OpenRaiser/Intern-Atlas huggingface dataset:
SeVeDo: A Heterogeneous Transformer Accelerator for Low-Bit Inference via Hierarchical Group Quantization and SVD-Guided Mixed Precision
Venue: arXiv cs.LG 2026
Year: 2026

Low-bit quantization is a promising technique for efficient transformer inference by reducing computational and memory overhead. However, aggressive bitwidth reduction remains challenging due to activation outliers, leading to accuracy degradation. Existing methods, such as outlier-handling and group quantization, achieve high accuracy but incur substantial energy consumption. To address this, we propose SeVeDo, an energy-efficient SVD-based heterogeneous accelerator that structurally separates outlier-sensitive components into a high-precision low-rank path, while the remaining computations are executed in a low-bit residual datapath with group quantization. To further enhance efficiency, Hierarchical Group Quantization (HGQ) combines coarse-grained floating-point scaling with fine-grained shifting, effectively reducing dequantization cost. Also, SVD-guided mixed precision (SVD-MP) statically allocates higher bitwidths to precision-sensitive components identified through low-rank decomposition, thereby minimizing floating-point operation cost. Experimental results show that SeVeDo achieves a peak energy efficiency of 13.8TOPS/W, surpassing conventional designs, with 12.7TOPS/W on ViT-Base and 13.4TOPS/W on Llama2-7B benchmarks.
SliceMoE: Bit-Sliced Expert Caching under Miss-Rate Constraints for Efficient MoE Inference
Venue: arXiv cs.AR 2026
Year: 2026

MoE models offer efficient scaling through conditional computation, but their large parameter size and expensive expert offloading make on-device deployment challenging. Existing acceleration techniques such as prefetching or expert clustering often increase energy usage or reduce expert diversity. We present SliceMoE, an energy-efficient MoE inference framework for miss-rate-constrained deployment. SliceMoE introduces Dynamic Bit-Sliced Caching (DBSC), which caches experts at slice-level granularity and assigns precision on demand to expand effective expert capacity. To support mixed-precision experts without memory duplication, we propose Calibration-Free Asymmetric Matryoshka Quantization (AMAT), a truncation-based scheme that maintains compatibility between low-bit and high-bit slices. We further introduce Predictive Cache Warmup (PCW) to reduce early-decode cold misses by reshaping cache contents during prefill. Evaluated on DeepSeek-V2-Lite and Qwen1.5-MoE-A2.7B, SliceMoE reduces decode-stage energy consumption by up to 2.37x and 2.85x, respectively, and improves decode latency by up to 1.81x and 1.64x, while preserving near-high-bit accuracy. These results demonstrate that slice-level caching enables an efficient on-device MoE deployment.
Efficient Path Generation with Curvature Guarantees by Mollification
Venue: arXiv cs.RO 2026
Year: 2026

Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and trajectory tracking algorithms require the desired path to be defined by at least twice continuously differentiable functions to guarantee key properties such as global convergence, especially for nonholonomic robots like unicycles with speed constraints. Consequently, path generation methods must bridge the gap between convenient but non-differentiable planning outputs, such as piecewise linear segments, and the differentiability requirements imposed by downstream control algorithms. While techniques such as spline interpolation or optimization-based methods are commonly used to smooth non-differentiable paths or create feasible ones from sequences of waypoints, they either produce unnecessarily complex trajectories or are computationally expensive. In this work, we present a method to regularize non-differentiable functions and generate feasible paths through mollification. Specifically, we approximate an arbitrary path with a differentiable function that can converge to it with arbitrary precision. Additionally, we provide a systematic method for bounding the curvature of generated paths, which we demonstrate by applying it to paths resulting from linking a sequence of waypoints with segments. The proposed approach is analytically shown to be computationally more efficient than standard interpolation methods, enabling real-time implementation on microcontrollers, while remaining compatible with standard trajectory tracking and path following algorithms.
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning
Venue: arXiv cs.CV 2026
Year: 2026

Current Vision-Language-Action (VLA) paradigms in autonomous driving primarily rely on Imitation Learning (IL), which introduces inherent challenges such as distribution shift and causal confusion. Online Reinforcement Learning offers a promising pathway to address these issues through trial-and-error learning. However, applying online reinforcement learning to VLA models in autonomous driving is hindered by inefficient exploration in continuous action spaces. To overcome this limitation, we propose MindDrive, a VLA framework comprising a large language model (LLM) with two distinct sets of LoRA parameters. The one LLM serves as a Decision Expert for scenario reasoning and driving decision-making, while the other acts as an Action Expert that dynamically maps linguistic decisions into feasible trajectories. By feeding trajectory-level rewards back into the reasoning space, MindDrive enables trial-and-error learning over a finite set of discrete linguistic driving decisions, instead of operating directly in a continuous action space. This approach effectively balances optimal decision-making in complex scenarios, human-like driving behavior, and efficient exploration in online reinforcement learning. Using the lightweight Qwen-0.5B LLM, MindDrive achieves Driving Score (DS) of 78.04 and Success Rate (SR) of 55.09% on the challenging Bench2Drive benchmark. To the best of our knowledge, this is the first work to demonstrate the effectiveness of online reinforcement learning for the VLA model in autonomous driving.
AOI: Context-Aware Multi-Agent Operations via Dynamic Scheduling and Hierarchical Memory Compression
Venue: arXiv cs.MA 2026
Year: 2026

The proliferation of cloud-native architectures, characterized by microservices and dynamic orchestration, has rendered modern IT infrastructures exceedingly complex and volatile. This complexity generates overwhelming volumes of operational data, leading to critical bottlenecks in conventional systems: inefficient information processing, poor task coordination, and loss of contextual continuity during fault diagnosis and remediation. To address these challenges, we propose AOI (AI-Oriented Operations), a novel multi-agent collaborative framework that integrates three specialized agents with an LLM-based Context Compressor. Its core innovations include: (1) a dynamic task scheduling strategy that adaptively prioritizes operations based on real-time system states, (2) a three-layer memory architecture comprising Working, Episodic, and Semantic layers that optimizes context retention and retrieval. Extensive experiments on synthetic and real-world benchmarks show that AOI achieves 72.4\% context compression while preserving 92.8\% critical information, improves task success to 94.2\%, and reduces MTTR by 34.4\% over the best baseline. This work presents a paradigm shift towards scalable, adaptive, and context-aware autonomous operations, enabling robust management of next-generation IT infrastructures with minimal human intervention.
From Context to EDUs: Faithful and Structured Context Compression via Elementary Discourse Unit Decomposition
Venue: arXiv cs.CL 2026
Year: 2026

Managing extensive context remains a critical bottleneck for Large Language Models (LLMs), particularly in applications like long-document question answering and autonomous agents where lengthy inputs incur high computational costs and introduce noise. Existing compression techniques often disrupt local coherence through discrete token removal or rely on implicit latent encoding that suffers from positional bias and incompatibility with closed-source APIs. To address these limitations, we introduce the EDU-based Context Compressor, a novel explicit compression framework designed to preserve both global structure and fine-grained details. Our approach reformulates context compression as a structure-then-select process. First, our LingoEDU transforms linear text into a structural relation tree of Elementary Discourse Units (EDUs) which are anchored strictly to source indices to eliminate hallucination. Second, a lightweight ranking module selects query-relevant sub-trees for linearization. To rigorously evaluate structural understanding, we release StructBench, a manually annotated dataset of 248 diverse documents. Empirical results demonstrate that our method achieves state-of-the-art structural prediction accuracy and significantly outperforms frontier LLMs while reducing costs. Furthermore, our structure-aware compression substantially enhances performance across downstream tasks ranging from long-context tasks to complex Deep Search scenarios.
Field evaluation and optimization of a lightweight autonomous lidar-based UAV system based on a rigorous experimental setup in boreal forest environments
Venue: arXiv cs.RO 2026
Year: 2026

Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To support the selection and development of such algorithms, a reliable comparison of existing approaches based on published studies is essential. However, reliable comparisons are currently challenging due to widely varying experimental setups and incomplete reporting practices. This study proposes a standardized experimental setup for evaluating autonomous under-canopy UAV systems to fill this gap. The proposed setup emphasizes quantitative reporting of forest complexity, visual representation of test environments, execution of multiple repeated flights, and reporting of flight success rates alongside qualitative flight results. In addition, flights at multiple target speeds are encouraged, with reporting of realized flight speed, mission completion time, and point-to-point flight distance. The proposed setup is demonstrated using a lightweight lidar-based quadrotor employing state-of-the-art open-source algorithms, evaluated through extensive experiments in two natural boreal forest environments. Based on a systematic evaluation of the original system, several improvements were introduced. The same experimental protocol was then repeated with the optimized system, resulting in a total of 93 real-world flights. The optimized system achieved success rates of 12/15 and 15/15 at target flight speeds of 1 m/s and 2 m/s, respectively, in a medium-difficulty forest, and 12/15 and 5/15 in a difficult forest. Adoption of the proposed experimental setup would facilitate the literature-based comparison of autonomous under-canopy flight systems and support systematic performance improvement of future UAV-based forest robotics solutions.
The direct democracy paradox: Microtargeting and issue ownership in Swiss online political ads
Venue: arXiv cs.SI 2026
Year: 2026

Political advertising on social media has fundamentally reshaped democratic deliberation, playing a central role in electoral campaigns and propaganda. However, its systemic impact remains largely theoretical or unexplored, raising critical concerns about institutional fairness and algorithmic transparency. This paper provides the first data-driven analysis of the relationship between direct democracy and political advertising on social media, leveraging a novel dataset of 40,000 political ads published on Meta in Switzerland between 2021 and 2025. Switzerland's system of direct democracy, characterized by frequent referenda, provides an ideal context for examining this relationship beyond standard electoral cycles. The results reveal the sheer scale of digital campaigning, with 560 million impressions targeting 5.6 million voters, and suggest that greater exposure to "pro-Yes" advertising significantly correlates with referendum approval outcomes. Demographic microtargeting analysis suggests partisan strategies: Centrist and right-wing parties predominantly target older men, whereas left-wing parties focus on young women. Regarding textual content, a clear pattern of "talking past each other" is identified; in line with the issue ownership theory, parties avoid debating shared issues, preferring to promote exclusively owned topics. Furthermore, the parties' strategies are so distinctive that a machine learning model trained only on audience and topic features can accurately predict the author of an advertisement. This article highlights how demographic microtargeting, issue divergence, and tailored messages could undermine democratic deliberation, exposing a paradox: Referenda are designed to be the ultimate expression of the popular will, yet they are highly susceptible to invisible algorithmic persuasion.
ART: Articulated Reconstruction Transformer
Venue: arXiv cs.CV 2026
Year: 2026

We introduce ART, Articulated Reconstruction Transformer -- a category-agnostic, feed-forward model that reconstructs complete 3D articulated objects from only sparse, multi-state RGB images. Previous methods for articulated object reconstruction either rely on slow optimization with fragile cross-state correspondences or use feed-forward models limited to specific object categories. In contrast, ART treats articulated objects as assemblies of rigid parts, formulating reconstruction as part-based prediction. Our newly designed transformer architecture maps sparse image inputs to a set of learnable part slots, from which ART jointly decodes unified representations for individual parts, including their 3D geometry, texture, and explicit articulation parameters. The resulting reconstructions are physically interpretable and readily exportable for simulation. Trained on a large-scale, diverse dataset with per-part supervision, and evaluated across diverse benchmarks, ART achieves significant improvements over existing baselines and establishes a new state of the art for articulated object reconstruction from image inputs.
Improving Underwater Acoustic Classification Through Learnable Gabor Filter Convolution and Attention Mechanisms
Venue: arXiv cs.LG 2026
Year: 2026

Remotely detecting and classifying underwater acoustic targets is critical for environmental monitoring and defence. However, the complexity of ship-radiated and environmental noise poses significant challenges for accurate signal processing. While recent advancements in machine learning have improved classification accuracy, limited dataset availability and a lack of standardised experimentation hinder generalisation and robustness. This paper introduces GSE ResNeXt, a deep learning architecture integrating learnable Gabor convolutional layers with a ResNeXt backbone enhanced by squeeze-and-excitation attention. The Gabor filters serve as two-dimensional adaptive band-pass filters, extending the feature channel representation. Its combination with channel attention improves training stability and convergence while enhancing the model's ability to extract discriminative features. The model is evaluated using three training-test split strategies that reflect increasingly complex classification tasks, demonstrating how systematic evaluation design addresses issues such as data leakage, temporal separation, and taxonomy. Results show that GSE ResNeXt consistently outperforms baseline models like Xception, ResNet, and MobileNetV2, in terms of classification performance. Regarding stability and convergence, adding Gabor convolutions to the initial layers of the model reduced training time by up to 62%. During the evaluation of training-testing splits, temporal separation between subsets significantly affected performance, proving more influential than training data volume. These findings suggest that signal processing can enhance model reliability and generalisation under varying environmental conditions, particularly in data-limited underwater acoustic classification. Future developments should focus on mitigating environmental effects on input signals.
Human-Centered AI Maturity Model (HCAI-MM): An Organizational Design Perspective
Venue: arXiv cs.HC 2026
Year: 2026

Human-centered artificial intelligence (HCAI) is an approach to AI design, development, and deployment that prioritizes human needs, values, and experiences, ensuring that technology enhances human capabilities, well-being, and workforce empowerment. While HCAI has gained prominence in academic discourse and organizational practice, its implementation remains constrained by the absence of methodological guidance and structured frameworks. In particular, HCAI and organizational design practices are often treated separately, despite their interdependence in shaping effective socio-technical systems. This chapter addresses this gap by introducing the Human-Centered AI Maturity Model (HCAI-MM), a structured framework that enables organizations to evaluate, monitor, and advance their capacity to design and implement HCAI solutions. The model specifies stages of maturity, metrics, tools, governance mechanisms, and best practices, supported by case studies, while also incorporating an organizational design methodology that operationalizes maturity progression. Encompassing dimensions such as human-AI collaboration, explainability, fairness, and user experience, the HCAI-MM provides a roadmap for organizations to move from novice to advanced levels of maturity, aligning AI technologies with human values and organizational design principles.
Spectral Representation-based Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

In real-world applications with large state and action spaces, reinforcement learning (RL) typically employs function approximations to represent core components like the policies, value functions, and dynamics models. Although powerful approximations such as neural networks offer great expressiveness, they often present theoretical ambiguities, suffer from optimization instability and exploration difficulty, and incur substantial computational costs in practice. In this paper, we introduce the perspective of spectral representations as a solution to address these difficulties in RL. Stemming from the spectral decomposition of the transition operator, this framework yields an effective abstraction of the system dynamics for subsequent policy optimization while also providing a clear theoretical characterization. We reveal how to construct spectral representations for transition operators that possess latent variable structures or energy-based structures, which implies different learning methods to extract spectral representations from data. Notably, each of these learning methods realizes an effective RL algorithm under this framework. We also provably extend this spectral view to partially observable MDPs. Finally, we validate these algorithms on over 20 challenging tasks from the DeepMind Control Suite, where they achieve performances comparable or superior to current state-of-the-art model-free and model-based baselines.
A study of cut-elimination for a non-labelled cyclic proof system for propositional dynamic logics
Venue: arXiv cs.LO 2026
Year: 2026

Dynamic logic is a modal logic for reasoning about programs. A cyclic proof system is a proof system that allows proofs containing cycles and is an alternative to a proof system containing (co-)induction. This paper introduces a sequent calculus and a non-labelled cyclic proof system for an extension of propositional dynamic logic obtained by adding backwards modal operators. We prove the soundness and completeness of these systems and show that cut-elimination fails in both. Moreover, we show the cut-elimination property of the cyclic proof system for propositional dynamic logic obtained by restricting ours.
MCP-SafetyBench: A Benchmark for Safety Evaluation of Large Language Models with Real-World MCP Servers
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) are evolving into agentic systems that reason, plan, and operate external tools. The Model Context Protocol (MCP) is a key enabler of this transition, offering a standardized interface for connecting LLMs with heterogeneous tools and services. Yet MCP's openness and multi-server workflows introduce new safety risks that existing benchmarks fail to capture, as they focus on isolated attacks or lack real-world coverage. We present MCP-SafetyBench, a comprehensive benchmark built on real MCP servers that supports realistic multi-turn evaluation across five domains: browser automation, financial analysis, location navigation, repository management, and web search. It incorporates a unified taxonomy of 20 MCP attack types spanning server, host, and user sides, and includes tasks requiring multi-step reasoning and cross-server coordination under uncertainty. Using MCP-SafetyBench, we systematically evaluate leading open- and closed-source LLMs, revealing that all models remain vulnerable to MCP attacks, with a notable safety-utility trade-off. Our results highlight the urgent need for stronger defenses and establish MCP-SafetyBench as a foundation for diagnosing and mitigating safety risks in real-world MCP deployments.
Insecure Ingredients? Exploring Dependency Update Patterns of Bundled JavaScript Packages on the Web
Venue: arXiv cs.SE 2026
Year: 2026

Reusable software components, typically distributed as packages, are a central paradigm of modern software development. The JavaScript ecosystem serves as a prime example, offering millions of packages with their use being promoted as idiomatic. However, download statistics on npm raise security concerns as they indicate a high popularity of vulnerable package versions while their real prevalence on production websites remains unknown. Package version detection mechanisms fill this gap by extracting utilized packages and versions from observed artifacts on the web. Prior research focuses on mechanisms for either hand-selected popular packages in bundles or for single-file resources utilizing the global namespace. This does not allow for a thorough analysis of modern web applications' dependency update behavior at scale. In this work, we improve upon this by presenting Aletheia, a package-agnostic method which dissects JavaScript bundles to identify package versions through algorithms originating from the field of plagiarism detection. We show that this method clearly outperforms the existing approaches in practical settings. Furthermore, we crawl the Tranco top 100,000 domains to reveal that 5% - 20% of domains update their dependencies within 16 weeks. Surprisingly, from a longitudinal perspective, bundled packages are updated significantly faster than their CDN-included counterparts, with consequently up to 10 times fewer known vulnerable package versions included. Still, we observe indicators that few widespread vendors seem to be a major driving force behind timely updates, implying that quantitative measures are not painting a complete picture.