OpenRaiser/Intern-Atlas huggingface dataset:
Safe Continuous-time Multi-Agent Reinforcement Learning via Epigraph Form
Venue: arXiv cs.MA 2026
Year: 2026

Multi-agent reinforcement learning (MARL) has made significant progress in recent years, but most algorithms still rely on a discrete-time Markov Decision Process (MDP) with fixed decision intervals. This formulation is often ill-suited for complex multi-agent dynamics, particularly in high-frequency or irregular time-interval settings, leading to degraded performance and motivating the development of continuous-time MARL (CT-MARL). Existing CT-MARL methods are mainly built on Hamilton-Jacobi-Bellman (HJB) equations. However, they rarely account for safety constraints such as collision penalties, since these introduce discontinuities that make HJB-based learning difficult. To address this challenge, we propose a continuous-time constrained MDP (CT-CMDP) formulation and a novel MARL framework that transforms discrete MDPs into CT-CMDPs via an epigraph-based reformulation. We then solve this by proposing a novel physics-informed neural network (PINN)-based actor-critic method that enables stable and efficient optimization in continuous time. We evaluate our approach on continuous-time safe multi-particle environments (MPE) and safe multi-agent MuJoCo benchmarks. Results demonstrate smoother value approximations, more stable training, and improved performance over safe MARL baselines, validating the effectiveness and robustness of our method.
ComptonUNet: A Deep Learning Model for GRB Localization with Compton Cameras under Noisy and Low-Statistic Conditions
Venue: arXiv cs.CV 2026
Year: 2026

Gamma-ray bursts (GRBs) are among the most energetic transient phenomena in the universe and serve as powerful probes for high-energy astrophysical processes. In particular, faint GRBs originating from a distant universe may provide unique insights into the early stages of star formation. However, detecting and localizing such weak sources remains challenging owing to low photon statistics and substantial background noise. Although recent machine learning models address individual aspects of these challenges, they often struggle to balance the trade-off between statistical robustness and noise suppression. Consequently, we propose ComptonUNet, a hybrid deep learning framework that jointly processes raw data and reconstructs images for robust GRB localization. ComptonUNet was designed to operate effectively under conditions of limited photon statistics and strong background contamination by combining the statistical efficiency of direct reconstruction models with the denoising capabilities of image-based architectures. We perform realistic simulations of GRB-like events embedded in background environments representative of low-Earth orbit missions to evaluate the performance of ComptonUNet. Our results demonstrate that ComptonUNet significantly outperforms existing approaches, achieving improved localization accuracy across a wide range of low-statistic and high-background scenarios.
Understanding Nature Engagement Experiences of Blind People
Venue: arXiv cs.HC 2026
Year: 2026

Nature plays a crucial role in human health and well-being, but little is known about how blind people experience and relate to it. We conducted a survey of nature relatedness with blind (N=20) and sighted (N=20) participants, along with in-depth interviews with 16 blind participants, to examine how blind people engage with nature and the factors shaping this engagement. Our survey results revealed lower levels of nature relatedness among blind participants compared to sighted peers. Our interview study further highlighted: 1) current practices and challenges of nature engagement, 2) attitudes and values that shape engagement, and 3) expectations for assistive technologies that support safe and meaningful engagement. We also provide design implications to guide future technologies that support nature engagement for blind people. Overall, our findings illustrate how blind people experience nature beyond vision and lay a foundation for technologies that support inclusive nature engagement.
FLoRG: Federated Fine-tuning with Low-rank Gram Matrices and Procrustes Alignment
Venue: arXiv cs.LG 2026
Year: 2026

Parameter-efficient fine-tuning techniques such as low-rank adaptation (LoRA) enable large language models (LLMs) to adapt to downstream tasks efficiently. Federated learning (FL) further facilitates this process by enabling collaborative fine-tuning across distributed clients without sharing private data. However, the use of two separate low-rank matrices in LoRA for federated fine-tuning introduces two types of challenges. First, aggregation error can arise from separately aggregating the two low-rank matrices. Second, even if the server aggregates the product of two low-rank matrices, it needs to decompose the aggregated matrix back into low-rank matrices. Since the decomposition is not unique, it can lead to decomposition drift. To tackle the aforementioned challenges, we propose federated low-rank Gram-matrix aggregation (FLoRG), a federated fine-tuning framework which employs a single low-rank matrix for fine-tuning and aggregates its Gram matrix (i.e., the matrix of inner products of its column vectors). FLoRG can eliminate the aggregation error and reduce the communication overhead. It also minimizes the decomposition drift by introducing a Procrustes alignment approach which aligns the decomposed matrix between consecutive fine-tuning rounds for consistent updates. We theoretically analyze the convergence of FLoRG and prove that adopting the Procrustes alignment results in a tighter convergence bound. Experimental results across multiple LLM fine-tuning benchmarks demonstrate that FLoRG outperforms five state-of-the-art baseline schemes by providing higher downstream task accuracy and can reduce the communication overhead by up to 2041$\times$.
Resource Allocation for STAR-RIS-enhanced Metaverse Systems with Augmented Reality
Venue: arXiv cs.IT 2026
Year: 2026

Augmented reality (AR)-enabled Metaverse is a promising technique to provide immersive service experience for mobile users. However, the limited network resources and unpredictable wireless propagation environments are key design bottlenecks of AR-enabled Metaverse systems. Therefore, this paper presents a resource management framework for simultaneously transmitting and reflecting RIS (STAR-RIS)-assisted AR-enabled Metaverse, where the STAR-RIS is configured to improve the communication efficiency between AR users and the Metaverse server located at the base station (BS). Moreover, we formulate a service latency minimization problem via jointly optimizing the computation resource allocation of the BS, coefficient matrix of the STAR-RIS, central processing unit (CPU) frequency and transmit power of the AR users. To tackle the non-convex problem, we utilize an approximate method to transform it to a tractable form, and decouple the multi-dimensional variables via the alternating optimization method. Particularly, the optimal coefficient matrix is obtained by a penalty function-based method with proved convergence, the CPU frequencies of AR users are derived as the closed-form solution, and the transmit power of AR users and computation resource allocation of the BS are obtained by the Lagrange duality method and convex optimization theory. Finally, simulation results demonstrates that the proposed method achieves remarkable latency reduction than several benchmark methods.
Physical Human-Robot Interaction for Grasping in Augmented Reality via Rigid-Soft Robot Synergy
Venue: arXiv cs.RO 2026
Year: 2026

Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots remains challenging, due to difficulties in modeling, perception, and cross-domain kinematics. In this work, we present a novel augmented reality (AR)-based physical human-robot interaction framework that enables direct teleoperation of a hybrid rigid-soft robot for simple reaching and grasping tasks. Using an AR headset, users can interact with a simulated model of the robotic system integrated into a general-purpose physics engine, which is superimposed on the real system, allowing simulated execution prior to real-world deployment. To ensure consistent behavior between the virtual and physical robots, we introduce a real-to-simulation parameter identification pipeline that leverages the inherent geometric properties of the soft robot, enabling accurate modeling of its static and dynamic behavior as well as the control system's response.
Quantifying Competitive Relationships Among Open-Source Software Projects
Venue: arXiv cs.SE 2026
Year: 2026

Throughout the history of software, evolution has occurred in cycles of rise and fall driven by competition, and open-source software (OSS) is no exception. This cycle is accelerating, particularly in rapidly evolving domains such as web development and deep learning. However, the impact of competitive relationships among OSS projects on their survival remains unclear, and there are risks of losing a competitive edge to rivals. To address this, this study proposes a new automated method called ``Mutual Impact Analysis of OSS (MIAO)'' to quantify these competitive relationships. The proposed method employs a structural vector autoregressive model and impulse response functions, normally used in macroeconomic analysis, to analyze the interactions among OSS projects. In an empirical analysis involving mining and analyzing 187 OSS project groups, MIAO identified projects that were forced to cease development owing to competitive influences with up to 81\% accuracy, and the resulting features supported predictive experiments that anticipate cessation one year ahead with up to 77\% accuracy. This suggests that MIAO could be a valuable tool for OSS project maintainers to understand the dynamics of OSS ecosystems and predict the rise and fall of OSS projects.
B$^3$-Seg: Camera-Free, Training-Free 3DGS Segmentation via Analytic EIG and Beta-Bernoulli Bayesian Updates
Venue: arXiv cs.CV 2026
Year: 2026

Interactive 3D Gaussian Splatting (3DGS) segmentation is essential for real-time editing of pre-reconstructed assets in film and game production. However, existing methods rely on predefined camera viewpoints, ground-truth labels, or costly retraining, making them impractical for low-latency use. We propose B$^3$-Seg (Beta-Bernoulli Bayesian Segmentation for 3DGS), a fast and theoretically grounded method for open-vocabulary 3DGS segmentation under camera-free and training-free conditions. Our approach reformulates segmentation as sequential Beta-Bernoulli Bayesian updates and actively selects the next view via analytic Expected Information Gain (EIG). This Bayesian formulation guarantees the adaptive monotonicity and submodularity of EIG, which produces a greedy $(1{-}1/e)$ approximation to the optimal view sampling policy. Experiments on multiple datasets show that B$^3$-Seg achieves competitive results to high-cost supervised methods while operating end-to-end segmentation within a few seconds. The results demonstrate that B$^3$-Seg enables practical, interactive 3DGS segmentation with provable information efficiency.
Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft
Venue: arXiv cs.RO 2026
Year: 2026

We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame and rotational dynamics in the body frame; aerodynamic directions (drag, lift, side) are defined geometrically, avoiding local attitude coordinates. Enforcing coordinated flight (no sideslip), we derive a closed-form trajectory-to-input map yielding the attitude, angular velocity, and thrust-angle-of-attack pair, and we recover the aerodynamic moment coefficients component-wise. Applying such a map to tethered flight on spherical parallels, we obtain analytic expressions for the required bank angle and identify a specific zero-bank locus where the tether tension exactly balances centrifugal effects, highlighting the decoupling between aerodynamic coordination and the apparent gravity vector. Under a simple lift/drag law, the minimal-thrust angle of attack admits a closed form. These pointwise quasi-steady inversion solutions become steady-flight trim when the trajectory and rotational dynamics are time-invariant. The framework bridges inverse simulation in aeronautics with geometric modeling in robotics, providing a rigorous building block for trajectory design and feasibility checks.
Robustness and Reasoning Fidelity of Large Language Models in Long-Context Code Question Answering
Venue: arXiv cs.SE 2026
Year: 2026

Large language models (LLMs) increasingly assist software engineering tasks that require reasoning over long code contexts, yet their robustness under varying input conditions remains unclear. We conduct a systematic study of long-context code question answering using controlled ablations that test sensitivity to answer format, distractors, and context scale. Extending LongCodeBench Python dataset with new COBOL and Java question-answer sets, we evaluate state-of-the-art models under three settings: (i) shuffled multiple-choice options, (ii) open-ended questions and (iii) needle-in-a-haystack contexts containing relevant and adversarially irrelevant information. Results show substantial performance drops in both shuffled multiple-choice options and open-ended questions, and brittle behavior in the presence of irrelevant cues. Our findings highlight limitations of current long-context evaluations and provide a broader benchmark for assessing code reasoning in both legacy and modern systems.
NotebookRAG: Retrieving Multiple Notebooks to Augment the Generation of EDA Notebooks for Crowd-Wisdom
Venue: arXiv cs.HC 2026
Year: 2026

High-quality exploratory data analysis (EDA) is essential in the data science pipeline, but remains highly dependent on analysts' expertise and effort. While recent LLM-based approaches partially reduce this burden, they struggle to generate effective analysis plans and appropriate insights and visualizations when user intent is abstract. Meanwhile, a vast collection of analysis notebooks produced across platforms and organizations contains rich analytical knowledge that can potentially guide automated EDA. Retrieval-augmented generation (RAG) provides a natural way to leverage such corpora, but general methods often treat notebooks as static documents and fail to fully exploit their potential knowledge for automating EDA. To address these limitations, we propose NotebookRAG, a method that takes user intent, datasets, and existing notebooks as input to retrieve, enhance, and reuse relevant notebook content for automated EDA generation. For retrieval, we transform code cells into context-enriched executable components, which improve retrieval quality and enable rerun with new data to generate updated visualizations and reliable insights. For generation, an agent leverages enhanced retrieval content to construct effective EDA plans, derive insights, and produce appropriate visualizations. Evidence from a user study with 24 participants confirms the superiority of our method in producing high-quality and intent-aligned EDA notebooks.
NTLRAG: Narrative Topic Labels derived with Retrieval Augmented Generation
Venue: arXiv cs.SI 2026
Year: 2026

Topic modeling has evolved as an important means to identify evident or hidden topics within large collections of text documents. Topic modeling approaches are often used for analyzing and making sense of social media discussions consisting of millions of short text messages. However, assigning meaningful topic labels to document clusters remains challenging, as users are commonly presented with unstructured keyword lists that may not accurately capture the respective core topic. In this paper, we introduce Narrative Topic Labels derived with Retrieval Augmented Generation (NTLRAG), a scalable and extensible framework that generates semantically precise and human-interpretable narrative topic labels. Our narrative topic labels provide a context-rich, intuitive concept to describe topic model output. In particular, NTLRAG uses retrieval augmented generation (RAG) techniques and considers multiple retrieval strategies as well as chain-of-thought elements to provide high-quality output. NTLRAG can be combined with any standard topic model to generate, validate, and refine narratives which then serve as narrative topic labels. We evaluated NTLRAG with a user study and three real-world datasets consisting of more than 6.7 million social media messages that have been sent by more than 2.7 million users. The user study involved 16 human evaluators who found that our narrative topic labels offer superior interpretability and usability as compared to traditional keyword lists. An implementation of NTLRAG is publicly available for download.
From Labor to Collaboration: A Methodological Experiment Using AI Agents to Augment Research Perspectives in Taiwan's Humanities and Social Sciences
Venue: arXiv cs.AI 2026
Year: 2026

Generative AI is reshaping knowledge work, yet existing research focuses predominantly on software engineering and the natural sciences, with limited methodological exploration for the humanities and social sciences. Positioned as a "methodological experiment," this study proposes an AI Agent-based collaborative research workflow (Agentic Workflow) for humanities and social science research. Taiwan's Claude.ai usage data (N = 7,729 conversations, November 2025) from the Anthropic Economic Index (AEI) serves as the empirical vehicle for validating the feasibility of this methodology. This study operates on two levels: the primary level is the design and validation of a methodological framework - a seven-stage modular workflow grounded in three principles: task modularization, human-AI division of labor, and verifiability, with each stage delineating clear roles for human researchers (research judgment and ethical decisions) and AI Agents (information retrieval and text generation); the secondary level is the empirical analysis of AEI Taiwan data - serving as an operational demonstration of the workflow's application to secondary data research, showcasing both the process and output quality (see Appendix A). This study contributes by proposing a replicable AI collaboration framework for humanities and social science researchers, and identifying three operational modes of human-AI collaboration - direct execution, iterative refinement, and human-led - through reflexive documentation of the operational process. This taxonomy reveals the irreplaceability of human judgment in research question formulation, theoretical interpretation, contextualized reasoning, and ethical reflection. Limitations including single-platform data, cross-sectional design, and AI reliability risks are acknowledged.
Decoding the Human Factor: High Fidelity Behavioral Prediction for Strategic Foresight
Venue: arXiv cs.AI 2026
Year: 2026

Predicting human decision-making in high-stakes environments remains a central challenge for artificial intelligence. While large language models (LLMs) demonstrate strong general reasoning, they often struggle to generate consistent, individual-specific behavior, particularly when accurate prediction depends on complex interactions between psychological traits and situational constraints. Prompting-based approaches can be brittle in this setting, exhibiting identity drift and limited ability to leverage increasingly detailed persona descriptions. To address these limitations, we introduce the Large Behavioral Model (LBM), a behavioral foundation model fine-tuned to predict individual strategic choices with high fidelity. LBM shifts from transient persona prompting to behavioral embedding by conditioning on a structured, high-dimensional trait profile derived from a comprehensive psychometric battery. Trained on a proprietary dataset linking stable dispositions, motivational states, and situational constraints to observed choices, LBM learns to map rich psychological profiles to discrete actions across diverse strategic dilemmas. In a held-out scenario evaluation, LBM fine-tuning improves behavioral prediction relative to the unadapted Llama-3.1-8B-Instruct backbone and performs comparably to frontier baselines when conditioned on Big Five traits. Moreover, we find that while prompting-based baselines exhibit a complexity ceiling, LBM continues to benefit from increasingly dense trait profiles, with performance improving as additional trait dimensions are provided. Together, these results establish LBM as a scalable approach for high-fidelity behavioral simulation, enabling applications in strategic foresight, negotiation analysis, cognitive security, and decision support.
Mechanistic Interpretability of Cognitive Complexity in LLMs via Linear Probing using Bloom's Taxonomy
Venue: arXiv cs.AI 2026
Year: 2026

The black-box nature of Large Language Models necessitates novel evaluation frameworks that transcend surface-level performance metrics. This study investigates the internal neural representations of cognitive complexity using Bloom's Taxonomy as a hierarchical lens. By analyzing high-dimensional activation vectors from different LLMs, we probe whether different cognitive levels, ranging from basic recall (Remember) to abstract synthesis (Create), are linearly separable within the model's residual streams. Our results demonstrate that linear classifiers achieve approximately 95% mean accuracy across all Bloom levels, providing strong evidence that cognitive level is encoded in a linearly accessible subspace of the model's representations. These findings provide evidence that the model resolves the cognitive difficulty of a prompt early in the forward pass, with representations becoming increasingly separable across layers.
Disjunction Composition of BDD Transition Systems for Model-Based Testing
Venue: arXiv cs.SE 2026
Year: 2026

We introduce a compositional approach to model-based test generation in Behavior-Driven Development (BDD). BDD is an agile methodology in which system behavior is specified through textual scenarios that, in our approach, are translated into transition systems used for model-based testing. This paper formally defines disjunction composition, to combine BDD transition systems that represent alternative system behaviors. Disjunction composition allows for modeling and testing the integrated behavior while ensuring that the testing power of the original set of scenarios is preserved. This is proved using a symbolic semantics for BDD transition systems, with the property that the symbolic equivalence of two BDD transition systems guarantees that they fail the same test cases. Also, we demonstrate the potential of disjunction composition by applying the composition in an industrial case study.