OpenRaiser/Intern-Atlas huggingface dataset:
Autoregressive Synthesis of Sparse and Semi-Structured Mixed-Type Data
Venue: arXiv cs.LG 2026
Year: 2026

Synthetic data generation is a critical capability for data sharing, privacy compliance, system benchmarking and test data provisioning. Existing methods assume dense, fixed-schema tabular data, yet this assumption is increasingly at odds with modern data systems - from document databases, REST APIs to data lakes - which store and exchange data in sparse, semi-structured formats like JSON. Applying existing tabular methods to such data requires flattening of nested data into wide, sparse tables which scales poorly. We present Origami, an autoregressive transformer-based architecture that tokenizes data records, including nested objects and variable length arrays, into sequences of key, value and structural tokens. This representation natively handles sparsity, mixed types and hierarchical structure without flattening or imputation. Origami outperforms baselines spanning GAN, VAE, diffusion and autoregressive architectures on fidelity, utility and detection metrics across nearly all settings, while maintaining high privacy scores. On semi-structured datasets with up to 38% sparsity, baseline synthesizers either fail to scale or degrade substantially, while Origami maintains high-fidelity synthesis that is harder to distinguish from real data. To the best of our knowledge, Origami is the first architecture capable of natively modeling and generating semi-structured data end-to-end.
Scaling Tasks, Not Samples: Mastering Humanoid Control through Multi-Task Model-Based Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where learning requires active interaction. We argue that effective online learning should scale the \emph{number of tasks}, rather than the number of samples per task. This regime reveals a structural advantage of model-based reinforcement learning (MBRL). Because physical dynamics are invariant across tasks, a shared world model can aggregate multi-task experience to learn robust, task-agnostic representations. In contrast, model-free methods suffer from gradient interference when tasks demand conflicting actions in similar states. Task diversity therefore acts as a regularizer for MBRL, improving dynamics learning and sample efficiency. We instantiate this idea with \textbf{EfficientZero-Multitask (EZ-M)}, a sample-efficient multi-task MBRL algorithm for online learning. Evaluated on \textbf{HumanoidBench}, a challenging whole-body control benchmark, EZ-M achieves state-of-the-art performance with significantly higher sample efficiency than strong baselines, without extreme parameter scaling. These results establish task scaling as a critical axis for scalable robotic learning. The project website is available \href{https://yewr.github.io/ez_m/}{here}.
Production-Grade AI Coding System for Client-Side Development
Venue: arXiv cs.SE 2026
Year: 2026

Deploying large language model-based code generation in real-world client-side development remains challenging due to heterogeneous inputs, strict engineering constraints, and complex interaction logic expressed in product requirement documents (PRDs). Existing design-to-code approaches often focus on visual translation or single-shot generation, and struggle to reliably align generated code with production requirements. This paper presents a production-grade AI coding system designed for client-side development under realistic industrial constraints. The system adopts a structured, multi-stage pipeline that integrates Figma designs, natural-language PRDs, and domain-specific engineering knowledge into explicit intermediate artifacts, enabling controlled planning and incremental code generation. By grounding PRD understanding in concrete UI components, the system improves alignment between product requirements and implementation. We evaluate the system on proprietary but realistic datasets derived from production client-side projects. Results show that domain-specific adaptation significantly improves PRD understanding accuracy, while end-to-end evaluations demonstrate high UI fidelity and robust implementation of interaction logic in real-world cases. These findings suggest that structured, artifact-centric pipelines provide a practical foundation for production-grade AI coding systems.
Implementing Dependent Type Theory Inhabitation and Unification
Venue: arXiv cs.LO 2026
Year: 2026

Dependent type theory is the foundation of many modern proof assistants. Inhabitation and unification are undecidable problems that are useful for theorem proving and program synthesis. We introduce Canonical-min, a sound and complete solver for inhabitation and unification in dependent type theory, implemented in 185 lines of Lean code. This paper describes a novel implementation of dependent type theory and a monadic framework to transform the type checker into a performant solver. Finally, we introduce DTTBench, a benchmark for type inhabitation in dependent type theory.
Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chaining
Venue: arXiv cs.RO 2026
Year: 2026

Existing Vision-Language-Action (VLA) models often struggle to generalize to long-horizon tasks due to their heavy reliance on immediate observations. While recent studies incorporate retrieval mechanisms or extend context windows to handle procedural tasks, they often struggle to capture Non-Markovian dependencies, where optimal actions rely solely on specific past states rather than the current observation. To address this, we introduce Keyframe-Chaining VLA, a framework that extracts and links key historical frames to model long-horizon dependencies. Specifically, we propose an automatic keyframe selector that learns a discriminative embedding space, effectively identifying distinct state transitions. To capture task-critical information, we design a progress-aware query mechanism that dynamically retrieves historical frames based on their temporal relevance to the current execution phase. These selected keyframes are integrated into the VLA as interleaved visual tokens, explicitly grounding the policy in the long-horizon temporal context. Finally, we introduce a suite of four Non-Markovian manipulation tasks built upon the ManiSkill simulator to measure task success rates. Experimental results demonstrate that our method achieves superior performance, effectively tackling robot manipulation tasks characterized by long-horizon temporal dependencies. Code is available at https://github.com/cytoplastm/KC-VLA.
ROSER: Few-Shot Robotic Sequence Retrieval for Scalable Robot Learning
Venue: arXiv cs.RO 2026
Year: 2026

A critical bottleneck in robot learning is the scarcity of task-labeled, segmented training data, despite the abundance of large-scale robotic datasets recorded as long, continuous interaction logs. Existing datasets contain vast amounts of diverse behaviors, yet remain structurally incompatible with modern learning frameworks that require cleanly segmented, task-specific trajectories. We address this data utilization crisis by formalizing robotic sequence retrieval: the task of extracting reusable, task-centric segments from unlabeled logs using only a few reference examples. We introduce ROSER, a lightweight few-shot retrieval framework that learns task-agnostic metric spaces over temporal windows, enabling accurate retrieval with as few as 3-5 demonstrations, without any task-specific training required. To validate our approach, we establish comprehensive evaluation protocols and benchmark ROSER against classical alignment methods, learned embeddings, and language model baselines across three large-scale datasets (e.g., LIBERO, DROID, and nuScenes). Our experiments demonstrate that ROSER consistently outperforms all prior methods in both accuracy and efficiency, achieving sub-millisecond per-match inference while maintaining superior distributional alignment. By reframing data curation as few-shot retrieval, ROSER provides a practical pathway to unlock underutilized robotic datasets, fundamentally improving data availability for robot learning.
SFCo-Nav: Efficient Zero-Shot Visual Language Navigation via Collaboration of Slow LLM and Fast Attributed Graph Alignment
Venue: arXiv cs.RO 2026
Year: 2026

Recent advances in large vision-language models (VLMs) and large language models (LLMs) have enabled zero-shot approaches to visual language navigation (VLN), where an agent follows natural language instructions using only ego perception and reasoning. However, existing zero-shot methods typically construct a naive observation graph and perform per-step VLM-LLM inference on it, resulting in high latency and computation costs that limit real-time deployment. To address this, we present SFCo-Nav, an efficient zero-shot VLN framework inspired by the principle of slow-fast cognitive collaboration. SFCo-Nav integrates three key modules: 1) a slow LLM-based planner that produces a strategic chain of subgoals, each linked to an imagined object graph; 2) a fast reactive navigator for real-time object graph construction and subgoal execution; and 3) a lightweight asynchronous slow-fast bridge aligns advanced structured, attributed imagined and perceived graphs to estimate navigation confidence, triggering the slow LLM planner only when necessary. To the best of our knowledge, SFCo-Nav is the first slow-fast collaboration zero-shot VLN system supporting asynchronous LLM triggering according to the internal confidence. Evaluated on the public R2R and REVERIE benchmarks, SFCo-Nav matches or exceeds prior state-of-the-art zero-shot VLN success rates while cutting total token consumption per trajectory by over 50% and running more than 3.5 times faster. Finally, we demonstrate SFCo-Nav on a legged robot in a hotel suite, showcasing its efficiency and practicality in indoor environments.
Agentic Multi-Source Grounding for Enhanced Query Intent Understanding: A DoorDash Case Study
Venue: arXiv cs.AI 2026
Year: 2026

Accurately mapping user queries to business categories is a fundamental Information Retrieval challenge for multi-category marketplaces, where context-sparse queries such as "Wildflower" exhibit intent ambiguity, simultaneously denoting a restaurant chain, a retail product, and a floral item. Traditional classifiers force a winner-takes-all assignment, while general-purpose LLMs hallucinate unavailable inventory. We introduce an Agentic Multi-Source Grounded system that addresses both failure modes by grounding LLM inference in (i) a staged catalog entity retrieval pipeline and (ii) an agentic web-search tool invoked autonomously for cold-start queries. Rather than predicting a single label, the model emits an ordered multi-intent set, resolved by a configurable disambiguation layer that applies deterministic business policies and is designed for extensibility to personalization signals. This decoupled design generalizes across domains, allowing any marketplace to supply its own grounding sources and resolution rules without modifying the core architecture. Evaluated on DoorDash's multi-vertical search platform, the system achieves +10.9pp over the ungrounded LLM baseline and +4.6pp over the legacy production system. On long-tail queries, incremental ablations attribute +8.3pp to catalog grounding, +3.2pp to agentic web search grounding, and +1.5pp to dual intent disambiguation, yielding 90.7% accuracy (+13.0pp over baseline). The system is deployed in production, serving over 95% of daily search impressions, and establishes a generalizable paradigm for applications requiring foundation models grounded in proprietary context and real-time web knowledge to resolve ambiguous, context-sparse decision problems at scale.
Inference-Time Safety For Code LLMs Via Retrieval-Augmented Revision
Venue: arXiv cs.SE 2026
Year: 2026

Large Language Models (LLMs) are increasingly deployed for code generation in high-stakes software development, yet their limited transparency in security reasoning and brittleness to evolving vulnerability patterns raise critical trustworthiness concerns. Models trained on static datasets cannot readily adapt to newly discovered vulnerabilities or changing security standards without retraining, leading to the repeated generation of unsafe code. We present a principled approach to trustworthy code generation by design that operates as an inference-time safety mechanism. Our approach employs retrieval-augmented generation to surface relevant security risks in generated code and retrieve related security discussions from a curated Stack Overflow knowledge base, which are then used to guide an LLM during code revision. This design emphasizes three aspects relevant to trustworthiness: (1) interpretability, through transparent safety interventions grounded in expert community explanations; (2) robustness, by allowing adaptation to evolving security practices without model retraining; and (3) safety alignment, through real-time intervention before unsafe code reaches deployment. Across real-world and benchmark datasets, our approach improves the security of LLM-generated code compared to prompting alone, while introducing no new vulnerabilities as measured by static analysis. These results suggest that principled, retrieval-augmented inference-time interventions can serve as a complementary mechanism for improving the safety of LLM-based code generation, and highlight the ongoing value of community knowledge in supporting trustworthy AI deployment.
Keyword-based Community Search in Bipartite Spatial-Social Networks (Technical Report)
Venue: arXiv cs.SI 2026
Year: 2026

Several approaches have been recently proposed for community search in bipartite graphs. These methods have shown promising results in identifying communities in real-world bipartite networks, such as social and biological networks. Given a query user $q$, community search in bipartite graphs involves identifying a group of users containing $q$, with common characteristics or functions within a given bipartite graph. These problems are particularly challenging because bipartite graphs have two distinct sets of nodes, and community search algorithms must account for this structure. However, finding communities in keyword-based bipartite spatial-social networks has yet to be investigated enough. The spatial-social networks are naturally structured as bipartite graphs. Thus, this paper proposes a new community search problem in Bipartite spatial-social networks with a novel $(ω, π)\mbox{-}keyword\mbox{-}core$, named Keyword-based Community Search in Bipartite Spatial-Social Networks ($KCS\mbox{-}BSSN$). The $KCS\mbox{-}BSSN$ returns a tightly-knit community, significant social influence, minimal travel distance, and includes a $(ω, π)\mbox{-}keyword\mbox{-}core$. To address the $KCS\mbox{-}BSSN$ problem, we have developed pruning methods that effectively filter out irrelevant users and points of interest. To improve query-answering efficiency, we have also proposed an indexing technique named the bipartite-spatial-social index. Our pruning techniques, and indexing approach, have proven effective and efficient through experiments with real and artificial data sets.
GAC: Stabilizing Asynchronous RL Training for LLMs via Gradient Alignment Control
Venue: arXiv cs.LG 2026
Year: 2026

Asynchronous execution is essential for scaling reinforcement learning (RL) to modern large model workloads, including large language models and AI agents, but it can fundamentally alter RL optimization behavior. While prior work on asynchronous RL focuses on training throughput and distributional correction, we show that naively applying asynchrony to policy-gradient updates can induce qualitatively different training dynamics and lead to severe training instability. Through systematic empirical and theoretical analysis, we identify a key signature of this instability: asynchronous training exhibits persistently high cosine similarity between consecutive policy gradients, in contrast to the near-orthogonal updates observed under synchronized training. This stale-aligned gradient effect amplifies correlated updates and increases the risk of overshooting and divergence. Motivated by this observation, we propose GRADIENT ALIGNMENT CONTROL(GAC), a simple dynamics-aware stabilization method that regulates asynchronous RL progress along stale-aligned directions via gradient projection. We establish convergence guarantees under bounded staleness and demonstrate empirically that GAC recovers stable, on-policy training dynamics and matches synchronized baselines even at high staleness.
The Sentience Readiness Index: A Preliminary Framework for Measuring National Preparedness for the Possibility of Artificial Sentience
Venue: arXiv cs.CY 2026
Year: 2026

The scientific study of consciousness has begun to generate testable predictions about artificial systems. A landmark collaborative assessment evaluated current AI architectures against six leading theories of consciousness and found that none currently qualifies as a strong candidate, but that future systems might. A precautionary approach to AI sentience, which holds that credible possibility of sentience warrants governance action even without proof, has gained philosophical and institutional traction. Yet existing AI readiness indices, including the Oxford Insights Government AI Readiness Index, the IMF AI Preparedness Index, and the Stanford AI Index, measure economic, technological, and governance preparedness without assessing whether societies are prepared for the possibility that AI systems might warrant moral consideration. This paper introduces the Sentience Readiness Index (SRI), a preliminary composite index measuring national-level preparedness across six weighted categories for 31 jurisdictions. The SRI was constructed following the OECD/JRC framework for composite indicators and employs LLM-assisted expert scoring with iterative expert review to generate an initial dataset. No jurisdiction exceeds ``Partially Prepared'' (the United Kingdom leads at 49/100). Research Environment scores are universally the strongest category; Professional Readiness is universally the weakest. These exploratory findings suggest that if AI sentience becomes scientifically plausible, no society currently possesses adequate institutional, professional, or cultural infrastructure to respond. As a preliminary framework, the SRI provides an initial diagnostic baseline and highlights areas for future methodological refinement, including expanded expert validation, improved measurement instruments, and longitudinal data collection.
Hermes: A Unified High-Performance NTT Architecture with Hybrid Dataflow
Venue: arXiv cs.AR 2026
Year: 2026

Fully Homomorphic Encryption (FHE) relies heavily on the Number Theoretic Transform (NTT), making NTT a major performance bottleneck due to its intensive polynomial computations. Hybrid Homomorphic Encryption (HHE), which integrates arithmetic and logic FHE, further requires support for multiple NTT lengths. However, existing accelerators mainly optimize NTT throughput and do not provide unified support for HHE. This paper presents Hermes, a unified high-performance NTT architecture based on hybrid dataflow. Hermes exploits parallelism along both temporal and spatial dimensions and incorporates a fully pipelined on-chip computing core. A conflict-free on-chip fragmentation algorithm is introduced to resolve bank conflicts and enable burst HBM access, while an efficient dataflow improves computational intensity through data reuse, reducing bandwidth demand. Experimental results show that Hermes supports multiple NTT lengths and achieves up to 13.6x and 1.3x higher throughput than state-of-the-art GPU and FPGA accelerators, respectively. Our source code is available at https://anonymous.4open.science/r/Hermes_conf-4E6F.
Beyond Length Scaling: Synergizing Breadth and Depth for Generative Reward Models
Venue: arXiv cs.AI 2026
Year: 2026

Recent advancements in Generative Reward Models (GRMs) have demonstrated that scaling the length of Chain-of-Thought (CoT) reasoning considerably enhances the reliability of evaluation. However, current works predominantly rely on unstructured length scaling, ignoring the divergent efficacy of different reasoning mechanisms: Breadth-CoT (B-CoT, i.e., multi-dimensional principle coverage) and Depth-CoT (D-CoT, i.e., substantive judgment soundness). To address this, we introduce Mix-GRM, a framework that reconfigures raw rationales into structured B-CoT and D-CoT through a modular synthesis pipeline, subsequently employing Supervised Fine-Tuning (SFT) and Reinforcement Learning with Verifiable Rewards (RLVR) to internalize and optimize these mechanisms. Comprehensive experiments demonstrate that Mix-GRM establishes a new state-of-the-art across five benchmarks, surpassing leading open-source RMs by an average of 8.2\%. Our results reveal a clear divergence in reasoning: B-CoT benefits subjective preference tasks, whereas D-CoT excels in objective correctness tasks. Consequently, misaligning the reasoning mechanism with the task directly degrades performance. Furthermore, we demonstrate that RLVR acts as a switching amplifier, inducing an emergent polarization where the model spontaneously allocates its reasoning style to match task demands. The synthesized data and models are released at \href{https://huggingface.co/collections/DonJoey/mix-grm}{Hugging Face}, and the code is released at \href{https://github.com/Don-Joey/Mix-GRM}{Github}.
SafeSci: Safety Evaluation of Large Language Models in Science Domains and Beyond
Venue: arXiv cs.LG 2026
Year: 2026

The success of large language models (LLMs) in scientific domains has heightened safety concerns, prompting numerous benchmarks to evaluate their scientific safety. Existing benchmarks often suffer from limited risk coverage and a reliance on subjective evaluation. To address these problems, we introduce SafeSci, a comprehensive framework for safety evaluation and enhancement in scientific contexts. SafeSci comprises SafeSciBench, a multi-disciplinary benchmark with 0.25M samples, and SafeSciTrain, a large-scale dataset containing 1.5M samples for safety enhancement. SafeSciBench distinguishes between safety knowledge and risk to cover extensive scopes and employs objective metrics such as deterministically answerable questions to mitigate evaluation bias. We evaluate 24 advanced LLMs, revealing critical vulnerabilities in current models. We also observe that LLMs exhibit varying degrees of excessive refusal behaviors on safety-related issues. For safety enhancement, we demonstrate that fine-tuning on SafeSciTrain significantly enhances the safety alignment of models. Finally, we argue that knowledge is a double-edged sword, and determining the safety of a scientific question should depend on specific context, rather than universally categorizing it as safe or unsafe. Our work provides both a diagnostic tool and a practical resource for building safer scientific AI systems.