OpenRaiser/Intern-Atlas huggingface dataset:
TW-Sound580K: A Regional Audio-Text Dataset with Verification-Guided Curation for Localized Audio-Language Modeling
Venue: arXiv cs.SD 2026
Year: 2026

Large Audio-Language Models (LALMs) typically struggle with localized dialectal prosody due to the scarcity of specialized corpora. We present TW-Sound580K, a Taiwanese audio-text instruction dataset developed through a Verify-Generate-Critique (VGC) protocol. This pipeline leverages Dual-ASR validation to filter 522K raw clips, subsequently expanding them into 580,000 high-fidelity instruction pairs using a teacher model. The dataset's utility is demonstrated through Tai-LALM, which fine-tunes a DeSTA 2.5-Audio-initialized backbone and incorporates a dynamic Dual-ASR Arbitration strategy to optimize transcription selection during inference. On the TAU Benchmark, Tai-LALM reaches 49.1% accuracy, marking a 6.5% absolute improvement over the zero-shot baseline (42.6% with ASR text conditioning). This confirms that integrating regional corpora with rigorous curation and dynamic arbitration significantly enhances LALM performance on localized speech.
ARC-TGI: Human-Validated Task Generators with Reasoning Chain Templates for ARC-AGI
Venue: arXiv cs.CL 2026
Year: 2026

The Abstraction and Reasoning Corpus (ARC-AGI) probes few-shot abstraction and rule induction on small visual grids, but progress is difficult to measure on static collections of hand-authored puzzles due to overfitting, dataset leakage, and memorisation. We introduce ARC-TGI (ARC Task Generators Inventory), an open-source framework for task-family generators: compact Python programs that sample diverse ARC-AGI tasks while preserving a latent rule. ARC-TGI is built around a solver-facing representation: each generated task is paired with natural-language input and transformation reasoning chains and partially evaluated Python code implementing sampling, transformation, and episode construction. Crucially, ARC-TGI supports task-level constraints so that training examples collectively expose the variations needed to infer the underlying rule, a requirement for human-solvable ARC tasks that independent per-example sampling often fails to guarantee. All generators undergo human refinement and local verification to keep both grids and reasoning traces natural and consistent under variation. We release 461 generators covering 180 ARC-Mini tasks, 215 ARC-AGI-1 tasks (200 train, 15 test), and 66 ARC-AGI-2 tasks (55 train, 11 test), enabling scalable dataset sampling and controlled benchmarking.
SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Imitation Learning (IL) enables robots to acquire manipulation skills from expert demonstrations. Diffusion Policy (DP) models multi-modal expert behaviors but suffers performance degradation as observation horizons increase, limiting long-horizon manipulation. We propose Self-Evolving Gated Attention (SEGA), a temporal module that maintains a time-evolving latent state via gated attention, enabling efficient recurrent updates that compress long-horizon observations into a fixed-size representation while filtering irrelevant temporal information. Integrating SEGA into DP yields Self-Evolving Diffusion Policy (SeedPolicy), which resolves the temporal modeling bottleneck and enables scalable horizon extension with moderate overhead. On the RoboTwin 2.0 benchmark with 50 manipulation tasks, SeedPolicy outperforms DP and other IL baselines. Averaged across both CNN and Transformer backbones, SeedPolicy achieves 36.8% relative improvement in clean settings and 169% relative improvement in randomized challenging settings over the DP. Compared to vision-language-action models such as RDT with 1.2B parameters, SeedPolicy achieves competitive performance with one to two orders of magnitude fewer parameters, demonstrating strong efficiency and scalability. These results establish SeedPolicy as a state-of-the-art imitation learning method for long-horizon robotic manipulation. Code is available at: https://github.com/Youqiang-Gui/SeedPolicy.
Leveraging Structural Knowledge for Solving Election in Anonymous Networks with Shared Randomness
Venue: arXiv cs.DC 2026
Year: 2026

We study the classical Election problem in anonymous net- works, where solutions can rely on the use of random bits, which may be either shared or unshared among nodes. We provide a complete char- acterization of the conditions under which a randomized Election algo- rithm exists, for arbitrary structural knowledge. Our analysis considers both Las Vegas and Monte Carlo randomized algorithms, under the as- sumptions of shared and unshared randomness. In our setting, random sources are considered shared if the output bits are identical across spe- cific subsets of nodes. The algorithms and impossibility proofs are extensions of those of [5] for the deterministic setting. Our results are a complete generalization of those from [8]. Moreover, as applications, we consider many specific knowledge: no knowledge, a bound on the size, a bound on the number of nodes sharing a source, the size, or the full topology of the network. For each of them, we show how the general characterizations apply, showing they actually correspond to classes of structural knowledge. We also de- scribe also how randomized Election algorithms from the literature fits in this landscape. We therefore provide a comprehensive picture illustrating how knowledge influences the computability of the Election problem in arbitrary anonymous graphs with shared randomness.
Act, Think or Abstain: Complexity-Aware Adaptive Inference for Vision-Language-Action Models
Venue: arXiv cs.CV 2026
Year: 2026

Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through established reasoning techniques. While effective, these improvements invariably increase computational complexity and inference latency. Furthermore, these mechanisms are typically applied indiscriminately, resulting in the inefficient allocation of resources for trivial tasks while simultaneously failing to provide the uncertainty estimation necessary to prevent catastrophic failure on out-of-distribution tasks. Inspired by human cognition, we propose an adaptive framework that dynamically routes VLA execution based on the complexity of the perceived state. Our approach transforms the VLA's vision-language backbone into an active detection tool by projecting latent embeddings into an ensemble of parametric and non-parametric estimators. This allows the system to execute known tasks immediately (Act), reason about ambiguous scenarios (Think), and preemptively halt execution when encountering significant physical or semantic anomalies (Abstain). In our empirical analysis, we observe a phenomenon where visual embeddings alone are superior for inferring task complexity due to the semantic invariance of language. Evaluated on the LIBERO and LIBERO-PRO benchmarks as well as on a real robot, our vision-only configuration achieves 80% F1-Score using as little as 5% of training data, establishing itself as a reliable and efficient task complexity detector.
V2N-Based Algorithm and Communication Protocol for Autonomous Non-Stop Intersections
Venue: arXiv cs.NI 2026
Year: 2026

Intersections are critical areas for road safety and traffic efficiency, accounting for a significant portion of vehicle crashes and fatalities. While connected and autonomous vehicle (CAV) technologies offer a promising solution for autonomous intersection management, many existing proposals either rely on computationally heavy centralized controllers or overlook the practical impairments of real-world communication networks. This paper introduces seamless mobility of vehicles over intersections (Moveover), a novel algorithm comprising a vehicle-to-network (V2N) communication protocol designed to let vehicles cross autonomous intersections without stopping. Moveover delegates trajectory and speed profile selection to individual vehicles, allowing each CAV to optimize them according to its unique kinematic characteristics. Simultaneously, a local intersection controller prevents collisions through deterministic conflict zone reservations. The algorithm is rigorously evaluated under both ideal and non-ideal networking conditions, specifically modeling 4G and 5G communication delays, across multiple layouts including single-lane, multi-lane, and roundabouts. Furthermore, we test Moveover on a real urban map with multiple intersections. Simulation results demonstrate that Moveover significantly outperforms baseline strategies, offering substantial improvements in travel times and reduced pollutant emissions.
Guidelines for the Annotation and Visualization of Legal Argumentation Structures in Chinese Judicial Decisions
Venue: arXiv cs.CL 2026
Year: 2026

This guideline proposes a systematic and operational annotation framework for representing the structure of legal argumentation in judicial decisions. Grounded in theories of legal reasoning and argumentation, the framework aims to reveal the logical organization of judicial reasoning and to provide a reliable data foundation for computational analysis. At the proposition level, the guideline distinguishes four types of propositions: general normative propositions, specific normative propositions, general factual propositions, and specific factual propositions. At the relational level, five types of relations are defined to capture argumentative structures: support, attack, joint, match, and identity. These relations represent positive and negative argumentative connections, conjunctive reasoning structures, the correspondence between legal norms and case facts, and semantic equivalence between propositions. The guideline further specifies formal representation rules and visualization conventions for both basic and nested structures, enabling consistent graphical representation of complex argumentation patterns. In addition, it establishes a standardized annotation workflow and consistency control mechanisms to ensure reproducibility and reliability of the annotated data. By providing a clear conceptual model, formal representation rules, and practical annotation procedures, this guideline offers methodological support for large-scale analysis of judicial reasoning and for future research in legal argument mining, computational modeling of legal reasoning, and AI-assisted legal analysis.
Balancing Coverage and Draft Latency in Vocabulary Trimming for Faster Speculative Decoding
Venue: arXiv cs.CL 2026
Year: 2026

Speculative decoding accelerates inference for Large Language Models by using a lightweight draft model to propose candidate tokens that are verified in parallel by a larger target model. Prior work shows that the draft model often dominates speculative decoding latency, since it generates tokens sequentially and incurs high cost from its language modeling head as vocabulary size grows. This exposes a fundamental trade-off in draft model design: larger vocabularies improve token coverage and agreement with the target model, but incur higher draft latency, while smaller vocabularies reduce latency at the risk of missing tokens required for accurate draft generation. We address this trade-off through vocabulary trimming for draft models, motivated by the observation that domain-specific workloads use only a small fraction of the full vocabulary. We cast draft vocabulary selection as a constrained optimization problem that balances token coverage and draft latency. Coverage is computed over assistant responses in the training data, while latency is estimated using architecture-aware FLOPs that capture the cost of the language modeling head as a function of vocabulary size. We optimize a utility function with a Tree-structured Parzen Estimator to efficiently explore the coverage-latency Pareto frontier under a minimum coverage constraint. Experiments show improved speculative decoding throughput while reducing draft vocabularies by up to 97% with high coverage. On domain-specific tasks, we achieve up to 16% latency reduction and 20% throughput improvement, and up to 6.7% throughput gains on diverse out-of-distribution tasks.
Rethinking the Role of Collaborative Robots in Rehabilitation
Venue: arXiv cs.RO 2026
Year: 2026

Current research on collaborative robots (cobots) in physical rehabilitation largely focuses on repeated motion training for people undergoing physical therapy (PuPT), even though these sessions include phases that could benefit from robotic collaboration and assistance. Meanwhile, access to physical therapy remains limited for people with disabilities and chronic illnesses. Cobots could support both PuPT and therapists, and improve access to therapy, yet their broader potential remains underexplored. We propose extending the scope of cobots by imagining their role in assisting therapists and PuPT before, during, and after a therapy session. We discuss how cobot assistance may lift access barriers by promoting ability-based therapy design and helping therapists manage their time and effort. Finally, we highlight challenges to realizing these roles, including advancing user-state understanding, ensuring safety, and integrating cobots into therapists' workflow. This view opens new research questions and opportunities to draw from the HRI community's advances in assistive robotics.
Algebraic Characterization of Reversible First Degree Cellular Automata over $\mathbb{Z}_d$
Venue: arXiv cs.FL 2026
Year: 2026

There exists algorithms to detect reversibility of cellular automaton (CA) for both finite and infinite lattices taking quadratic time. But, can we identify a $d$-state CA rule in constant time that is always reversible for every lattice size $n\in \mathbb{N}$? To address this issue, this paper explores the reversibility properties of a subset of one-dimensional, $3$-neighborhood, $d$-state finite cellular automata (CAs), known as the first degree cellular automata (FDCAs) for any number of cells $(n\in \mathbb{N})$ under the null boundary condition. {In a first degree cellular automaton (FDCA), the local rule is defined using eight parameters. To ensure that the global transition function of $d$-state FDCA is reversible for any number of cells $(n\in \mathbb{N})$, it is necessary and sufficient to verify only three algebraic conditions among the parameter values. Based on these conditions, for any given $d$, one can synthesize all reversible FDCAs rules. Similarly, given a FDCA rule, one can check these conditions to decide its reversibility in constant time.
Constraint-Free Static Modeling of Continuum Parallel Robot
Venue: arXiv cs.RO 2026
Year: 2026

Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such constraint-based formulations typically introduce additional algebraic variables and complicate both numerical solution and downstream control. This paper presents a geometric exact, configuration-based and constraint-free static model of CPR that remains valid under geometrically nonlinear, large-deformation and large-rotation conditions. Connectivity constraints are eliminated by kinematic embedding, yielding a reduced unconstrained problem. Each rod of CPR is discretized by nodal poses on SE(3), while the element-wise strain field is reconstructed through a linear strain parameterization. A fourth-order Magnus approximation yields an explicit and geometrically consistent mapping between element end poses and the strain. Rigid attachments at the motor-driven base and the end-effector platforms are handled through kinematic embeddings. Based on total potential energy and virtual work, we derive assembly-ready residuals and explicit Newton tangents, and solve the resulting nonlinear equilibrium equations using a Riemannian Newton iteration on the product manifold. Experiments on a three-servomotor, six-rod prototype validate the model by showing good agreement between simulation and measurements for both unloaded motions and externally loaded cases.
UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Data
Venue: arXiv cs.RO 2026
Year: 2026

Grasping is a fundamental capability for robots to interact with the physical world. Humans, equipped with two hands, autonomously select appropriate grasp strategies based on the shape, size, and weight of objects, enabling robust grasping and subsequent manipulation. In contrast, current robotic grasping remains limited, particularly in multi-strategy settings. Although substantial efforts have targeted parallel-gripper and single-hand grasping, dexterous grasping for bimanual robots remains underexplored, with data being a primary bottleneck. Achieving physically plausible and geometrically conforming grasps that can withstand external wrenches poses significant challenges. To address these issues, we introduce UltraDexGrasp, a framework for universal dexterous grasping with bimanual robots. The proposed data-generation pipeline integrates optimization-based grasp synthesis with planning-based demonstration generation, yielding high-quality and diverse trajectories across multiple grasp strategies. With this framework, we curate UltraDexGrasp-20M, a large-scale, multi-strategy grasp dataset comprising 20 million frames across 1,000 objects. Based on UltraDexGrasp-20M, we further develop a simple yet effective grasp policy that takes point clouds as input, aggregates scene features via unidirectional attention, and predicts control commands. Trained exclusively on synthetic data, the policy achieves robust zero-shot sim-to-real transfer and consistently succeeds on novel objects with varied shapes, sizes, and weights, attaining an average success rate of 81.2% in real-world universal dexterous grasping. To facilitate future research on grasping with bimanual robots, we open-source the data generation pipeline at https://github.com/InternRobotics/UltraDexGrasp.
PersianPunc: A Large-Scale Dataset and BERT-Based Approach for Persian Punctuation Restoration
Venue: arXiv cs.CL 2026
Year: 2026

Punctuation restoration is essential for improving the readability and downstream utility of automatic speech recognition (ASR) outputs, yet remains underexplored for Persian despite its importance. We introduce PersianPunc, a large-scale, high-quality dataset of 17 million samples for Persian punctuation restoration, constructed through systematic aggregation and filtering of existing textual resources. We formulate punctuation restoration as a token-level sequence labeling task and fine-tune ParsBERT to achieve strong performance. Through comparative evaluation, we demonstrate that while large language models can perform punctuation restoration, they suffer from critical limitations: over-correction tendencies that introduce undesired edits beyond punctuation insertion (particularly problematic for speech-to-text pipelines) and substantially higher computational requirements. Our lightweight BERT-based approach achieves a macro-averaged F1 score of 91.33% on our test set while maintaining efficiency suitable for real-time applications. We make our dataset (https://huggingface.co/datasets/MohammadJRanjbar/persian-punctuation-restoration) and model (https://huggingface.co/MohammadJRanjbar/parsbert-persian-punctuation) publicly available to facilitate future research in Persian NLP and provide a scalable framework applicable to other morphologically rich, low-resource languages.
Dark3R: Learning Structure from Motion in the Dark
Venue: arXiv cs.CV 2026
Year: 2026

We introduce Dark3R, a framework for structure from motion in the dark that operates directly on raw images with signal-to-noise ratios (SNRs) below $-4$ dB -- a regime where conventional feature- and learning-based methods break down. Our key insight is to adapt large-scale 3D foundation models to extreme low-light conditions through a teacher--student distillation process, enabling robust feature matching and camera pose estimation in low light. Dark3R requires no 3D supervision; it is trained solely on noisy--clean raw image pairs, which can be either captured directly or synthesized using a simple Poisson--Gaussian noise model applied to well-exposed raw images. To train and evaluate our approach, we introduce a new, exposure-bracketed dataset that includes $\sim$42,000 multi-view raw images with ground-truth 3D annotations, and we demonstrate that Dark3R achieves state-of-the-art structure from motion in the low-SNR regime. Further, we demonstrate state-of-the-art novel view synthesis in the dark using Dark3R's predicted poses and a coarse-to-fine radiance field optimization procedure.
Computational Complexity of Alignments
Venue: arXiv cs.FL 2026
Year: 2026

In process mining, alignments quantify the degree of deviation between an observed event trace and a business process model and constitute the most important conformance checking technique. We study the algorithmic complexity of computing alignments over important classes of Petri nets. First, we show that the alignment problem is PSPACE-complete on the class of safe Petri nets and also on the class of safe and sound workflow nets. For live, bounded, free-choice systems, we prove the existence of optimal alignments of polynomial length which positions the alignment problem in NP for this class. We further show that computing alignments is NP-complete even on basic subclasses such as process trees and T-systems. We establish NP-completeness on several related classes as well, including acyclic systems. Finally, we demonstrate that on live, safe S-systems the alignment problem is solvable in P and that both assumptions (liveness and safeness) are crucial for this result.
OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
Venue: arXiv cs.RO 2026
Year: 2026

Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics, which limits their generalization across tasks and environments. Recent advances in vision--language navigation (VLN) and vision--language--action (VLA) models enable end-to-end policies conditioned on natural language, but typically require interactive training, large-scale data collection, or task-specific fine-tuning with a mobile agent. We formulate navigation as a sparse subgoal identification and reaching problem and observe that providing visual anchoring targets for high-level semantic priors enables highly efficient goal-conditioned navigation. Based on this insight, we select navigation frontiers as semantic anchors and propose OpenFrontier, a training-free navigation framework that seamlessly integrates diverse vision--language prior models. OpenFrontier enables efficient navigation with a lightweight system design, without dense 3D mapping, policy training, or model fine-tuning. We evaluate OpenFrontier across multiple navigation benchmarks and demonstrate strong zero-shot performance, as well as effective real-world deployment on a mobile robot.