OpenRaiser/Intern-Atlas huggingface dataset:
RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design
Venue: arXiv cs.RO 2026
Year: 2026

Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical observations and maintaining task-relevant information over time, which are common requirements in real-world manipulation scenarios. Although several memory-aware policies have been proposed, systematic evaluation of memory-dependent manipulation remains underexplored, and the relationship between architectural design choices and memory performance is still not well understood. To address this gap, we introduce RMBench, a simulation benchmark comprising 9 manipulation tasks that span multiple levels of memory complexity, enabling systematic evaluation of policy memory capabilities. We further propose Mem-0, a modular manipulation policy with explicit memory components designed to support controlled ablation studies. Through extensive simulation and real-world experiments, we identify memory-related limitations in existing policies and provide empirical insights into how architectural design choices influence memory performance. The website is available at https://rmbench.github.io/.
Cross-Modal Guidance for Fast Diffusion-Based Computed Tomography
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models have emerged as powerful priors for solving inverse problems in computed tomography (CT). In certain applications, such as neutron CT, it can be expensive to collect large amounts of measurements even for a single scan, leading to sparse data sets from which it is challenging to obtain high quality reconstructions even with diffusion models. One strategy to mitigate this challenge is to leverage a complementary, easily available imaging modality; however, such approaches typically require retraining the diffusion model with large datasets. In this work, we propose incorporating an additional modality without retraining the diffusion prior, enabling accelerated imaging of costly modalities. We further examine the impact of imperfect side modalities on cross-modal guidance. Our method is evaluated on sparse-view neutron computed tomography, where reconstruction quality is substantially improved by incorporating X-ray computed tomography of the same samples.
A Border Gateway Protocol Extension for Distributing Endpoint Identifier Reachability Information in Delay-tolerant Networks
Venue: arXiv cs.NI 2026
Year: 2026

The Delay-Tolerant Networking (DTN) community has created solid results during the last three decades. One aspect that still requires focus, however, is the simplification of configuring systems participating in DTN communication. In this workshop paper, an approach is proposed for configuring DTN endpoint reachability. The core idea is to extend the Border Gateway Protocol (BGP), enabling it to advertise the reachability of DTN endpoints specified by Endpoint Identifiers (EIDs) via specific next-hop Convergence Layer Adapters (CLAs). The approach is mainly intended for usage in edge nodes accessible from an IP network, which communicate via a DTN gateway to a larger DTN infrastructure. It may be applied to simplify access to the Solar System Internet from hosts connected to the Internet. The feasibility of the approach has been confirmed using an implementation intended for validation purposes.
Achievability of Heterogeneous Hypergraph Recovery from its Graph Projection
Venue: arXiv cs.DS 2026
Year: 2026

We formulate and analyze a heterogeneous random hypergraph model, and we provide an achieveability result for recovery of hyperedges from the observed projected graph. We observe a projected graph which combines random hyperedges across all degrees, where a projected edge appears if and only if both vertices appear in at least one hyperedge. Our goal is to reconstruct the original set of hyperedges of degree $d_j$ for some $j$. Our achievability result is based on the idea of selecting maximal cliques of size $d_j$ in the projected graph, and we show that this algorithm succeeds under a natural condition on the densities. This achievability condition generalizes a known threshold for $d$-uniform hypergraphs with noiseless and noisy projections. We conjecture the threshold to be optimal for recovering hyperedges with the largest degree.
Multi-Level Bidirectional Decoder Interaction for Uncertainty-Aware Breast Ultrasound Analysis
Venue: arXiv cs.CV 2026
Year: 2026

Breast ultrasound interpretation requires simultaneous lesion segmentation and tissue classification. However, conventional multi-task learning approaches suffer from task interference and rigid coordination strategies that fail to adapt to instance-specific prediction difficulty. We propose a multi-task framework addressing these limitations through multi-level decoder interaction and uncertainty-aware adaptive coordination. Task Interaction Modules operate at all decoder levels, establishing bidirectional segmentation-classification communication during spatial reconstruction through attention weighted pooling and multiplicative modulation. Unlike prior single-level or encoder-only approaches, this multi-level design captures scale specific task synergies across semantic-to-spatial scales, producing complementary task interaction streams. Uncertainty-Proxy Attention adaptively weights base versus enhanced features at each level using feature activation variance, enabling per-level and per-sample task balancing without heuristic tuning. To support instance-adaptive prediction, multi-scale context fusion captures morphological cues across varying lesion sizes. Evaluation on multiple publicly available breast ultrasound datasets demonstrates competitive performance, including 74.5% lesion IoU and 90.6% classification accuracy on BUSI dataset. Ablation studies confirm that multi-level task interaction provides significant performance gains, validating that decoder-level bidirectional communication is more effective than conventional encoder-only parameter sharing. The code is available at: https://github.com/C-loud-Nine/Uncertainty-Aware-Multi-Level-Decoder-Interaction.
The Finality Calculator: Analyzing and Quantifying Filecoin's Finality Guarantees
Venue: arXiv cs.DC 2026
Year: 2026

In this paper, we analyze the finality of the Filecoin network, focusing on dynamic probabilistic guarantees of tipset permanence in the canonical chain. Our approach differs from static analyses that consider only the worst-case scenario; instead, we dynamically compute the error probability at each round using the live chain history, providing a more accurate and efficient assessment. We provide a practical algorithm that only requires visibility into the blocks produced by honest participants, which can be implemented by clients or off-chain applications without any change to Filecoin's consensus mechanisms. We demonstrate that, under typical operating conditions, the sought-after error probability of $2^{-30}$ is achievable in approximately 30 rounds, a 30x improvement over the 900 rounds that the network currently encodes as a fixed threshold. This finding promises to expedite transactions and enhance network efficiency, and lays the foundation for further analysis of other DAG-structured blockchains.
Caught in a Mafia Romance: How Users Explore Intimate Roleplay and Narrative Exploration with Chatbots
Venue: arXiv cs.HC 2026
Year: 2026

AI chatbots, built using large language models, are increasingly integrated into society and mimic the patterns of human text exchanges. While previous research has raised concerns that humans may form romantic attachment to chatbots, the range of AI-mediated interactions that people wish to create for themselves or others with chatbots remains poorly understood, particularly given the fast evolving landscape of chatbots. We provide an empirical study of Character.AI (cAI), a popular chatbot platform that enables users to design and share character-based bots, and synthesize this with an analysis of Reddit posts from cAI users. Contrary to popular narratives, we identify that users want to: (1) engage in intimate role-play with young adult, masculine-presenting characters that place users in a position of inferior power in well-defined scenarios and (2) immerse themselves in boundless, fantasy settings. We further find that users problematize both the excessive and insufficient sexualized content in such interactions which warrants novel digital-safety features.
MetaState: Persistent Working Memory for Discrete Diffusion Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Discrete diffusion language models (dLLMs) generate text by iteratively denoising a masked sequence. Compared with autoregressive models, this paradigm naturally supports parallel decoding, bidirectional context, and flexible generation patterns. However, standard dLLMs condition each denoising step only on the current hard-masked sequence, while intermediate continuous representations are discarded after sampling and remasking. We refer to this bottleneck as the \textbf{Information Island} problem. It leads to redundant recomputation across steps and can degrade cross-step consistency. We address this limitation with \textbf{MetaState}, a lightweight recurrent augmentation that equips a frozen dLLM backbone with a persistent, fixed-size working memory that remains independent of sequence length. \textbf{MetaState} consists of three trainable modules: a cross-attention Mixer that reads backbone activations into memory slots, a GRU-style Updater that integrates information across denoising steps, and a cross-attention Injector that feeds the updated memory back into backbone activations. We train these modules with $K$-step unrolling to expose them to multi-step denoising dynamics during fine-tuning. On LLaDA-8B and Dream-7B, \textbf{MetaState} introduces negligible trainable parameters while keeping the backbone frozen, and it consistently improves accuracy over frozen baselines. These results demonstrate that persistent cross-step memory is an effective mechanism for bridging denoising steps and improving generation quality in discrete diffusion language models.
PymooLab: An Open-Source Visual Analytics Framework for Multi-Objective Optimization using LLM-Based Code Generation and MCDM
Venue: arXiv cs.SE 2026
Year: 2026

Multi-objective optimization is now a core paradigm in engineering design and scientific discovery. Yet mainstream evolutionary frameworks, including \textit{pymoo}, still depend on imperative coding for problem definition, algorithm configuration, and post-hoc analysis. That requirement creates a non-trivial barrier for practitioners without strong software-engineering training and often complicates reproducible experimentation. We address this gap through PymooLab, an open-source visual analytics environment built on top of \textit{pymoo}. The platform unifies configuration, execution monitoring, and formal decision support in a single reproducible workflow that automatically records hyperparameters, evaluation budgets, and random seeds. Its decoupled object-oriented architecture preserves compatibility with the base ecosystem while enabling LLM-assisted code generation for rapid model formulation. The interface also embeds interactive Multi-Criteria Decision Making (MCDM) tools, which reduces the cognitive burden of Pareto-front inspection. For computationally intensive studies, PymooLab relies on the native \textit{pymoo} acceleration pathway through JAX, improving scalability in high-dimensional evaluations. Overall, the framework combines visual experimentation, LLM-based modeling, and deterministic orchestration to narrow the gap between rigorous operations research and practical accessibility for domain experts. Source code is publicly available at https://github.com/METISBR/pymoolab.
UTICA: Multi-Objective Self-Distllation Foundation Model Pretraining for Time Series Classification
Venue: arXiv cs.LG 2026
Year: 2026

Self-supervised foundation models have achieved remarkable success across domains, including time series. However, the potential of non-contrastive methods, a paradigm that has driven significant advances in computer vision, remains underexplored for time series. In this work, we adapt DINOv2-style self-distillation to pretrain a time series foundation model, building on the Mantis tokenizer and transformer encoder architecture as our backbone. Through a student-teacher framework, our method Utica learns representations that capture both temporal invariance via augmented crops and fine-grained local structure via patch masking. Our approach achieves state-of-the-art classification performance on both UCR and UEA benchmarks. These results suggest that non-contrastive methods are a promising and complementary pretraining strategy for time series foundation models.
Constructing Synthetic Instruction Datasets for Improving Reasoning in Domain-Specific LLMs: A Case Study in the Japanese Financial Domain
Venue: arXiv cs.LG 2026
Year: 2026

In adapting LLMs to specific domains, achieving both domain expertise and reasoning ability remains an urgent challenge. This study proposes a general method for constructing high-quality synthetic instruction data for any domain, starting from domain-specific vocabulary. As a demonstration, we applied this method to the financial domain and constructed a large-scale instruction dataset totaling approximately 9.5 billion tokens with Chain-of-Thought reasoning traces. Evaluation results confirmed performance improvements over baseline models on financial benchmarks, demonstrating the effectiveness of our approach. We also report findings on the impact of reasoning trace length on performance and its limitations. Lastly, we open-source our models and datasets on https://huggingface.co/nri-ai .
Align and Filter: Improving Performance in Asynchronous On-Policy RL
Venue: arXiv cs.LG 2026
Year: 2026

Distributed training and increasing the gradient update frequency are practical strategies to accelerate learning and improve performance, but both exacerbate a central challenge: \textit{policy lag}, which is the mismatch between the behavior policy generating data and the learning policy being updated. Policy lag can hinder the scaling of on-policy learning algorithms to larger problems. In this paper, we identify the sources of policy lag caused by distributed learning and high update frequency. We use the findings to propose \textit{total Variation-based Advantage aligned Constrained policy Optimization (\methodacronym)} as a practical approach to mitigate policy lag. We empirically validate our method and show that it offers better robustness to policy lag in classic RL tasks and a modern RL for LLM math reasoning task.
NM-DEKL$^3_\infty$: A Three-Layer Non-Monotone Evolving Dependent Type Logic
Venue: arXiv cs.LO 2026
Year: 2026

We present a new dependent type system, NM-DEKL$^3_\infty$ (Non-Monotone Dependent Knowledge-Enhanced Logic), for formalising evolving knowledge in dynamic environments. The system uses a three-layer architecture separating a computational layer, a constructive knowledge layer, and a propositional knowledge layer. We define its syntax and semantics and establish Soundness and Equational Completeness; we construct a syntactic model and prove that it is initial in the category of models, from which equational completeness follows. We also give an embedding into the $μ$-calculus and a strict expressiveness inclusion (including the expressibility of non-bisimulation-invariant properties).
Words & Weights: Streamlining Multi-Turn Interactions via Co-Adaptation
Venue: arXiv cs.AI 2026
Year: 2026

Test-time policy adaptation for multi-turn interactions (T2PAM) is essential for aligning Large Language Models (LLMs) with dynamic user needs during inference time. However, existing paradigms commonly treat test-time adaptation as a single-axis problem, either purely refining instructions (Prompt Engineering) or only adjusting weights (Test-Time Training), ignoring that interaction failures stem from a coupled mix of ambiguity and incapacity. We argue that these two optimization paths are not merely additive but synergistic: semantic clarity acts as a pre-conditioner for effective parameter updates. To this end, we propose ROSA2, a framework that reformulates interaction as a joint optimization problem over the heterogeneous space of Words and Weights. By mathematically decomposing the error signal, ROSA2 utilizes textual gradients to rectify intent ambiguity and parameter updates to bridge capability gaps. Theoretically, we prove that this co-adaptation strictly reduces the required parameter shift for convergence. Empirically, ROSA2 outperforms state-of-the-art baselines by 30% on MATH while reducing interaction turns by 40%, demonstrating that refining the context unlocks the true potential of parameter updates.
Token Reduction via Local and Global Contexts Optimization for Efficient Video Large Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Video Large Language Models (VLLMs) demonstrate strong video understanding but suffer from inefficiency due to redundant visual tokens. Existing pruning primary targets intra-frame spatial redundancy or prunes inside the LLM with shallow-layer overhead, yielding suboptimal spatiotemporal reduction and underutilizing long-context compressibility. All of them often discard subtle yet informative context from merged or pruned tokens. In this paper, we propose a new perspective that elaborates token \textbf{A}nchors within intra-frame and inter-frame to comprehensively aggregate the informative contexts via local-global \textbf{O}ptimal \textbf{T}ransport (\textbf{AOT}). Specifically, we first establish local- and global-aware token anchors within each frame under the attention guidance, which then optimal transport aggregates the informative contexts from pruned tokens, constructing intra-frame token anchors. Then, building on the temporal frame clips, the first frame within each clip will be considered as the keyframe anchors to ensemble similar information from consecutive frames through optimal transport, while keeping distinct tokens to represent temporal dynamics, leading to efficient token reduction in a training-free manner. Extensive evaluations show that our proposed AOT obtains competitive performances across various short- and long-video benchmarks on leading video LLMs, obtaining substantial computational efficiency while preserving temporal and visual fidelity. Project webpage: \href{https://tyroneli.github.io/AOT}{AOT}.
MIST-RL: Mutation-based Incremental Suite Testing via Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) often fail to generate correct code on the first attempt, which requires using generated unit tests as verifiers to validate the solutions. Despite the success of recent verification methods, they remain constrained by a "scaling-by-quantity" paradigm. This brute-force approach suffers from a critical limitation: it yields diminishing returns in fault detection while causing severe test redundancy. To address this, we propose MIST-RL (Mutation-based Incremental Suite Testing via Reinforcement Learning), a framework that shifts the focus to "scaling-by-utility". We formulate test generation as a sequential decision process optimized via Group Relative Policy Optimization (GRPO). Specifically, we introduce a novel incremental mutation reward combined with dynamic penalties, which incentivizes the model to discover new faults while it suppresses functionally equivalent assertions. Experiments on HumanEval+ and MBPP+ demonstrate that MIST-RL outperforms state-of-the-art baselines. It achieves a +28.5% higher mutation score while reducing the number of test cases by 19.3%. Furthermore, we show that these compact, high-utility tests serve as superior verifiers, which improves downstream code reranking accuracy on HumanEval+ by 3.05% over the SOTA baseline with 10 candidate samples. The source code and data are provided in the supplementary material.
SciDER: Scientific Data-centric End-to-end Researcher
Venue: arXiv cs.AI 2026
Year: 2026

Automated scientific discovery with large language models is transforming the research lifecycle from ideation to experimentation, yet existing agents struggle to autonomously process raw data collected from scientific experiments. We introduce SciDER, a data-centric end-to-end system that automates the research lifecycle. Unlike traditional frameworks, our specialized agents collaboratively parse and analyze raw scientific data, generate hypotheses and experimental designs grounded in specific data characteristics, and write and execute corresponding code. Evaluation on three benchmarks shows SciDER excels in specialized data-driven scientific discovery and outperforms general-purpose agents and state-of-the-art models through its self-evolving memory and critic-led feedback loop. Distributed as a modular Python package, we also provide easy-to-use PyPI packages with a lightweight web interface to accelerate autonomous, data-driven research and aim to be accessible to all researchers and developers.
Quantifying Conversational Reliability of Large Language Models under Multi-Turn Interaction
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) are increasingly deployed in real-world applications where users engage in extended, mixed-topic conversations that depend on prior context. Yet, their reliability under realistic multi-turn interactions remains poorly understood. We conduct a systematic evaluation of conversational reliability through three representative tasks that reflect practical interaction challenges: (1) maintaining global constraints across topic shifts, (2) selecting the correct tool or agent amid interleaved intents, and (3) tracking structured entities under revisions and distractions. Each task pairs single-turn and multi-turn settings, allowing us to quantify reliability degradation under extended dialogue. Across both commercial and open-source models, we observe substantial declines in reliability, particularly for smaller models. Error analyses reveal recurring failure modes such as instruction drift, intent confusion, and contextual overwriting, which compromise dependable behavior in operational systems. Our findings highlight the need for stress-testing LLMs for conversational reliability and developing more robust evaluation methods for trustworthy deployment.
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods naively represent the entire system state as a single configuration vector, disregarding the rich structural and topological information inherent to articulated hands. We present PhysGraph, a physically-grounded graph transformer policy designed explicitly for challenging bimanual hand-tool-object manipulation. Unlike prior works, we represent the bimanual system as a kinematic graph and introduce per-link tokenization to preserve fine-grained local state information. We propose a physically-grounded bias generator that injects structural priors directly into the attention mechanism, including kinematic spatial distance, dynamic contact states, geometric proximity, and anatomical properties. This allows the policy to explicitly reason about physical interactions rather than learning them implicitly from sparse rewards. Extensive experiments show that PhysGraph significantly outperforms baseline - ManipTrans in manipulation precision and task success rates while using only 51% of the parameters of ManipTrans. Furthermore, the inherent topological flexibility of our architecture shows qualitative zero-shot transfer to unseen tool/object geometries, and is sufficiently general to be trained on three robotic hands (Shadow, Allegro, Inspire).