OpenRaiser/Intern-Atlas huggingface dataset:
Large-Language-Model-Guided State Estimation for Partially Observable Task and Motion Planning
Venue: arXiv cs.RO 2026
Year: 2026

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the execution of a computed plan, a robot may unexpectedly observe task-irrelevant objects, which are typically ignored by naive planners. In this work, we propose incorporating two types of common-sense knowledge: (1) certain objects are more likely to be found in specific locations; and (2) similar objects are likely to be co-located, while dissimilar objects are less likely to be found together. Manually engineering such knowledge is complex, so we explore leveraging the powerful common-sense reasoning capabilities of large language models (LLMs). Our planning and execution framework, CoCo-TAMP, introduces a hierarchical state estimation that uses LLM-guided information to shape the belief over task-relevant objects, enabling efficient solutions to long-horizon task and motion planning problems. In experiments, CoCo-TAMP achieves an average reduction of 62.7% in planning and execution time in simulation, and 72.6% in real-world demonstrations, compared to a baseline that does not incorporate either type of common-sense knowledge.
Order Is Not Layout: Order-to-Space Bias in Image Generation
Venue: arXiv cs.CL 2026
Year: 2026

We study a systematic bias in modern image generation models: the mention order of entities in text spuriously determines spatial layout and entity--role binding. We term this phenomenon Order-to-Space Bias (OTS) and show that it arises in both text-to-image and image-to-image generation, often overriding grounded cues and causing incorrect layouts or swapped assignments. To quantify OTS, we introduce OTS-Bench, which isolates order effects with paired prompts differing only in entity order and evaluates models along two dimensions: homogenization and correctness. Experiments show that Order-to-Space Bias (OTS) is widespread in modern image generation models, and provide evidence that it is primarily data-driven and manifests during the early stages of layout formation. Motivated by this insight, we show that both targeted fine-tuning and early-stage intervention strategies can substantially reduce OTS, while preserving generation quality.
PROSPECT: Unified Streaming Vision-Language Navigation via Semantic--Spatial Fusion and Latent Predictive Representation
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal large language models (MLLMs) have advanced zero-shot end-to-end Vision-Language Navigation (VLN), yet robust navigation requires not only semantic understanding but also predictive modeling of environment dynamics and spatial structure. We propose PROSPECT, a unified streaming navigation agent that couples a streaming Vision-Language-Action (VLA) policy with latent predictive representation learning. PROSPECT uses CUT3R as a streaming 3D foundation spatial encoder to produce long-context, absolute-scale spatial features, and fuses them with SigLIP semantic features via cross-attention. During training, we introduce learnable stream query tokens that query the streaming context and predict next-step 2D and 3D latent features (rather than pixels or explicit modalities), supervised in the latent spaces of frozen SigLIP and CUT3R teachers. The predictive branch shapes internal representations without inference overhead. Experiments on VLN-CE benchmarks and real-robot deployment demonstrate state-of-the-art performance and improved long-horizon robustness under diverse lighting. We will release code for the community soon.
Harmonic Dataset Distillation for Time Series Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Time Series forecasting (TSF) in the modern era faces significant computational and storage cost challenges due to the massive scale of real-world data. Dataset Distillation (DD), a paradigm that synthesizes a small, compact dataset to achieve training performance comparable to that of the original dataset, has emerged as a promising solution. However, conventional DD methods are not tailored for time series and suffer from architectural overfitting and limited scalability. To address these issues, we propose Harmonic Dataset Distillation for Time Series Forecasting (HDT). HDT decomposes the time series into its sinusoidal basis through the FFT and aligns the core periodic structure by Harmonic Matching. Since this process operates in the frequency domain, all updates during distillation are applied globally without disrupting temporal dependencies of time series. Extensive experiments demonstrate that HDT achieves strong cross-architecture generalization and scalability, validating its practicality for large-scale, real-world applications.
AgentSelect: Benchmark for Narrative Query-to-Agent Recommendation
Venue: arXiv cs.AI 2026
Year: 2026

LLM agents are rapidly becoming the practical interface for task automation, yet the ecosystem lacks a principled way to choose among an exploding space of deployable configurations. Existing LLM leaderboards and tool/agent benchmarks evaluate components in isolation and remain fragmented across tasks, metrics, and candidate pools, leaving a critical research gap: there is little query-conditioned supervision for learning to recommend end-to-end agent configurations that couple a backbone model with a toolkit. We address this gap with AgentSelect, a benchmark that reframes agent selection as narrative query-to-agent recommendation over capability profiles and systematically converts heterogeneous evaluation artifacts into unified, positive-only interaction data. AgentSelectcomprises 111,179 queries, 107,721 deployable agents, and 251,103 interaction records aggregated from 40+ sources, spanning LLM-only, toolkit-only, and compositional agents. Our analyses reveal a regime shift from dense head reuse to long-tail, near one-off supervision, where popularity-based CF/GNN methods become fragile and content-aware capability matching is essential. We further show that Part~III synthesized compositional interactions are learnable, induce capability-sensitive behavior under controlled counterfactual edits, and improve coverage over realistic compositions; models trained on AgentSelect also transfer to a public agent marketplace (MuleRun), yielding consistent gains on an unseen catalog. Overall, AgentSelect provides the first unified data and evaluation infrastructure for agent recommendation, which establishes a reproducible foundation to study and accelerate the emerging agent ecosystem.
T2S-Bench & Structure-of-Thought: Benchmarking and Prompting Comprehensive Text-to-Structure Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Think about how human handles complex reading tasks: marking key points, inferring their relationships, and structuring information to guide understanding and responses. Likewise, can a large language model benefit from text structure to enhance text-processing performance? To explore it, in this work, we first introduce Structure of Thought (SoT), a prompting technique that explicitly guides models to construct intermediate text structures, consistently boosting performance across eight tasks and three model families. Building upon this insight, we present T2S-Bench, the first benchmark designed to evaluate and improve text-to-structure capabilities of models. T2S-Bench includes 1.8K samples across 6 scientific domains and 32 structural types, rigorously constructed to ensure accuracy, fairness, and quality. Evaluation on 45 mainstream models reveals substantial improvement potential: the average accuracy on the multi-hop reasoning task is only 52.1%, and even the most advanced model achieves 58.1% node accuracy in end-to-end extraction. Furthermore, on Qwen2.5-7B-Instruct, SoT alone yields an average +5.7% improvement across eight diverse text-processing tasks, and fine-tuning on T2S-Bench further increases this gain to +8.6%. These results highlight the value of explicit text structuring and the complementary contributions of SoT and T2S-Bench. Dataset and eval code have been released at https://t2s-bench.github.io/T2S-Bench-Page/.
Linear codes arising from geometrical operation
Venue: arXiv cs.IT 2026
Year: 2026

We construct linear codes over the finite field Fq from arbitrary simplicial complexes, establishing a connection between topological properties and fundamental coding parameters. First, we study the behaviour of the weights of codewords from a geometric point of view, interpreting them in terms of the combinatorial structure of the associated simplicial complex. This approach allows us to describe the minimum distance of the codes in terms of certain geometric features of the complex. Subsequently, we analyse how various topological operations on simplicial complexes affect the classical parameters of the codes. This study leads to the formulation of geometric criteria that make it possible to explicitly control and manipulate these parameters. Finally, as an application of the obtained results, we construct several families of optimal linear codes over F2 using these geometric methods. Thanks to the previously established geometric properties, we can precisely determine the parameters of these families.
Relational In-Context Learning via Synthetic Pre-training with Structural Prior
Venue: arXiv cs.LG 2026
Year: 2026

Relational Databases (RDBs) are the backbone of modern business, yet they lack foundation models comparable to those in text or vision. A key obstacle is that high-quality RDBs are private, scarce and structurally heterogeneous, making internet-scale pre-training infeasible. To overcome this data scarcity, We introduce $\textbf{RDB-PFN}$, the first relational foundation model trained purely via $\textbf{synthetic data}$. Inspired by Prior-Data Fitted Networks (PFNs) where synthetic data generated from Structural Causal Models (SCMs) enables reasoning on single tables, we design a $\textbf{Relational Prior Generator}$ to create an infinite stream of diverse RDBs from scratch. Pre-training on $\textbf{over 2 million}$ synthetic single-table and relational tasks, RDB-PFN learns to adapt to any new database instantly via genuine $\textbf{in-context learning}$. Experiments verify RDB-PFN achieves strong few-shot performance on 19 real-world relational prediction tasks, outperforming graph-based and single-table foundation-model baselines (given the same DFS-linearized inputs), while using a lightweight architecture and fast inference. The code is available at https://github.com/MuLabPKU/RDBPFN
Advances in List Decoding of Polynomial Codes
Venue: arXiv cs.IT 2026
Year: 2026

Error-correcting codes are a method for representing data, so that one can recover the original information even if some parts of it were corrupted. The basic idea, which dates back to the revolutionary work of Shannon and Hamming about a century ago, is to encode the data into a redundant form, so that the original information can be decoded from the redundant encoding even in the presence of some noise or corruption. One prominent family of error-correcting codes are Reed-Solomon Codes which encode the data using evaluations of low-degree polynomials. Nearly six decades after they were introduced, Reed-Solomon Codes, as well as some related families of polynomial-based codes, continue to be widely studied, both from a theoretical perspective and from the point of view of applications. Besides their obvious use in communication, error-correcting codes such as Reed-Solomon Codes are also useful for various applications in theoretical computer science. These applications often require the ability to cope with many errors, much more than what is possible information-theoretically. List-decodable codes are a special class of error-correcting codes that enable correction from more errors than is traditionally possible by allowing a small list of candidate decodings. These codes have turned out to be extremely useful in various applications across theoretical computer science and coding theory. In recent years, there have been significant advances in list decoding of Reed-Solomon Codes and related families of polynomial-based codes. This includes efficient list decoding of such codes up to the information-theoretic capacity, with optimal list-size, and using fast nearly-linear time, and even sublinear-time, algorithms. In this book, we survey these developments.
Benchmarking Motivational Interviewing Competence of Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Motivational interviewing (MI) promotes behavioural change in substance use disorders. Its fidelity is measured using the Motivational Interviewing Treatment Integrity (MITI) framework. While large language models (LLMs) can potentially generate MI-consistent therapist responses, their competence using MITI is not well-researched, especially in real world clinical transcripts. We aim to benchmark MI competence of proprietary and open-source models compared to human therapists in real-world transcripts and assess distinguishability from human therapists. Methods: We shortlisted 3 proprietary and 7 open-source LLMs from LMArena, evaluated performance using MITI 4.2 framework on two datasets (96 handcrafted model transcripts, 34 real-world clinical transcripts). We generated parallel LLM-therapist utterances iteratively for each transcript while keeping client responses static, and ranked performance using a composite ranking system with MITI components and verbosity. We conducted a distinguishability experiment with two independent psychiatrists to identify human-vs-LLM responses. Results: All 10 tested LLMs had fair (MITI global scores >3.5) to good (MITI global scores >4) competence across MITI measures, and three best-performing models (gemma-3-27b-it, gemini-2.5-pro, grok-3) were tested on real-world transcripts. All showed good competence, with LLMs outperforming human-expert in Complex Reflection percentage (39% vs 96%) and Reflection-Question ratio (1.2 vs >2.8). In the distinguishability experiment, psychiatrists identified LLM responses with only 56% accuracy, with d-prime: 0.17 and 0.25 for gemini-2.5-pro and gemma-3-27b-it respectively. Conclusion: LLMs can achieve good MI proficiency in real-world clinical transcripts using MITI framework. These findings suggest that even open-source LLMs are viable candidates for expanding MI counselling sessions in low-resource settings.
A Sensitivity Analysis of Multi-Event Audio Grounding in Audio LLMs
Venue: arXiv cs.SD 2026
Year: 2026

Audio LLMs have shown a strong ability to understand audio samples, yet their reliability in complex acoustic scenes remains under-explored. Unlike prior work limited to small scale or less controlled query construction, we present a large-scale evaluation of event grounding and false alarms as auditory scene complexity increases. Using 71K AudioCapsV2 clips, we extract normalized (source, attribute) events and build two query types: present-event queries for ground-truth detection and absent-event queries to probe hallucinations, using similarity-filtered negative sampling in an audio-aligned text embedding space. We evaluate four SOTA Audio LLMs with 12 prompt variants over 500K yes/no queries per model. Across models, increasing event count consistently lowers true-positive rate and raises false-positive rate, while prompts induce a strong trade-off between the two. Our confidence analysis shows that models become more uncertain on multi-event audio, revealing room for improvement.
DeepScan: A Training-Free Framework for Visually Grounded Reasoning in Large Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Humans can robustly localize visual evidence and provide grounded answers even in noisy environments by identifying critical cues and then relating them to the full context in a bottom-up manner. Inspired by this, we propose DeepScan, a training-free framework that combines Hierarchical Scanning, Refocusing, and Evidence-Enhanced Reasoning for visually grounded reasoning in Large Vision-Language Models (LVLMs). Unlike existing methods that pursue one-shot localization of complete evidence, Hierarchical Scanning performs local cue exploration and multi-scale evidence extraction to recover evidence in a bottom-up manner, effectively mitigating the impacts of distractive context. Refocusing then optimizes the localized evidence view through collaboration of LVLMs and visual experts. Finally, Evidence-Enhanced Reasoning aggregates multi-granular views via a hybrid evidence memory and yields accurate and interpretable answers. Experimental results demonstrate that DeepScan significantly boosts LVLMs in diverse visual tasks, especially in fine-grained visual understanding. It achieves 90.6% overall accuracy on V* when integrated with Qwen2.5-VL-7B. Moreover, DeepScan provides consistent improvements for LVLMs across various architectures and model scales without additional adaptation cost.
CzechTopic: A Benchmark for Zero-Shot Topic Localization in Historical Czech Documents
Venue: arXiv cs.CL 2026
Year: 2026

Topic localization aims to identify spans of text that express a given topic defined by a name and description. To study this task, we introduce a human-annotated benchmark based on Czech historical documents, containing human-defined topics together with manually annotated spans and supporting evaluation at both document and word levels. Evaluation is performed relative to human agreement rather than a single reference annotation. We evaluate a diverse range of large language models alongside BERT-based models fine-tuned on a distilled development dataset. Results reveal substantial variability among LLMs, with performance ranging from near-human topic detection to pronounced failures in span localization. While the strongest models approach human agreement, the distilled token embedding models remain competitive despite their smaller scale. The dataset and evaluation framework are publicly available at: https://github.com/dcgm/czechtopic.
A novel network for classification of cuneiform tablet metadata
Venue: arXiv cs.CV 2026
Year: 2026

In this paper, we present a network structure for classifying metadata of cuneiform tablets. The problem is of practical importance, as the size of the existing corpus far exceeds the number of experts available to analyze it. But the task is made difficult by the combination of limited annotated datasets and the high-resolution point-cloud representation of each tablet. To address this, we develop a convolution-inspired architecture that gradually down-scales the point cloud while integrating local neighbor information. The final down-scaled point cloud is then processed by computing neighbors in the feature space to include global information. Our method is compared with the state-of-the-art transformer-based network Point-BERT, and consistently obtains the best performance. Source code and datasets will be released at publication.
PatchDecomp: Interpretable Patch-Based Time Series Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Time series forecasting, which predicts future values from past observations, plays a central role in many domains and has driven the development of highly accurate neural network models. However, the complexity of these models often limits human understanding of the rationale behind their predictions. We propose PatchDecomp, a neural network-based time series forecasting method that achieves both high accuracy and interpretability. PatchDecomp divides input time series into subsequences (patches) and generates predictions by aggregating the contributions of each patch. This enables clear attribution of each patch, including those from exogenous variables, to the final prediction. Experiments on multiple benchmark datasets demonstrate that PatchDecomp provides predictive performance comparable to recent forecasting methods. Furthermore, we show that the model's explanations not only influence predicted values quantitatively but also offer qualitative interpretability through visualization of patch-wise contributions.
Cross-Modal Mapping and Dual-Branch Reconstruction for 2D-3D Multimodal Industrial Anomaly Detection
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal industrial anomaly detection benefits from integrating RGB appearance with 3D surface geometry, yet existing \emph{unsupervised} approaches commonly rely on memory banks, teacher-student architectures, or fragile fusion schemes, limiting robustness under noisy depth, weak texture, or missing modalities. This paper introduces \textbf{CMDR-IAD}, a lightweight and modality-flexible unsupervised framework for reliable anomaly detection in 2D+3D multimodal as well as single-modality (2D-only or 3D-only) settings. \textbf{CMDR-IAD} combines bidirectional 2D$\leftrightarrow$3D cross-modal mapping to model appearance-geometry consistency with dual-branch reconstruction that independently captures normal texture and geometric structure. A two-part fusion strategy integrates these cues: a reliability-gated mapping anomaly highlights spatially consistent texture-geometry discrepancies, while a confidence-weighted reconstruction anomaly adaptively balances appearance and geometric deviations, yielding stable and precise anomaly localization even in depth-sparse or low-texture regions. On the MVTec 3D-AD benchmark, CMDR-IAD achieves state-of-the-art performance while operating without memory banks, reaching 97.3\% image-level AUROC (I-AUROC), 99.6\% pixel-level AUROC (P-AUROC), and 97.6\% AUPRO. On a real-world polyurethane cutting dataset, the 3D-only variant attains 92.6\% I-AUROC and 92.5\% P-AUROC, demonstrating strong effectiveness under practical industrial conditions. These results highlight the framework's robustness, modality flexibility, and the effectiveness of the proposed fusion strategies for industrial visual inspection. Our source code is available at https://github.com/ECGAI-Research/CMDR-IAD/
Towards Generalized Multimodal Homography Estimation
Venue: arXiv cs.CV 2026
Year: 2026

Supervised and unsupervised homography estimation methods depend on image pairs tailored to specific modalities to achieve high accuracy. However, their performance deteriorates substantially when applied to unseen modalities. To address this issue, we propose a training data synthesis method that generates unaligned image pairs with ground-truth offsets from a single input image. Our approach renders the image pairs with diverse textures and colors while preserving their structural information. These synthetic data empower the trained model to achieve greater robustness and improved generalization across various domains. Additionally, we design a network to fully leverage cross-scale information and decouple color information from feature representations, thus improving estimation accuracy. Extensive experiments show that our training data synthesis method improves generalization performance. The results also confirm the effectiveness of the proposed network.