OpenRaiser/Intern-Atlas huggingface dataset:
Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies
Venue: arXiv cs.RO 2026
Year: 2026

Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic postures, which can lead to discomfort or injury over time. In this paper, we propose a novel control framework that provides kinesthetic feedback to SRB users when a non-ergonomic posture is detected, offering resistance to discourage such behaviors. This approach aims to foster long-term learning of ergonomic habits and promote proper posture during physical interactions. To achieve this, a virtual fixture method is developed, integrated with a continuous, online ergonomic posture assessment framework. Additionally, to improve coordination between the operator and the SRB, which consists of a robotic arm mounted on a floating base, the position of the floating base is adjusted as needed. Experimental results demonstrate the functionality and efficacy of the ergonomics-driven control framework, including two user studies involving practical loco-manipulation tasks with 14 subjects, comparing the proposed framework with a baseline control framework that does not account for human ergonomics.
VisionTrim: Unified Vision Token Compression for Training-Free MLLM Acceleration
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal large language models (MLLMs) suffer from high computational costs due to excessive visual tokens, particularly in high-resolution and video-based scenarios. Existing token reduction methods typically focus on isolated pipeline components and often neglect textual alignment, leading to performance degradation. In this paper, we propose VisionTrim, a unified framework for training-free MLLM acceleration, integrating two effective plug-and-play modules: 1) the Dominant Vision Token Selection (DVTS) module, which preserves essential visual tokens via a global-local view, and 2) the Text-Guided Vision Complement (TGVC) module, which facilitates context-aware token merging guided by textual cues. Extensive experiments across diverse image and video multimodal benchmarks demonstrate the performance superiority of our VisionTrim, advancing practical MLLM deployment in real-world applications. The code is available at: https://github.com/hanxunyu/VisionTrim.
Multi-target DoA estimation with a single Rydberg atomic receiver by spectral analysis of spatially-resolved fluorescence
Venue: arXiv cs.IT 2026
Year: 2026

Rydberg-based Direction-of-Arrival (DoA) estimation has been hampered by the complexity of receiver arrays and the single-target, narrow-band limitations of existing single-receiver methods. This paper introduces a novel approach that addresses these limitations. We demonstrate that by spatially resolving the fluorescence profile along the vapor cell, the multi-target problem can be effectively solved. Our approach hinges on the insight that by superimposing incoming signals with a strong local oscillator (LO), the complex atomic absorption pattern is linearized into a simple superposition of sinusoids. In this new representation, each spatial frequency uniquely and directly maps to the DoA of a target. This reduces the multi-target challenge into a spectral estimation problem, which we address using Prony's method. Our approach, termed Imaging-based Spectral Estimation (ISE), inherently supports multi-target detection and restores the full broadband capability of the sensor by removing the restrictive cell-length dependency. This development also shows potential for realizing multi-channel Rydberg receivers and the continuous-aperture sensing required for holographic multiple-input multiple-output (MIMO). We develop a comprehensive theoretical model, derive the Cramer-Rao Lower Bound (CRLB) as a performance benchmark, and present simulations validating the effectiveness of the approach to resolve multiple targets.
CONCUR: High-Throughput Agentic Batch Inference of LLM via Congestion-Based Concurrency Control
Venue: arXiv cs.DC 2026
Year: 2026

Batch inference for agentic workloads stresses the GPU key-value (KV) cache in a sustained and cumulative manner, often causing severe throughput degradation well before memory capacity is exhausted. We identify this phenomenon as middle-phase thrashing, a previously under-characterized pathology in which cache efficiency collapses as long-lived agents accumulate state over time. We argue that mitigating this pathology requires moving beyond reactive, request-level cache management to proactive, agent-level admission control. Drawing inspiration from congestion control in distributed systems, we view the KV cache as a shared resource whose efficient utilization depends on feedback-driven regulation. Based on this insight, we present CONCUR, a lightweight control layer that regulates agent admission to bound aggregate cache pressure while preserving execution continuity. CONCUR adapts a cache-aware control algorithm to dynamically adjust the number of active agents using runtime cache signals. Across large models and real-world agent workloads, CONCUR prevents middle-phase thrashing and improves batch inference throughput by up to 4.09x on Qwen3-32B and 1.9x on DeepSeek-V3, while remaining compatible with existing LLM serving systems.
RealSec-bench: A Benchmark for Evaluating Secure Code Generation in Real-World Repositories
Venue: arXiv cs.CR 2026
Year: 2026

Large Language Models (LLMs) have demonstrated remarkable capabilities in code generation, but their proficiency in producing secure code remains a critical, under-explored area. Existing benchmarks often fall short by relying on synthetic vulnerabilities or evaluating functional correctness in isolation, failing to capture the complex interplay between functionality and security found in real-world software. To address this gap, we introduce RealSec-bench, a new benchmark for secure code generation meticulously constructed from real-world, high-risk Java repositories. Our methodology employs a multi-stage pipeline that combines systematic SAST scanning with CodeQL, LLM-based false positive elimination, and rigorous human expert validation. The resulting benchmark contains 105 instances grounded in real-word repository contexts, spanning 19 Common Weakness Enumeration (CWE) types and exhibiting a wide diversity of data flow complexities, including vulnerabilities with up to 34-hop inter-procedural dependencies. Using RealSec-bench, we conduct an extensive empirical study on 5 popular LLMs. We introduce a novel composite metric, SecurePass@K, to assess both functional correctness and security simultaneously. We find that while Retrieval-Augmented Generation (RAG) techniques can improve functional correctness, they provide negligible benefits to security. Furthermore, explicitly prompting models with general security guidelines often leads to compilation failures, harming functional correctness without reliably preventing vulnerabilities. Our work highlights the gap between functional and secure code generation in current LLMs.
Gated Relational Alignment via Confidence-based Distillation for Efficient VLMs
Venue: arXiv cs.CV 2026
Year: 2026

Vision-Language Models (VLMs) achieve strong multimodal performance but are costly to deploy, and post-training quantization often causes significant accuracy loss. Despite its potential, quantization-aware training for VLMs remains underexplored. We propose GRACE, a framework unifying knowledge distillation and QAT under the Information Bottleneck principle: quantization constrains information capacity while distillation guides what to preserve within this budget. Treating the teacher as a proxy for task-relevant information, we introduce confidence-gated decoupled distillation to filter unreliable supervision, relational centered kernel alignment to transfer visual token structures, and an adaptive controller via Lagrangian relaxation to balance fidelity against capacity constraints. Across extensive benchmarks on LLaVA and Qwen families, our INT4 models consistently outperform FP16 baselines (e.g., LLaVA-1.5-7B: 70.1 vs. 66.8 on SQA; Qwen2-VL-2B: 76.9 vs. 72.6 on MMBench), nearly matching teacher performance. Using real INT4 kernel, we achieve 3$\times$ throughput with 54% memory reduction. This principled framework significantly outperforms existing quantization methods, making GRACE a compelling solution for resource-constrained deployment.
On Small Pair Decompositions for Point Sets
Venue: arXiv cs.CG 2026
Year: 2026

$\newcommand{\Re}{\mathbb{R}}$We study the minWSPD problem of computing the minimum-size well-separated pairs decomposition of a set of points, and show constant approximation algorithms in low-dimensional Euclidean space and doubling metrics. This problem is computationally hard already $\Re^2$, and is also hard to approximate. We also introduce a new pair decomposition, removing the requirement that the diameters of the parts should be small. Surprisingly, we show that in a general metric space, one can compute such a decomposition of size $O( \tfrac{n}{\varepsilon}\log n)$, which is dramatically smaller than the quadratic bound for WSPDs. In $\Re^d$, the bound improves to $O( d \tfrac{n}{\varepsilon}\log \tfrac{1}{\varepsilon } )$.
Okara: Detection and Attribution of TLS Man-in-the-Middle Vulnerabilities in Android Apps with Foundation Models
Venue: arXiv cs.CR 2026
Year: 2026

Transport Layer Security (TLS) is fundamental to secure online communication, yet vulnerabilities in certificate validation that enable Man-in-the-Middle (MitM) attacks remain a pervasive threat in Android apps. Existing detection tools are hampered by low-coverage UI interaction, costly instrumentation, and a lack of scalable root-cause analysis. We present Okara, a framework that leverages foundation models to automate the detection and deep attribution of TLS MitM Vulnerabilities (TMVs). Okara's detection component, TMV-Hunter, employs foundation model-driven GUI agents to achieve high-coverage app interaction, enabling efficient vulnerability discovery at scale. Deploying TMV-Hunter on 37,349 apps from Google Play and a third-party store revealed 8,374 (22.42%) vulnerable apps. Our measurement shows these vulnerabilities are widespread across all popularity levels, affect critical functionalities like authentication and code delivery, and are highly persistent with a median vulnerable lifespan of over 1,300 days. Okara's attribution component, TMV-ORCA, combines dynamic instrumentation with a novel LLM-based classifier to locate and categorize vulnerable code according to a comprehensive new taxonomy. This analysis attributes 41% of vulnerabilities to third-party libraries and identifies recurring insecure patterns, such as empty trust managers and flawed hostname verification. We have initiated a large-scale responsible disclosure effort and will release our tools and datasets to support further research and mitigation.
A Structured Approach to Safety Case Construction for AI Systems
Venue: arXiv cs.SE 2026
Year: 2026

Safety cases, structured arguments that a system is acceptably safe, are becoming central to the governance of AI systems. Yet, traditional safety-case practices from aviation or nuclear engineering rely on well-specified system boundaries, stable architectures, and known failure modes. Modern AI systems, such as generative and agentic AI, are the opposite. Their capabilities emerge unpredictably from low-level training objectives, their behaviour varies with prompts, and their risk profiles shift through fine-tuning, scaffolding, or deployment context. This study examines how safety cases are currently constructed for AI systems and why classical approaches fail to capture these dynamics. This study introduces comprehensive taxonomies for AI-specific claim types (assertion-based, constraint-based, capability-based), argument types (demonstrative, comparative, causal/explanatory, risk-based, and normative), and evidence families (empirical, mechanistic, comparative, expert-driven, formal methods, operational/field data, and model-based). It then proposes a reusable safety-case template, each of which follows a predefined structure of claims, arguments, and evidence tailored for AI systems. Each template is illustrated by end-to-end patterns that address distinctive challenges, such as evaluation without ground truth, dynamic model updates, and threshold-based risk decisions. The result is a systematic, composable, and reusable approach to constructing and maintaining safety cases that are credible, auditable, and adaptive to the evolving behaviour of generative and frontier AI systems.
Trojan-Resilient NTT: Protecting Against Control Flow and Timing Faults on Reconfigurable Platforms
Venue: arXiv cs.CR 2026
Year: 2026

Number Theoretic Transform (NTT) is the most essential component for polynomial multiplications used in lattice-based Post-Quantum Cryptography (PQC) algorithms such as Kyber, Dilithium, NTRU etc. However, side-channel attacks (SCA) and hardware vulnerabilities in the form of hardware Trojans may alter control signals to disrupt the circuit's control flow and introduce unconventional delays in the critical hardware of PQC. Hardware Trojans, especially on control signals, are more low cost and impactful than data signals because a single corrupted control signal can disrupt or bypass entire computation sequences, whereas data faults usually cause only localized errors. On the other hand, adversaries can perform Soft Analytical Side Channel Attacks (SASCA) on the design using the inserted hardware Trojan. In this paper, we present a secure NTT architecture capable of detecting unconventional delays, control-flow disruptions, and SASCA, while providing an adaptive fault-correction methodology for their mitigation. Extensive simulations and implementations of our Secure NTT on Artix-7 FPGA with different Kyber variants show that our fault detection and correction modules can efficiently detect and correct faults whether caused unintentionally or intentionally by hardware Trojans with a high success rate, while introducing only modest area and time overheads.
SOMBRERO: Measuring and Steering Boundary Placement in End-to-End Hierarchical Sequence Models
Venue: arXiv cs.LG 2026
Year: 2026

Hierarchical sequence models replace fixed tokenization with learned segmentations that compress long byte sequences for efficient autoregressive modeling. While recent end-to-end methods can learn meaningful boundaries from the language-modeling objective alone, it remains difficult to quantitatively assess and systematically steer where compute is spent. We introduce a router-agnostic metric of boundary quality, boundary enrichment B, which measures how strongly chunk starts concentrate on positions with high next-byte surprisal. Guided by this metric, we propose Sombrero, which steers boundary placement toward predictive difficulty via a confidence-alignment boundary loss and stabilizes boundary learning by applying confidence-weighted smoothing at the input level rather than on realized chunks. On 1B scale, across UTF-8 corpora covering English and German text as well as code and mathematical content, Sombrero improves the accuracy-efficiency trade-off and yields boundaries that more consistently align compute with hard-to-predict positions.
Aligning the Unseen in Attributed Graphs: Interplay between Graph Geometry and Node Attributes Manifold
Venue: arXiv cs.AI 2026
Year: 2026

The standard approach to representation learning on attributed graphs -- i.e., simultaneously reconstructing node attributes and graph structure -- is geometrically flawed, as it merges two potentially incompatible metric spaces. This forces a destructive alignment that erodes information about the graph's underlying generative process. To recover this lost signal, we introduce a custom variational autoencoder that separates manifold learning from structural alignment. By quantifying the metric distortion needed to map the attribute manifold onto the graph's Heat Kernel, we transform geometric conflict into an interpretable structural descriptor. Experiments show our method uncovers connectivity patterns and anomalies undetectable by conventional approaches, proving both their theoretical inadequacy and practical limitations.
Decomposing and Composing: Towards Efficient Vision-Language Continual Learning via Rank-1 Expert Pool in a Single LoRA
Venue: arXiv cs.LG 2026
Year: 2026

Continual learning (CL) in vision-language models (VLMs) faces significant challenges in improving task adaptation and avoiding catastrophic forgetting. Existing methods usually have heavy inference burden or rely on external knowledge, while Low-Rank Adaptation (LoRA) has shown potential in reducing these issues by enabling parameter-efficient tuning. However, considering directly using LoRA to alleviate the catastrophic forgetting problem is non-trivial, we introduce a novel framework that restructures a single LoRA module as a decomposable Rank-1 Expert Pool. Our method learns to dynamically compose a sparse, task-specific update by selecting from this expert pool, guided by the semantics of the [CLS] token. In addition, we propose an Activation-Guided Orthogonal (AGO) loss that orthogonalizes critical parts of LoRA weights across tasks. This sparse composition and orthogonalization enable fewer parameter updates, resulting in domain-aware learning while minimizing inter-task interference and maintaining downstream task performance. Extensive experiments across multiple settings demonstrate state-of-the-art results in all metrics, surpassing zero-shot upper bounds in generalization. Notably, it reduces trainable parameters by 96.7% compared to the baseline method, eliminating reliance on external datasets or task-ID discriminators. The merged LoRAs retain less weights and incur no inference latency, making our method computationally lightweight.
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Venue: arXiv cs.RO 2026
Year: 2026

Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods by using extensive physics simulations. This paper proposes a sample-efficient robust optimal control approach for the determination of assembly motions, which requires significantly less physics simulation steps during planning through the efficient use of derivative information. To this end, a differentiable physics simulation is constructed that provides second-order analytic derivatives to the numerical solver and allows one to traverse seamlessly from informative derivatives to accurate contact simulation. The solution of the physics simulation problem is made differentiable by using smoothing inspired by interior-point methods applied to both the collision detection as well as the contact resolution problem. We propose a modified variant of an optimization-based formulation of collision detection formulated as a linear program and present an efficient implementation for the nominal evaluation and corresponding first- and second-order derivatives. Moreover, a multi-scenario-based trajectory optimization problem that ensures robustness with respect to sim-to-real mismatches is derived. The capability of the considered formulation is illustrated by results where over 99\% successful executions are achieved in real-world experiments. Thereby, we carefully investigate the effect of smooth approximations of the contact dynamics and robust modeling on the success rates. Furthermore, the method's capability is tested on different peg-in-hole problems in simulation to show the benefit of using exact Hessians over commonly used Hessian approximations.
Inference-Time Dynamic Modality Selection for Incomplete Multimodal Classification
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal deep learning (MDL) has achieved remarkable success across various domains, yet its practical deployment is often hindered by incomplete multimodal data. Existing incomplete MDL methods either discard missing modalities, risking the loss of valuable task-relevant information, or recover them, potentially introducing irrelevant noise, leading to the discarding-imputation dilemma. To address this dilemma, in this paper, we propose DyMo, a new inference-time dynamic modality selection framework that adaptively identifies and integrates reliable recovered modalities, fully exploring task-relevant information beyond the conventional discard-or-impute paradigm. Central to DyMo is a novel selection algorithm that maximizes multimodal task-relevant information for each test sample. Since direct estimation of such information at test time is intractable due to the unknown data distribution, we theoretically establish a connection between information and the task loss, which we compute at inference time as a tractable proxy. Building on this, a novel principled reward function is proposed to guide modality selection. In addition, we design a flexible multimodal network architecture compatible with arbitrary modality combinations, alongside a tailored training strategy for robust representation learning. Extensive experiments on diverse natural and medical image datasets show that DyMo significantly outperforms state-of-the-art incomplete/dynamic MDL methods across various missing-data scenarios. Our code is available at https://github.com//siyi-wind/DyMo.
Learning to Build Shapes by Extrusion
Venue: arXiv cs.GR 2026
Year: 2026

We introduce Text Encoded Extrusion (TEE), a text-based representation that expresses mesh construction as sequences of face extrusions rather than polygon lists, and a method for generating 3D meshes from TEE using a large language model (LLM). By learning extrusion sequences that assemble a mesh, similar to the way artists create meshes, our approach naturally supports arbitrary output face counts and produces manifold meshes by design, in contrast to recent transformer-based models. The learnt extrusion sequences can also be applied to existing meshes - enabling editing in addition to generation. To train our model, we decompose a library of quadrilateral meshes with non-self-intersecting face loops into constituent loops, which can be viewed as their building blocks, and finetune an LLM on the steps for reassembling the meshes by performing a sequence of extrusions. We demonstrate that our representation enables reconstruction, novel shape synthesis, and the addition of new features to existing meshes.
μTouch: Enabling Accurate, Lightweight Self-Touch Sensing with Passive Magnets
Venue: arXiv cs.HC 2026
Year: 2026

Self-touch gestures (e.g., nuanced facial touches and subtle finger scratches) provide rich insights into human behaviors, from hygiene practices to health monitoring. However, existing approaches fall short in detecting such micro gestures due to their diverse movement patterns. This paper presents μTouch, a novel magnetic sensing platform for self-touch gesture recognition. μTouch features (1) a compact hardware design with low-power magnetometers and magnetic silicon, (2) a lightweight semi-supervised framework requiring minimal user data, and (3) an ambient field detection module to mitigate environmental interference. We evaluated μTouch in two representative applications in user studies with 11 and 12 participants. μTouch only requires three-second fine-tuning data for each gesture, and new users need less than one minute before starting to use the system. μTouch can distinguish eight different face-touching behaviors with an average accuracy of 93.41%, and reliably detect body-scratch behaviors with an average accuracy of 94.63%. μTouch demonstrates accurate and robust sensing performance even after a month, showcasing its potential as a practical tool for hygiene monitoring and dermatological health applications. Code is available at https://wangmerlyn.github.io/muTouch/.