive dataset collection, and (2) dense reasoning annotations. In this work, we address both challenges with NORD (No Reasoning for Driving). Compared to existing VLAs, NORD achieves competitive performance while being fine-tuned on <60% of the data and no reasoning annotations, resulting in 3x fewer tokens. We identify that standard Group Relative Policy Optimization (GRPO) fails to yield significant improvements when applied to policies trained on such small, reasoning-free datasets. We show that this limitation stems from difficulty bias, which disproportionately penalizes reward signals from scenarios that produce high-variance rollouts within GRPO. NORD overcomes this by incorporating Dr. GRPO, a recent algorithm designed to mitigate difficulty bias in LLMs. As a result, NORD achieves competitive performance on Waymo and NAVSIM with a fraction of the training data and no reasoning overhead, enabling more efficient autonomous systems. Website: https://nord-vla-ai.github.io/
Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids
Venue: arXiv cs.RO 2026
Year: 2026

Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods such as sampling and trajectory optimization do not exploit this explicit connectivity information, and search-based methods such as A* suffer from scalability issues in large-scale high-resolution maps. In many applications, Euclidean shortest paths form the underpinning of the navigation system. For such applications, any-angle planning methods, which find optimal paths by connecting corners of obstacles with straight-line segments, provide a simple and efficient solution. In this paper, we present a method that has the optimality and completeness properties of any-angle planners while overcoming computational tractability issues common to search-based methods by exploiting multi-resolution representations. Extensive experiments on real and synthetic environments demonstrate the proposed approach's solution quality and speed, outperforming even sampling-based methods. The framework is open-sourced to allow the robotics and planning community to build on our research.
Seeing Through Words: Controlling Visual Retrieval Quality with Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Text-to-image retrieval is a fundamental task in vision-language learning, yet in real-world scenarios it is often challenged by short and underspecified user queries. Such queries are typically only one or two words long, rendering them semantically ambiguous, prone to collisions across diverse visual interpretations, and lacking explicit control over the quality of retrieved images. To address these issues, we propose a new paradigm of quality-controllable retrieval, which enriches short queries with contextual details while incorporating explicit notions of image quality. Our key idea is to leverage a generative language model as a query completion function, extending underspecified queries into descriptive forms that capture fine-grained visual attributes such as pose, scene, and aesthetics. We introduce a general framework that conditions query completion on discretized quality levels, derived from relevance and aesthetic scoring models, so that query enrichment is not only semantically meaningful but also quality-aware. The resulting system provides three key advantages: 1) flexibility, it is compatible with any pretrained vision-language model (VLMs) without modification; 2) transparency, enriched queries are explicitly interpretable by users; and 3) controllability, enabling retrieval results to be steered toward user-preferred quality levels. Extensive experiments demonstrate that our proposed approach significantly improves retrieval results and provides effective quality control, bridging the gap between the expressive capacity of modern VLMs and the underspecified nature of short user queries. Our code is available at https://github.com/Jianglin954/QCQC.
EQ-5D Classification Using Biomedical Entity-Enriched Pre-trained Language Models and Multiple Instance Learning
Venue: arXiv cs.CL 2026
Year: 2026

The EQ-5D (EuroQol 5-Dimensions) is a standardized instrument for the evaluation of health-related quality of life. In health economics, systematic literature reviews (SLRs) depend on the correct identification of publications that use the EQ-5D, but manual screening of large volumes of scientific literature is time-consuming, error-prone, and inconsistent. In this study, we investigate fine-tuning of general-purpose (BERT) and domain-specific (SciBERT, BioBERT) pre-trained language models (PLMs), enriched with biomedical entity information extracted through scispaCy models for each statement, to improve EQ-5D detection from abstracts. We conduct nine experimental setups, including combining three scispaCy models with three PLMs, and evaluate their performance at both the sentence and study levels. Furthermore, we explore a Multiple Instance Learning (MIL) approach with attention pooling to aggregate sentence-level information into study-level predictions, where each abstract is represented as a bag of enriched sentences (by scispaCy). The findings indicate consistent improvements in F1-scores (reaching 0.82) and nearly perfect recall at the study-level, significantly exceeding classical bag-of-words baselines and recently reported PLM baselines. These results show that entity enrichment significantly improves domain adaptation and model generalization, enabling more accurate automated screening in systematic reviews.
Field-Theoretic Memory for AI Agents: Continuous Dynamics for Context Preservation
Venue: arXiv cs.CL 2026
Year: 2026

We present a memory system for AI agents that treats stored information as continuous fields governed by partial differential equations rather than discrete entries in a database. The approach draws from classical field theory: memories diffuse through semantic space, decay thermodynamically based on importance, and interact through field coupling in multi-agent scenarios. We evaluate the system on two established long-context benchmarks: LoCoMo (ACL 2024) with 300-turn conversations across 35 sessions, and LongMemEval (ICLR 2025) testing multi-session reasoning over 500+ turns. On LongMemEval, the field-theoretic approach achieves significant improvements: +116% F1 on multi-session reasoning (p<0.01, d= 3.06), +43.8% on temporal reasoning (p<0.001, d= 9.21), and +27.8% retrieval recall on knowledge updates (p<0.001, d= 5.00). Multi-agent experiments show near-perfect collective intelligence (>99.8%) through field coupling. Code is available at github.com/rotalabs/rotalabs-fieldmem.
Make Every Draft Count: Hidden State based Speculative Decoding
Venue: arXiv cs.CL 2026
Year: 2026

Speculative decoding has emerged as a pivotal technique to accelerate LLM inference by employing a lightweight draft model to generate candidate tokens that are subsequently verified by the target model in parallel. However, while this paradigm successfully increases the arithmetic intensity of memory-bound inference, it causes significant compute inefficiency: the majority of draft tokens fail verification and are discarded, resulting in waste of computation. Motivated by the goal of recollecting this wasted computation, we propose a novel system that transforms discarded drafts into reusable tokens. Our key insight is to perform auto-regressive prediction at the hidden states level and postpone the integrating token information after the hidden states generation, so the draft hidden states are not contaminated by incorrect tokens, enabling hidden state reuse. To implement such a system, first we introduce a draft model architecture based on auto-regressive hidden states, which preserves richer semantics than token-based drafters to facilitate draft repurposing. Second, we design an efficient token information injection mechanism that leverages our specialized draft model to construct high-quality draft token trees and enables resampling tokens from verification failures. Third, we eliminate the overhead hidden in our design to further maximize hardware utilization. We conducted extensive evaluations against various baselines, demonstrating up to a 3.3x speedup against standard speculative decoding.
AngelSlim: A more accessible, comprehensive, and efficient toolkit for large model compression
Venue: arXiv cs.LG 2026
Year: 2026

This technical report introduces AngelSlim, a comprehensive and versatile toolkit for large model compression developed by the Tencent Hunyuan team. By consolidating cutting-edge algorithms, including quantization, speculative decoding, token pruning, and distillation. AngelSlim provides a unified pipeline that streamlines the transition from model compression to industrial-scale deployment. To facilitate efficient acceleration, we integrate state-of-the-art FP8 and INT8 Post-Training Quantization (PTQ) algorithms alongside pioneering research in ultra-low-bit regimes, featuring HY-1.8B-int2 as the first industrially viable 2-bit large model. Beyond quantization, we propose a training-aligned speculative decoding framework compatible with multimodal architectures and modern inference engines, achieving 1.8x to 2.0x throughput gains without compromising output correctness. Furthermore, we develop a training-free sparse attention framework that reduces Time-to-First-Token (TTFT) in long-context scenarios by decoupling sparse kernels from model architectures through a hybrid of static patterns and dynamic token selection. For multimodal models, AngelSlim incorporates specialized pruning strategies, namely IDPruner for optimizing vision tokens via Maximal Marginal Relevance and Samp for adaptive audio token merging and pruning. By integrating these compression strategies from low-level implementations, AngelSlim enables algorithm-focused research and tool-assisted deployment.
Premature Dimensional Collapse and Tensor-based Execution Paths for High-Dimensional Relational Operations in Cost-Based Database Systems
Venue: arXiv cs.DB 2026
Year: 2026

Modern cost-based DBMSs frequently exhibit execution instability and tail-latency amplification when high-dimensional relational operations trigger memory-regime transitions such as hash-table spilling and external materialization. We identify a structural failure mode in which intermediate representations are prematurely linearized under memory pressure, causing disproportionate I/O amplification and phase-transition-like latency behavior. To mitigate this, we propose a tensor-based execution path that delays premature linearization and preserves higher-dimensional locality through late materialization and structured intermediate layouts. Using a modified PostgreSQL-based prototype and controlled microbenchmarks, we show that under constrained memory settings (e.g., work_mem=1MB) conventional execution can spill hundreds of megabytes and exceed multi-second P99 latency, while the proposed path maintains stable execution and reduces P99 latency to sub-second levels. Our results suggest that representation timing is a first-class design variable for execution stability, complementing traditional optimization efforts focused on cardinality estimation and operator throughput.
HorizonForge: Driving Scene Editing with Any Trajectories and Any Vehicles
Venue: arXiv cs.CV 2026
Year: 2026

Controllable driving scene generation is critical for realistic and scalable autonomous driving simulation, yet existing approaches struggle to jointly achieve photorealism and precise control. We introduce HorizonForge, a unified framework that reconstructs scenes as editable Gaussian Splats and Meshes, enabling fine-grained 3D manipulation and language-driven vehicle insertion. Edits are rendered through a noise-aware video diffusion process that enforces spatial and temporal consistency, producing diverse scene variations in a single feed-forward pass without per-trajectory optimization. To standardize evaluation, we further propose HorizonSuite, a comprehensive benchmark spanning ego- and agent-level editing tasks such as trajectory modifications and object manipulation. Extensive experiments show that Gaussian-Mesh representation delivers substantially higher fidelity than alternative 3D representations, and that temporal priors from video diffusion are essential for coherent synthesis. Combining these findings, HorizonForge establishes a simple yet powerful paradigm for photorealistic, controllable driving simulation, achieving an 83.4% user-preference gain and a 25.19% FID improvement over the second best state-of-the-art method. Project page: https://horizonforge.github.io/ .
Representation Theorems for Cumulative Propositional Dependence Logics
Venue: arXiv cs.LO 2026
Year: 2026

This paper establishes and proves representation theorems for cumulative propositional dependence logic and for cumulative propositional logic with team semantics. Cumulative logics are famously given by System C. For propositional dependence logic, we show that System C entailments are exactly captured by cumulative models from Kraus, Lehmann and Magidor. On the other hand, we show that entailment in cumulative propositional logics with team semantics is exactly captured by cumulative and asymmetric models. For the latter, we also obtain equivalence with cumulative logics based on propositional logic with classical semantics. The proofs will be useful for proving representation theorems for other cumulative logics without negation and material implication.
Autonomous Sea Turtle Robot for Marine Fieldwork
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous robots can transform how we observe marine ecosystems, but close-range operation in reefs and other cluttered habitats remains difficult. Vehicles must maneuver safely near animals and fragile structures while coping with currents, variable illumination and limited sensing. Previous approaches simplify these problems by leveraging soft materials and bioinspired swimming designs, but such platforms remain limited in terms of deployable autonomy. Here we present a sea turtle-inspired autonomous underwater robot that closed the gap between bioinspired locomotion and field-ready autonomy through a tightly integrated, vision-driven control stack. The robot combines robust depth-heading stabilization with obstacle avoidance and target-centric control, enabling it to track and interact with moving objects in complex terrain. We validate the robot in controlled pool experiments and in a live coral reef exhibit at the New England Aquarium, demonstrating stable operation and reliable tracking of fast-moving marine animals and human divers. To the best of our knowledge, this is the first integrated biomimetic robotic system, combining novel hardware, control, and field experiments, deployed to track and monitor real marine animals in their natural environment. During off-tether experiments, we demonstrate safe navigation around obstacles (91\% success rate in the aquarium exhibit) and introduce a low-compute onboard tracking mode. Together, these results establish a practical route toward soft-rigid hybrid, bioinspired underwater robots capable of minimally disruptive exploration and close-range monitoring in sensitive ecosystems.
From Cooperation to Hierarchy: A Study of Dynamics of Hierarchy Emergence in a Multi-Agent System
Venue: arXiv cs.MA 2026
Year: 2026

A central premise in evolutionary biology is that individual variation can generate information asymmetries that facilitate the emergence of hierarchical organisation. To examine this process, we develop an agent-based model (ABM) to identify the minimal conditions under which hierarchy arises in dynamic multi-agent systems, focusing on the roles of initial heterogeneity and mutation amplitude across generations. Hierarchical organisation is quantified using the Trophic Incoherence (TI) metric, which captures directional asymmetries in interaction networks. Our results show that even small individual differences can be amplified through repeated local interactions involving reproduction, competition, and cooperation, but that hierarchical order is markedly more sensitive to mutation amplitude than to initial heterogeneity. Across repeated trials, stable hierarchies reliably emerge only when mutation amplitude is sufficiently high, while initial heterogeneity primarily affects early formation rather than long-term persistence. Overall, these findings demonstrate how simple interaction rules can give rise to both the emergence and persistence of hierarchical organisation, providing a quantitative account of how structured inequality can develop from initially homogeneous populations.
WildSVG: Towards Reliable SVG Generation Under Real-Word Conditions
Venue: arXiv cs.CV 2026
Year: 2026

We introduce the task of SVG extraction, which consists in translating specific visual inputs from an image into scalable vector graphics. Existing multimodal models achieve strong results when generating SVGs from clean renderings or textual descriptions, but they fall short in real-world scenarios where natural images introduce noise, clutter, and domain shifts. A central challenge in this direction is the lack of suitable benchmarks. To address this need, we introduce the WildSVG Benchmark, formed by two complementary datasets: Natural WildSVG, built from real images containing company logos paired with their SVG annotations, and Synthetic WildSVG, which blends complex SVG renderings into real scenes to simulate difficult conditions. Together, these resources provide the first foundation for systematic benchmarking SVG extraction. We benchmark state-of-the-art multimodal models and find that current approaches perform well below what is needed for reliable SVG extraction in real scenarios. Nonetheless, iterative refinement methods point to a promising path forward, and model capabilities are steadily improving
Overconfident Errors Need Stronger Correction: Asymmetric Confidence Penalties for Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards (RLVR) has become the leading paradigm for enhancing reasoning in Large Language Models (LLMs). However, standard RLVR algorithms suffer from a well-documented pathology: while they improve Pass@1 accuracy through sharpened sampling, they simultaneously narrow the model's reasoning boundary and reduce generation diversity. We identify a root cause that existing methods overlook: the uniform penalization of errors. Current approaches -- whether data-filtering methods that select prompts by difficulty, or advantage normalization schemes -- treat all incorrect rollouts within a group identically. We show that this uniformity allows overconfident errors (incorrect reasoning paths that the RL process has spuriously reinforced) to persist and monopolize probability mass, ultimately suppressing valid exploratory trajectories. To address this, we propose the Asymmetric Confidence-aware Error Penalty (ACE). ACE introduces a per-rollout confidence shift metric, c_i = log(pi_theta(y_i|x) / pi_ref(y_i|x)), to dynamically modulate negative advantages. Theoretically, we demonstrate that ACE's gradient can be decomposed into the gradient of a selective regularizer restricted to overconfident errors, plus a well-characterized residual that partially moderates the regularizer's strength. We conduct extensive experiments fine-tuning Qwen2.5-Math-7B, Qwen3-8B-Base, and Llama-3.1-8B-Instruct on the DAPO-Math-17K dataset using GRPO and DAPO within the VERL framework. Evaluated on MATH-500 and AIME 2025, ACE composes seamlessly with existing methods and consistently improves the full Pass@k spectrum across all three model families and benchmarks.
Proximal-IMH: Proximal Posterior Proposals for Independent Metropolis-Hastings with Approximate Operators
Venue: arXiv cs.LG 2026
Year: 2026

We consider the problem of sampling from a posterior distribution arising in Bayesian inverse problems in science, engineering, and imaging. Our method belongs to the family of independence Metropolis-Hastings (IMH) sampling algorithms, which are common in Bayesian inference. Relying on the existence of an approximate posterior distribution that is cheaper to sample from but may have significant bias, we introduce Proximal-IMH, a scheme that removes this bias by correcting samples from the approximate posterior through an auxiliary optimization problem. This yields a local adjustment that trades off adherence to the exact model against stability around the approximate reference point. For idealized settings, we prove that the proximal correction tightens the match between approximate and exact posteriors, thereby improving acceptance rates and mixing. The method applies to both linear and nonlinear input-output operators and is particularly suitable for inverse problems where exact posterior sampling is too expensive. We present numerical experiments including multimodal and data-driven priors with nonlinear input-output operators. The results show that Proximal-IMH reliably outperforms existing IMH variants.