OpenRaiser/Intern-Atlas huggingface dataset:
A Secure Splitting and Acceleration Strategy for TCP/QUIC in Interplanetary Networks
Venue: arXiv cs.NI 2026
Year: 2026

Interplanetary networks (IPNs) present unique challenges such as extreme delay, high loss, and frequent disruptions that severely degrade the performance of conventional transport protocols like Transmission Control Protocol (TCP) and Quick UDP Internet Connection (QUIC). To address these issues, we propose a secure transport acceleration strategy tailored for IPNs. This strategy is founded on our Non-Transparent Secure Proxy (NTSP) architecture, which enables connection splitting for end-to-end encrypted flows while preserving application layer security. Based on the NTSP, we design an IPN-aware transport policy that combines (i) a rate-based congestion control algorithm exploiting the pre-scheduled nature of deep-space links to achieve stable and efficient bandwidth utilization, and (ii) an adaptive packet-level forward error correction scheme to provide low-latency loss recovery without retransmissions. Furthermore, we introduce a theoretically grounded backpressure flow control mechanism, deriving an analytical model for optimal buffer sizing to mitigate rate mismatch and prevent bufferbloat. The strategy is implemented in a prototype system, PEPspace, and evaluated in representative Earth-Moon scenarios. Results show near-capacity and stable goodput and substantially improved delivery performance compared with TCP/QUIC variants and existing Performance Enhancing Proxies, while maintaining low latency and robust data delivery across intermittent links. The NTSP architecture is further discussed as a foundational framework for future unified IP/DTN architectures, bridging a key architectural gap in heterogeneous space networks.
Unlearning the Unpromptable: Prompt-free Instance Unlearning in Diffusion Models
Venue: arXiv cs.LG 2026
Year: 2026

Machine unlearning aims to remove specific outputs from trained models, often at the concept level, such as forgetting all occurrences of a particular celebrity or filtering content via text prompts. However, many undesired outputs, such as an individual's face or generations culturally or factually misinterpreted, cannot often be specified by text prompts. We address this underexplored setting of instance unlearning for outputs that are undesired but unpromptable, where the goal is to forget target outputs selectively while preserving the rest. To this end, we introduce an effective surrogate-based unlearning method that leverages image editing, timestep-aware weighting, and gradient surgery to guide trained diffusion models toward forgetting specific outputs. Experiments on conditional (Stable Diffusion 3) and unconditional (DDPM-CelebA) diffusion models demonstrate that our prompt-free method uniquely unlearns unpromptable outputs, such as faces and culturally inaccurate depictions, with preserved integrity, unlike prompt-based and prompt-free baselines. Our proposed method would serve as a practical hotfix for diffusion model providers to ensure privacy protection and ethical compliance.
Geist in the Machine: Simulating Recognition and Inner Dialogue in AI-Mediated Teaching and Research
Venue: arXiv cs.CY 2026
Year: 2026

This paper describes an AI tutoring system built upon two psycho-social theoretic constructs: Hegelian recognition and Freudian psychodynamics. Two related interventions are proposed: recognition-enhanced prompts that instruct an AI tutor to treat the learner as an autonomous subject, and a multi-agent ego/superego architecture where an internal critic reviews tutor output. The paper also describes the nature of the human/machine relationship involved in this research itself, employing a reflexive methodology: Claude Code (Opus 4.5/4.6) builds, evaluates, and documents the AI tutor by authoring a companion scientific paper - a process termed "vibe scholarship" - in conjunction with human prompting and suggestion, which is itself documented and analyzed. The companion paper, included as appendix, reports a factorial evaluation across three generation models (DeepSeek V3.2, Haiku 4.5, Gemini Flash 3.0), finding recognition-enhanced prompts produce large, model-independent improvements (d=1.34-1.92) through a calibration mechanism that raises the floor of tutor performance. This result, significant in itself, is combined with the qualitative reflections in this paper to consider impacts of AI on the delicate dynamics of student / teacher and assistant / researcher relations.
LCAMV: High-Accuracy 3D Reconstruction of Color-Varying Objects Using LCA Correction and Minimum-Variance Fusion in Structured Light
Venue: arXiv cs.CV 2026
Year: 2026

Accurate 3D reconstruction of colored objects with structured light (SL) is hindered by lateral chromatic aberration (LCA) in optical components and uneven noise characteristics across RGB channels. This paper introduces lateral chromatic aberration correction and minimum-variance fusion (LCAMV), a robust 3D reconstruction method that operates with a single projector-camera pair without additional hardware or acquisition constraints. LCAMV analytically models and pixel-wise compensates LCA in both the projector and camera, then adaptively fuses multi-channel phase data using a Poisson-Gaussian noise model and minimum-variance estimation. Unlike existing methods that require extra hardware or multiple exposures, LCAMV enables fast acquisition. Experiments on planar and non-planar colored surfaces show that LCAMV outperforms grayscale conversion and conventional channel-weighting, reducing depth error by up to 43.6\%. These results establish LCAMV as an effective solution for high-precision 3D reconstruction of nonuniformly colored objects.
UniPINN: A Unified PINN Framework for Multi-task Learning of Diverse Navier-Stokes Equations
Venue: arXiv cs.CV 2026
Year: 2026

Physics-Informed Neural Networks (PINNs) have shown promise in solving incompressible Navier-Stokes equations, yet existing approaches are predominantly designed for single-flow settings. When extended to multi-flow scenarios, these methods face three key challenges: (1) difficulty in simultaneously capturing both shared physical principles and flow-specific characteristics, (2) susceptibility to inter-task negative transfer that degrades prediction accuracy, and (3) unstable training dynamics caused by disparate loss magnitudes across heterogeneous flow regimes. To address these limitations, we propose UniPINN, a unified multi-flow PINN framework that integrates three complementary components: a shared-specialized architecture that disentangles universal physical laws from flow-specific features, a cross-flow attention mechanism that selectively reinforces relevant patterns while suppressing task-irrelevant interference, and a dynamic weight allocation strategy that adaptively balances loss contributions to stabilize multi-objective optimization. Extensive experiments on three canonical flows demonstrate that UniPINN effectively unifies multi-flow learning, achieving superior prediction accuracy and balanced performance across heterogeneous regimes while successfully mitigating negative transfer. The source code of this paper will be released on https://github.com/Event-AHU/OpenFusion
PEEM: Prompt Engineering Evaluation Metrics for Interpretable Joint Evaluation of Prompts and Responses
Venue: arXiv cs.CL 2026
Year: 2026

Prompt design is a primary control interface for large language models (LLMs), yet standard evaluations largely reduce performance to answer correctness, obscuring why a prompt succeeds or fails and providing little actionable guidance. We propose PEEM (Prompt Engineering Evaluation Metrics), a unified framework for joint and interpretable evaluation of both prompts and responses. PEEM defines a structured rubric with 9 axes: 3 prompt criteria (clarity/structure, linguistic quality, fairness) and 6 response criteria (accuracy, coherence, relevance, objectivity, clarity, conciseness), and uses an LLM-based evaluator to output (i) scalar scores on a 1-5 Likert scale and (ii) criterion-specific natural-language rationales grounded in the rubric. Across 7 benchmarks and 5 task models, PEEM's accuracy axis strongly aligns with conventional accuracy while preserving model rankings (aggregate Spearman rho about 0.97, Pearson r about 0.94, p < 0.001). A multi-evaluator study with four models shows consistent relative judgments (pairwise rho = 0.68-0.85), supporting evaluator-agnostic deployment. Beyond alignment, PEEM captures complementary linguistic failure modes and remains informative under prompt perturbations: prompt-quality trends track downstream accuracy under iterative rewrites, semantic adversarial manipulations induce clear score degradation, and meaning-preserving paraphrases yield high stability (robustness rate about 76.7-80.6%). Finally, using only PEEM scores and rationales as feedback, a zero-shot prompt rewriting loop improves downstream accuracy by up to 11.7 points, outperforming supervised and RL-based prompt-optimization baselines. Overall, PEEM provides a reproducible, criterion-driven protocol that links prompt formulation to response behavior and enables systematic diagnosis and optimization of LLM interactions.
An Event-Driven E-Skin System with Dynamic Binary Scanning and real time SNN Classification
Venue: arXiv cs.NE 2026
Year: 2026

This paper presents a novel hardware system for high-speed, event-sparse sampling-based electronic skin (e-skin)that integrates sensing and neuromorphic computing. The system is built around a 16x16 piezoresistive tactile array with front end and introduces a event-based binary scan search strategy to classify the digits. This event-driven strategy achieves a 12.8x reduction in scan counts, a 38.2x data compression rate and a 28.4x equivalent dynamic range, a 99% data sparsity, drastically reducing the data acquisition overhead. The resulting sparse data stream is processed by a multi-layer convolutional spiking neural network (Conv-SNN) implemented on an FPGA, which requires only 65% of the computation and 15.6% of the weight storage relative to a CNN. Despite these significant efficiency gains, the system maintains a high classification accuracy of 92.11% for real-time handwritten digit recognition. Furthermore, a real neuromorphic tactile dataset using Address Event Representation (AER) is constructed. This work demonstrates a fully integrated, event-driven pipeline from analog sensing to neuromorphic classification, offering an efficient solution for robotic perception and human-computer interaction.
Towards Cognitive Defect Analysis in Active Infrared Thermography with Vision-Text Cues
Venue: arXiv cs.CV 2026
Year: 2026

Active infrared thermography (AIRT) is currently witnessing a surge of artificial intelligence (AI) methodologies being deployed for automated subsurface defect analysis of high performance carbon fiber-reinforced polymers (CFRP). Deploying AI-based AIRT methodologies for inspecting CFRPs requires the creation of time consuming and expensive datasets of CFRP inspection sequences to train neural networks. To address this challenge, this work introduces a novel language-guided framework for cognitive defect analysis in CFRPs using AIRT and vision-language models (VLMs). Unlike conventional learning-based approaches, the proposed framework does not require developing training datasets for extensive training of defect detectors, instead it relies solely on pretrained multimodal VLM encoders coupled with a lightweight adapter to enable generative zero-shot understanding and localization of subsurface defects. By leveraging pretrained multimodal encoders, the proposed system enables generative zero-shot understanding of thermographic patterns and automatic detection of subsurface defects. Given the domain gap between thermographic data and natural images used to train VLMs, an AIRT-VLM Adapter is proposed to enhance the visibility of defects while aligning the thermographic domain with the learned representations of VLMs. The proposed framework is validated using three representative VLMs; specifically, GroundingDINO, Qwen-VL-Chat, and CogVLM. Validation is performed on 25 CFRP inspection sequences with impacts introduced at different energy levels, reflecting realistic defects encountered in industrial scenarios. Experimental results demonstrate that the AIRT-VLM adapter achieves signal-to-noise ratio (SNR) gains exceeding 10 dB compared with conventional thermographic dimensionality-reduction methods, while enabling zero-shot defect detection with intersection-over-union values reaching 70%.
PET-F2I: A Comprehensive Benchmark and Parameter-Efficient Fine-Tuning of LLMs for PET/CT Report Impression Generation
Venue: arXiv cs.CV 2026
Year: 2026

PET/CT imaging is pivotal in oncology and nuclear medicine, yet summarizing complex findings into precise diagnostic impressions is labor-intensive. While LLMs have shown promise in medical text generation, their capability in the highly specialized domain of PET/CT remains underexplored. We introduce PET-F2I-41K (PET Findings-to-Impression Benchmark), a large-scale benchmark for PET/CT impression generation using LLMs, constructed from over 41k real-world reports. Using PET-F2I-41K, we conduct a comprehensive evaluation of 27 models across proprietary frontier LLMs, open-source generalist models, and medical-domain LLMs, and we develop a domain-adapted 7B model (PET-F2I-7B) fine-tuned from Qwen2.5-7B-Instruct via LoRA. Beyond standard NLG metrics (e.g., BLEU-4, ROUGE-L, BERTScore), we propose three clinically grounded metrics - Entity Coverage Rate (ECR), Uncovered Entity Rate (UER), and Factual Consistency Rate (FCR) - to assess diagnostic completeness and factual reliability. Experiments reveal that neither frontier nor medical-domain LLMs perform adequately in zero-shot settings. In contrast, PET-F2I-7B achieves substantial gains (e.g., 0.708 BLEU-4) and a 3.0x improvement in entity coverage over the strongest baseline, while offering advantages in cost, latency, and privacy. Beyond this modeling contribution, PET-F2I-41K establishes a standardized evaluation framework to accelerate the development of reliable and clinically deployable reporting systems for PET/CT.
Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
Venue: arXiv cs.RO 2026
Year: 2026

Partially Observable Markov Decision Processes (POMDPs) provide a principled framework for robot decision-making under uncertainty. Solving reach-avoid POMDPs, however, requires coordinating three distinct behaviors: goal reaching, safety, and active information gathering to reduce uncertainty. Existing online POMDP solvers attempt to address all three within a single belief tree search, but this unified approach struggles with the conflicting time scales inherent to these objectives. We propose a layered, certificate-based control architecture that operates directly in belief space, decoupling goal reaching, information gathering, and safety into modular components. We introduce Belief Control Lyapunov Functions (BCLFs) that formalize information gathering as a Lyapunov convergence problem in belief space, and show how they can be learned via reinforcement learning. For safety, we develop Belief Control Barrier Functions (BCBFs) that leverage conformal prediction to provide probabilistic safety guarantees over finite horizons. The resulting control synthesis reduces to lightweight quadratic programs solvable in real time, even for non-Gaussian belief representations with dimension $>10^4$. Experiments in simulation and on a space-robotics platform demonstrate real-time performance and improved safety and task success compared to state-of-the-art constrained POMDP solvers.
Need for Speed: Zero-Shot Depth Completion with Single-Step Diffusion
Venue: arXiv cs.CV 2026
Year: 2026

We introduce Marigold-SSD, a single-step, late-fusion depth completion framework that leverages strong diffusion priors while eliminating the costly test-time optimization typically associated with diffusion-based methods. By shifting computational burden from inference to finetuning, our approach enables efficient and robust 3D perception under real-world latency constraints. Marigold-SSD achieves significantly faster inference with a training cost of only 4.5 GPU days. We evaluate our method across four indoor and two outdoor benchmarks, demonstrating strong cross-domain generalization and zero-shot performance compared to existing depth completion approaches. Our approach significantly narrows the efficiency gap between diffusion-based and discriminative models. Finally, we challenge common evaluation protocols by analyzing performance under varying input sparsity levels. Page: https://dtu-pas.github.io/marigold-ssd/
Exact Interpolation under Noise: A Reproducible Comparison of Clough-Tocher and Multiquadric RBF Surfaces
Venue: arXiv cs.GR 2026
Year: 2026

This paper presents a reproducible comparison of cubic and radial basis function (RBF) interpolants for multivariate surface analysis. To eliminate evaluation bias, both methods are assessed under a unified slice-wise train/test protocol on the same synthetic function family. Performance is reported using RMSE, MAE, and $R^2$ in two regimes: (i) noise-free observations and (ii) noisy observations. In the noise-free regime, both interpolants achieve high accuracy with output-dependent advantages. In the noisy regime, exact interpolation overfits noisy nodes and degrades out-of-sample performance for both methods; in our experimental setting, the cubic interpolant is comparatively more stable. All experiments are fully reproducible through a single SciPy/NumPy-based script with a fixed random seed, repeated splits, and bootstrap-based uncertainty summaries. From an environmental engineering perspective, the main practical implication is that noisy or apparently inconsistent measurements in thermodynamic process systems should not be discarded by default; instead, they can be structured and interpolated to recover physically meaningful process behavior.
Recover to Predict: Progressive Retrospective Learning for Variable-Length Trajectory Prediction
Venue: arXiv cs.RO 2026
Year: 2026

Trajectory prediction is critical for autonomous driving, enabling safe and efficient planning in dense, dynamic traffic. Most existing methods optimize prediction accuracy under fixed-length observations. However, real-world driving often yields variable-length, incomplete observations, posing a challenge to these methods. A common strategy is to directly map features from incomplete observations to those from complete ones. This one-shot mapping, however, struggles to learn accurate representations for short trajectories due to significant information gaps. To address this issue, we propose a Progressive Retrospective Framework (PRF), which gradually aligns features from incomplete observations with those from complete ones via a cascade of retrospective units. Each unit consists of a Retrospective Distillation Module (RDM) and a Retrospective Prediction Module (RPM), where RDM distills features and RPM recovers previous timesteps using the distilled features. Moreover, we propose a Rolling-Start Training Strategy (RSTS) that enhances data efficiency during PRF training. PRF is plug-and-play with existing methods. Extensive experiments on datasets Argoverse 2 and Argoverse 1 demonstrate the effectiveness of PRF. Code is available at https://github.com/zhouhao94/PRF.
Self-Scaled Broyden Family of Quasi-Newton Methods in JAX
Venue: arXiv cs.MS 2026
Year: 2026

We present a JAX implementation of the Self-Scaled Broyden family of quasi-Newton methods, fully compatible with JAX and building on the Optimistix~\cite{rader_optimistix_2024} optimisation library. The implementation includes BFGS, DFP, Broyden and their Self-Scaled variants(SSBFGS, SSDFP, SSBroyden), together with a Zoom line search satisfying the strong Wolfe conditions. This is a short technical note, not a research paper, as it does not claim any novel contribution; its purpose is to document the implementation and ease the adoption of these optimisers within the JAX community. The code is available at https://github.com/IvanBioli/ssbroyden_optimistix.git.
An Approach for Safe and Secure Software Protection Supported by Symbolic Execution
Venue: arXiv cs.CR 2026
Year: 2026

We introduce a novel copy-protection method for industrial control software. With our method, a program executes correctly only on its target hardware and behaves differently on other machines. The hardware-software binding is based on Physically Unclonable Functions (PUFs). We use symbolic execution to guarantee the preservation of safety properties if the software is executed on a different machine, or if there is a problem with the PUF response. Moreover, we show that the protection method is also secure against reverse engineering.
Splat2Real: Novel-view Scaling for Physical AI with 3D Gaussian Splatting
Venue: arXiv cs.CV 2026
Year: 2026

Physical AI faces viewpoint shift between training and deployment, and novel-view robustness is essential for monocular RGB-to-3D perception. We cast Real2Render2Real monocular depth pretraining as imitation-learning-style supervision from a digital twin oracle: a student depth network imitates expert metric depth/visibility rendered from a scene mesh, while 3DGS supplies scalable novel-view observations. We present Splat2Real, centered on novel-view scaling: performance depends more on which views are added than on raw view count. We introduce CN-Coverage, a coverage+novelty curriculum that greedily selects views by geometry gain and an extrapolation penalty, plus a quality-aware guardrail fallback for low-reliability teachers. Across 20 TUM RGB-D sequences with step-matched budgets (N=0 to 2000 additional rendered views, with N unique <= 500 and resampling for larger budgets), naive scaling is unstable; CN-Coverage mitigates worst-case regressions relative to Robot/Coverage policies, and GOL-Gated CN-Coverage provides the strongest medium-high-budget stability with the lowest high-novelty tail error. Downstream control-proxy results versus N provides embodied-relevance evidence by shifting safety/progress trade-offs under viewpoint shift.
Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Robots are increasingly expected to execute open ended natural language requests in human environments, which demands reliable long horizon execution under partial observability. This is especially challenging for humanoids because locomotion and manipulation are tightly coupled through stance, reachability, and balance. We present a humanoid agent framework that turns VLM plans into verifiable task programs and closes the loop with multi object 3D geometric supervision. A VLM planner compiles each instruction into a typed JSON sequence of subtasks with explicit predicate based preconditions and success conditions. Using SAM3 and RGB-D, we ground all task relevant entities in 3D, estimate object centroids and extents, and evaluate predicates over stable frames to obtain condition level diagnostics. The supervisor uses these diagnostics to verify subtask completion and to provide condition-level feedback for progression and replanning. We execute each subtask by coordinating humanoid locomotion and whole-body manipulation, selecting feasible motion primitives under reachability and balance constraints. Experiments on tabletop manipulation and long horizon humanoid loco manipulation tasks show improved robustness from multi object grounding, temporal stability, and recovery driven replanning.