GenAI4ELab/papercli-papers huggingface dataset:
Salvador Urban Network Transportation (SUNT): A Landmark Spatiotemporal Dataset for Public Transportation (Abstract Reprint)
Authors: Marcos V. Ferreira; Matheus Souza; Tatiane N. Rios; Islame F. C. Fernandes; Jorge Nery; João Gama; Albert Bifet; Ricardo A. Rios
Venue: AAAI 2026 (main)

Abstract: Efficient public transportation management is essential for the development of large urban centers, providing several benefits such as comprehensive coverage of population mobility, reduction of transport costs, better control of traffic congestion, and significant reduction of environmental impact limiting gas emissions and pollution. Realizing these benefits requires a deeply understanding the population and transit patterns and the adoption of approaches to model multiple relations and characteristics efficiently. This work addresses these challenges by providing a novel dataset that includes various public transportation components from three different systems: regular buses, subway, and BRT (Bus Rapid Transit). Our dataset comprises daily information from about 700,000 passengers in Salvador, one of Brazil’s largest cities, and local public transportation data with approximately 2,000 vehicles operating across nearly 400 lines, connecting almost 3,000 stops and stations. With data collected from March 2024 to March 2025 at a frequency lower than one minute, SUNT stands as one of the largest, most comprehensive, and openly available urban datasets in the literature.
A Simple Proof-Theoretic Characterization of Stable Models: Reduction to Difference Logic and Experiments (Abstract Reprint)
Authors: Martin Gebser; Enrico Giunchiglia; Marco Maratea; Marco Mochi
Venue: AAAI 2026 (main)

Abstract: Stable models of logic programs have been studied and characterized in relation with other formalisms by many researchers. As already argued in previous papers, such characterizations are interesting for diverse reasons, including theoretical investigations and the possibility of leading to new algorithms for computing stable models of logic programs. At the theoretical level, complexity and expressiveness comparisons have brought about fundamental insights. Beyond that, practical implementations of the developed reductions enable the use of existing solvers for other logical formalisms to compute stable models. In this paper, we first provide a simple characterization of stable models that can be viewed as a proof-theoretic counterpart of the standard model-theoretic definition. We further show how it can be naturally encoded in difference logic. Such an encoding, compared to the existing reductions to classical logics, does not require Boolean variables. Then, we implement our novel translation to a Satisfiability Modulo Theories (SMT) formula. We finally compare our approach, employing the SMT solver yices, to the translation-based ASP solver lp2diff and to clingo on domains from the “Basic Decision” track of the 2017 Answer Set Programming competition. The results show that our approach is competitive to and often better than lp2diff, and that it can also be faster than clingo on non-tight domains.
NeuPAN: Direct Point Robot Navigation with End-to-End Model-Based Learning (Abstract Reprint)
Authors: Ruihua Han; Shuai Wang; Shuaijun Wang; Zeqing Zhang; Jianjun Chen; Shijie Lin; Chengyang Li; Chengzhong Xu; Yonina C. Eldar; Qi Hao; Jia Pan
Venue: AAAI 2026 (main)

Abstract: Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This article presents neural proximal alternating-minimization network (NeuPAN): a real-time, highly accurate, map-free, easy-to-deploy, and environment-invariant robot motion planner. Leveraging a tightly coupled perception-to-control framework, NeuPAN has two key innovations compared to existing approaches: first, it directly maps raw point cloud data to a latent distance feature space for collision-free motion generation, avoiding error propagation from the perception to control pipeline; second, it is interpretable from an end-to-end model-based learning perspective. The crux of NeuPAN is solving an end-to-end mathematical model with numerous point-level constraints using a plug-and-play proximal alternating-minimization network, incorporating neurons in the loop. This allows NeuPAN to generate real-time, physically interpretable motions. It seamlessly integrates data and knowledge engines, and its network parameters can be fine-tuned via back propagation. We evaluate NeuPAN on a ground mobile robot, a wheel-legged robot, and an autonomous vehicle, in extensive simulated and real-world environments. Results demonstrate that NeuPAN outperforms existing baselines in terms of accuracy, efficiency, robustness, and generalization capabilities across various environments, including the cluttered sandbox, office, corridor, and parking lot. We show that NeuPAN works well in unknown and unstructured environments with arbitrarily shaped objects, transforming impassable paths into passable ones.
Symbolic Task Inference in Deep Reinforcement Learning (Abstract Reprint)
Authors: Hosein Hasanbeig; Natasha Yogananda Jeppu; Alessandro Abate; Tom Melham; Daniel Kroening
Venue: AAAI 2026 (main)

Abstract: This paper proposes DeepSynth, a method for effective training of deep reinforcement learning agents when the reward is sparse or non-Markovian, but at the same time progress towards the reward requires achieving an unknown sequence of high-level objectives. Our method employs a novel algorithm for synthesis of compact finite state automata to uncover this sequential structure automatically. We synthesise a human-interpretable automaton from trace data collected by exploring the environment. The state space of the environment is then enriched with the synthesised automaton, so that the generation of a control policy by deep reinforcement learning is guided by the discovered structure encoded in the automaton. The proposed approach is able to cope with both high-dimensional, low-level features and unknown sparse or non-Markovian rewards. We have evaluated DeepSynth’s performance in a set of experiments that includes the Atari game Montezuma’s Revenge, known to be challenging. Compared to approaches that rely solely on deep reinforcement learning, we obtain a reduction of two orders of magnitude in the iterations required for policy synthesis, and a significant improvement in scalability.
Social Behavior as a Key to Learning-Based Multi-Agent Pathfinding Dilemmas (Abstract Reprint)
Authors: Chengyang He; Tanishq Duhan; Parth Tulsyan; Patrick Kim; Guillaume Sartoretti
Venue: AAAI 2026 (main)

Abstract: The Multi-agent Path Finding (MAPF) problem involves finding collision-free paths for a team of agents in a known, static environment, with important applications in warehouse automation, logistics, or last-mile delivery. To meet the needs of these large-scale applications, current learning-based methods often deploy the same fully trained, decentralized network to all agents to improve scalability. However, such parameter sharing typically results in homogeneous behaviors among agents, which may prevent agents from breaking ties around symmetric conflict (e.g., bottlenecks) and might lead to live-/deadlocks. In this paper, we propose SYLPH, a novel learning-based MAPF framework aimed to mitigate the adverse effects of homogeneity by allowing agents to learn and dynamically select different social behaviors (akin to individual, dynamic roles), without affecting the scalability offered by parameter sharing. Specifically, SYLPH offers a novel hierarchical mechanism by introducing Social Value Orientation (SVO) as a temporally extended latent variable that plays a central role in both policy generation and reward assignment. To support this hierarchical decision-making process, we introduce Social-aware Multi-Policy PPO (SMP3O), a reinforcement learning method that ensures stable and effective training through a mechanism for the cross-utilization of advantages. Moreover, we design an SVO-based learning tie-breaking algorithm, allowing agents to proactively avoid collisions, rather than relying solely on post-processing techniques. As a result of this hierarchical decision-making and exchange of social preferences, SYLPH endows agents with the ability to reason about the MAPF task through more latent spaces and nuanced contexts, leading to varied responses that can help break ties around symmetric conflicts. Our comparative experiments show that SYLPH achieves state-of-the-art performance, surpassing other learning-based MAPF planners in random, room-like, and maze-like maps, while our ablation studies demonstrate the advantages of each component in SYLPH. We finally experimentally validate our trained policies on hardware in three types of maps, showing how SYLPH allows agents to find high-quality paths under real-life conditions. Our code and videos are available at: marmotlab.github.io/mapf_sylph.
LUDO: Low-Latency Understanding of Deformable Objects Using Point Cloud Occupancy Functions (Abstract Reprint)
Authors: Pit Henrich; Franziska Mathis-Ullrich; Paul Maria Scheikl
Venue: AAAI 2026 (main)

Abstract: Accurately determining the shape of deformable objects and the location of their internal structures is crucial for medical tasks that require precise targeting, such as robotic biopsies. We introduce LUDO, a method for accurate low-latency understanding of deformable objects. LUDO reconstructs objects in their deformed state, including their internal structures, from a single-view point cloud observation in under 30 ms using occupancy networks. LUDO provides uncertainty estimates for its predictions. Additionally, it provides explainability by highlighting key features in its input observations. Both uncertainty and explainability are important for safety-critical applications such as surgery. We evaluate LUDO in real-world robotic experiments, achieving a success rate of 98.9% for puncturing various regions of interest (ROIs) inside deformable objects. We compare LUDO to a popular baseline and show its superior ROI localization accuracy, training time, and memory requirements. LUDO demonstrates the potential to interact with deformable objects without the need for deformable registration methods.
Multimodal Super-Resolution: Discovering Hidden Physics and Its Application to Fusion Plasmas (Abstract Reprint)
Authors: Azarakhsh Jalalvand; SangKyeun Kim; Jaemin Seo; Qiming Hu; Max Curie; Peter Steiner; Andrew Oakleigh Nelson; Yong-Su Na; Egemen Kolemen
Venue: AAAI 2026 (main)

Abstract: Understanding complex physical systems often requires integrating data from multiple diagnostics, each with limited resolution or coverage. We present a machine learning framework that reconstructs synthetic high-temporal-resolution data for a target diagnostic using information from other diagnostics, without direct target measurements during the inference. This multimodal super-resolution technique improves diagnostic robustness and enables monitoring even in case of measurement failures or degradation. Applied to fusion plasmas, our method targets edge-localized modes (ELMs), which can damage plasma-facing materials. By reconstructing super-resolution Thomson Scattering data from complementary diagnostics, we uncover fine-scale plasma dynamics and validate the role of resonant magnetic perturbations (RMPs) in ELM suppression through magnetic island formation. The approach provides new observation supporting the plasma profile flattening due to these islands. Our results demonstrate the framework’s ability to generate high-fidelity synthetic diagnostics, offering a powerful tool for ELM control development in future reactors like ITER. The approach is broadly transferable to other domains facing sparse, incomplete, or degraded diagnostic data, opening new avenues for discovery.
Geometrically Inspired Kernel Machines for Collaborative Learning Beyond Gradient Descent (Abstract Reprint)
Authors: Mohit Kumar; Alexander Valentinitsch; Magdalena Fuchs; Mathias Brucker; Juliana Bowles; Adnan Husakovic; Ali Abbas; Bernhard A. Moser
Venue: AAAI 2026 (main)

Abstract: This paper develops a novel mathematical framework for collaborative learning by means of geometrically inspired kernel machines which includes statements on the bounds of generalisation and approximation errors, and sample complexity. For classification problems, this approach allows us to learn bounded geometric structures around given data points and hence solve the global model learning problem in an efficient way by exploiting convexity properties of the related optimisation problem in a Reproducing Kernel Hilbert Space (RKHS). In this way, we can reduce classification problems to determining the closest bounded geometric structure from a given data point. Further advantages that come with our solution is that our approach does not require clients to perform multiple epochs of local optimisation using stochastic gradient descent, nor require rounds of communication between client/server for optimising the global model. We highlight that numerous experiments have shown that the proposed method is a competitive alternative to the state-of-the-art.
Towards Automated Self-Supervised Learning for Truly Unsupervised Graph Anomaly Detection (Abstract Reprint)
Authors: Zhong Li; Yuhang Wang; Matthijs van Leeuwen
Venue: AAAI 2026 (main)

Abstract: Self-supervised learning (SSL) is an emerging paradigm that exploits supervisory signals generated from the data itself, and many recent studies have leveraged SSL to conduct graph anomaly detection. However, we empirically found that three important factors can substantially impact detection performance across datasets: (1) the specific SSL strategy employed; (2) the tuning of the strategy’s hyperparameters; and (3) the allocation of combination weights when using multiple strategies. Most SSL-based graph anomaly detection methods circumvent these issues by arbitrarily or selectively (i.e., guided by label information) choosing SSL strategies, hyperparameter settings, and combination weights. While an arbitrary choice may lead to subpar performance, using label information in an unsupervised setting is label information leakage and leads to severe overestimation of a method’s performance. Leakage has been criticized as 'one of the top ten data mining mistakes', yet many recent studies on SSL-based graph anomaly detection have been using label information to select hyperparameters. To mitigate this issue, we propose to use an internal evaluation strategy (with theoretical analysis) to select hyperparameters in SSL for unsupervised anomaly detection. We perform extensive experiments using 10 recent SSL-based graph anomaly detection algorithms on various benchmark datasets, demonstrating both the prior issues with hyperparameter selection and the effectiveness of our proposed strategy.
Generative Graphical Inverse Kinematics (Abstract Reprint)
Authors: Oliver Limoyo; Filip Marić; Matthew Giamou; Petra Alexson; Ivan Petrović; Jonathan Kelly
Venue: AAAI 2026 (main)

Abstract: Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on local search techniques to minimize nonconvex objective functions. More recent learning-based approaches that approximate the entire feasible set of solutions have shown promise as a means to generate multiple fast and accurate IK results in parallel. However, existing learning-based techniques have a significant drawback: each robot of interest requires a specialized model that must be trained from scratch. To address this key shortcoming, we propose a novel distance-geometric robot representation coupled with a graph structure that allows us to leverage the sample efficiency of Euclidean equivariant functions and the generalizability of graph neural networks (GNNs). Our approach is generative graphical inverse kinematics (GGIK), the first learned IK solver able to accurately and efficiently produce a large number of diverse solutions in parallel while also displaying the ability to generalize -- a single learned model can be used to produce IK solutions for a variety of different robots. When compared to several other learned IK methods, GGIK provides more accurate solutions with the same amount of data. GGIK can generalize reasonably well to robot manipulators unseen during training. Additionally, GGIK can learn a constrained distribution that encodes joint limits and scales efficiently to larger robots and a high number of sampled solutions. Finally, GGIK can be used to complement local IK solvers by providing reliable initializations for a local optimization process.
A Compliant Robotic Leg Based on Fibre Jamming (Abstract Reprint)
Authors: Lois Liow; James Brett; Josh Pinskier; Lauren Hanson; Louis Tidswell; Navinda Kottege; David Howard
Venue: AAAI 2026 (main)

Abstract: Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behavior, we propose a novel design of a robotic leg utilizing fibre jamming. The research highlights the potential of these structures for enhancing legged locomotion and adaptability in unpredictable environments.
A Framework for Belief-based Programs and Their Verification (Abstract Reprint)
Authors: Daxin Liu; Gerhard Lakemeyer
Venue: AAAI 2026 (main)

Abstract: Belief-based programming is a probabilistic extension of the GOLOG program family where every action and sensing result can be noisy and every test condition refers to the agent’s subjective beliefs. Inherited from GOLOG programs, the action-centered feature makes belief programs fairly suitable for high-level robot control under uncertainty. An important step before deploying such a program is to verify whether it satisfies certain properties. At least two problems exist in verifying such programs: how to formally specify program properties and what is the complexity of the verification problem.

In this paper, we propose a formalism for belief programs based on a modal logic of actions and beliefs which allows us to conveniently express PCTL-like temporal properties. We also investigate the decidability and undecidability of the verification problem.
Linguistic Steganography via Self-Adjusting Asymmetric Number System (Abstract Reprint)
Authors: Yiting Liu; Chungen Xu; Fei Yang; Pan Zhang; Linlong Wang
Venue: AAAI 2026 (main)

Abstract: Linguistic steganography (stego) seeks to conceal secret information within natural language text. However, existing methods often struggle to balance stego text quality with embedding efficiency, largely due to limitations in generation strategies and coding mechanisms. We propose SA-ANS, a self-adaptive linguistic steganography framework based on a self-adjusting Asymmetric Numeral System. SA-ANS allows user-specified embedding rates and uses probabilistic coding with adaptive candidate selection, dynamically tailoring the token pool to the language model’s probability distribution. This design produces fluent, semantically coherent stego text while preserving statistical indistinguishability from natural language. Extensive experiments on multiple benchmark datasets, evaluated across embedding efficiency, linguistic quality, statistical similarity, robustness to steganalysis, and human judgment, show that SA-ANS consistently outperforms state-of-the-art methods, demonstrating both effectiveness and practicality.
MAGIC VFM-Meta-Learning Adaptation for Ground Interaction Control with Visual Foundation Models (Abstract Reprint)
Authors: Elena-Sorina Lupu; Fengze Xie; James Preiss; Jedidiah Alindogan; Matthew Anderson; Soon-Jo Chung
Venue: AAAI 2026 (main)

Abstract: Control of off-road vehicles is challenging due to the complex dynamic interactions with the terrain. Accurate modeling of these interactions is important to optimize driving performance, but the relevant physical phenomena, such as slip, are too complex to model from first principles. Therefore, we present an offline meta-learning algorithm to construct a rapidly-tunable model of residual dynamics and disturbances. Our model processes terrain images into features using a visual foundation model (VFM), then maps these features and the vehicle state to an estimate of the current actuation matrix using a deep neural network (DNN). We then combine this model with composite adaptive control to modify the last layer of the DNN in real time, accounting for the remaining terrain interactions not captured during offline training. We provide mathematical guarantees of stability and robustness for our controller, and demonstrate the effectiveness of our method through simulations and hardware experiments with a tracked vehicle and a car-like robot. We evaluate our method outdoors on different slopes with varying slippage and actuator degradation disturbances, and compare against an adaptive controller that does not use the VFM terrain features. We show significant improvement over the baseline in both hardware experimentation and simulation.
The Cost and Complexity of Minimizing Envy in House Allocations (Abstract Reprint)
Authors: Jayakrishnan Madathil; Neeldhara Misra; Aditi Sethia
Venue: AAAI 2026 (main)

Abstract: We study almost envy-freeness in house allocation, where m houses are to be allocated among n agents so that every agent receives exactly one house. An envy-free allocation need not exist, and therefore we may have to settle for relaxations. We study different aggregate measures of envy as markers of fairness. In particular, we define the amount of envy experienced by an agent a w.r.t. an allocation to be the number of agents that agent a envies under that allocation. We quantify the envy generated by an allocation using three different metrics: 1) the number of agents who are envious; 2) the maximum amount of envy experienced by any agent; and 3) the total amount of envy experienced by all agents, and look for allocations that minimize one of the three metrics. We prove a host of algorithmic and hardness results. We also suggest practical approaches for these problems via integer linear program (ILP) formulations and report the findings of our experimental evaluation of ILPs. Finally, we study the price of fairness, which quantifies the loss of welfare we must suffer due to the fairness requirements, and present tight bounds as well as algorithms that simultaneously optimize both welfare and fairness.
The Search for Stability: Learning Dynamics of Strategic Publishers with Initial Documents (Abstract Reprint)
Authors: Omer Madmon; Idan Pipano; Itamar Reinman; Moshe Tennenholtz
Venue: AAAI 2026 (main)

Abstract: We study a game-theoretic information retrieval model in which strategic publishers aim to maximize their chances of being ranked first by the search engine while maintaining the integrity of their original documents. We show that the commonly used Probability Ranking Principle (PRP) ranking scheme results in an unstable environment where games often fail to reach pure Nash equilibrium. We propose two families of ranking functions that do not adhere to the PRP. We provide both theoretical and empirical evidence that these methods lead to a stable search ecosystem, by providing positive results on the learning dynamics convergence. We also define the publishers’ and users’ welfare, demonstrate a possible publisher-user trade-off, and provide means for a search system designer to control it. Finally, we show how instability harms long-term users’ welfare.