OpenRaiser/Intern-Atlas huggingface dataset:
TriDF: Triplane-Accelerated Density Fields for Few-Shot Remote Sensing Novel View Synthesis
Venue: arXiv cs.CV 2026
Year: 2026

Remote sensing novel view synthesis (NVS) offers significant potential for 3D interpretation of remote sensing scenes, with important applications in urban planning and environmental monitoring. However, remote sensing scenes frequently lack sufficient multi-view images due to acquisition constraints. While existing NVS methods tend to overfit when processing limited input views, advanced few-shot NVS methods are computationally intensive and perform sub-optimally in remote sensing scenes. This paper presents TriDF, an efficient hybrid 3D representation for fast remote sensing NVS from as few as 3 input views. Our approach decouples color and volume density information, modeling them independently to reduce the computational burden on implicit radiance fields and accelerate reconstruction. We explore the potential of the triplane representation in few-shot NVS tasks by mapping high-frequency color information onto this compact structure, and the direct optimization of feature planes significantly speeds up convergence. Volume density is modeled as continuous density fields, incorporating reference features from neighboring views through image-based rendering to compensate for limited input data. Additionally, we introduce depth-guided optimization based on point clouds, which effectively mitigates the overfitting problem in few-shot NVS. Comprehensive experiments across multiple remote sensing scenes demonstrate that our hybrid representation achieves a 30x speed increase compared to NeRF-based methods, while simultaneously improving rendering quality metrics over advanced few-shot methods (7.4% increase in PSNR and 3.4% in SSIM). The code is publicly available at https://github.com/kanehub/TriDF
YOLO-LLTS: Real-Time Low-Light Traffic Sign Detection via Prior-Guided Enhancement and Multibranch Feature Interaction
Venue: arXiv cs.CV 2026
Year: 2026

Traffic sign detection is essential for autonomous driving and Advanced Driver Assistance Systems (ADAS). However, existing methods struggle to address the challenges of poor image quality and insufficient information under low-light conditions, leading to a decline in detection accuracy and affecting driving safety. To address this issue, we propose YOLO-LLTS, an end-to-end real-time traffic sign detection algorithm specifically designed for low-light environments. YOLO-LLTS introduces three main contributions: the HRFM-SOD module retains more information about distant or tiny traffic signs compared to traditional methods; the MFIA module interacts features with different receptive fields to improve information utilization; the PGFE module enhances detection accuracy by improving brightness, edges, contrast, and supplementing detail information. Additionally, we construct a new dataset, the Chinese Nighttime Traffic Sign Sample Set (CNTSSS), covering diverse nighttime scenarios. Experiments show that YOLO-LLTS achieves state-of-the-art performance, outperforming previous best methods by 2.7% mAP50 and 1.6% mAP50:95 on TT100K-night, 1.3% mAP50 and 1.9% mAP50:95 on CNTSSS, 7.5% mAP50 and 9.8% mAP50:95 on GTSDB-night, and superior results on CCTSDB2021. Deployment on edge devices confirms its real-time applicability and effectiveness. The code and the dataset are available at https://github.com/linzy88/YOLO-LLTS.
A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved actuation reliability and safety, and simplified, cost-effective manufacturing. Locomotion performance is improved through a sandwiched leg architecture and dual-motor configuration, reducing leg inertia for agile motion. Reliability and safety are enhanced using robust cable strain reliefs, motor heat sinks for thermal management, and mechanical limits to restrict leg motion. The design incorporates quasi-direct-drive (QDD) actuators and low-cost fabrication methods such as laser cutting and 3D printing for rapid prototyping. The $25\,\mathrm{kg}$ robot is built under \$8000, providing an affordable quadruped research platform. Experiments demonstrate trot and crawl gaits on flat terrain and slopes. We also open-source the mechanical designs. VIDEO: https://youtu.be/ygSMCPcFnP8?feature=shared CADs: https://github.com/singhaman1750/stoch3-design.git
Using Mobile AR for Rapid Feasibility Analysis for Deployment of Robots: A Usability Study with Non-Expert Users
Venue: arXiv cs.RO 2026
Year: 2026

Automating a production line with robotic arms is a complex, demanding task that requires not only substantial resources but also a deep understanding of the automated processes and available technologies and tools. Expert integrators must consider factors such as placement, payload, and robot reach requirements to determine the feasibility of automation. Ideally, such considerations are based on a detailed digital simulation developed before any hardware is deployed. However, this process is often time-consuming and challenging. To simplify these processes, we introduce a much simpler method for the feasibility analysis of robotic arms' reachability, designed for non-experts. We implement this method through a mobile, sensing-based prototype tool. The two-step experimental evaluation included the expert user study results, which helped us identify the difficulty levels of various deployment scenarios and refine the initial prototype. The results of the subsequent quantitative study with 22 non-expert participants utilizing both scenarios indicate that users could complete both simple and complex feasibility analyses in under ten minutes, exhibiting similar cognitive loads and high engagement. Overall, the results suggest that the tool was well-received and rated as highly usable, thereby showing a new path for changing the ease of feasibility analysis for automation.
Machine learning surrogate models of many-body dispersion interactions in polymer melts
Venue: arXiv cs.LG 2026
Year: 2026

Accurate prediction of many-body dispersion (MBD) interactions is essential for understanding the van der Waals forces that govern the behavior of many complex molecular systems. However, the high computational cost of MBD calculations limits their direct application in large-scale simulations. In this work, we introduce a machine learning surrogate model specifically designed to predict MBD forces in polymer melts, a system that demands accurate MBD description and offers structural advantages for machine learning approaches. Our model is based on a trimmed SchNet architecture that selectively retains the most relevant atomic connections and incorporates trainable radial basis functions for geometric encoding. We validate our surrogate model on datasets from polyethylene, polypropylene, and polyvinyl chloride melts, demonstrating high predictive accuracy and robust generalization across diverse polymer systems. In addition, the model captures key physical features, such as the characteristic decay behavior of MBD interactions, providing valuable insights for optimizing cutoff strategies. Characterized by high computational efficiency, our surrogate model enables practical incorporation of MBD effects into large-scale molecular simulations.
Trees in Coalgebra from Generalized Reachability
Venue: arXiv cs.LO 2026
Year: 2026

An automaton is called reachable if every state is reachable from the initial state. This notion has been generalized coalgebraically in two ways: first, via a universal property on pointed coalgebras, namely, that a reachable coalgebra has no proper subcoalgebras; and second, a coalgebra is reachable if it arises as the union of an iterative computation of successor states, starting from the initial state. In the current paper, we present corresponding universal properties and iterative constructions for trees. The universal property captures when a coalgebra is a tree, namely, when it has no proper tree unravellings. The iterative construction unravels an arbitrary coalgebra to a tree. We show that this yields the expected notion of tree for a variety of standard examples. We obtain our characterization of trees by first generalizing the previous theory of reachable coalgebras and of a minimal object in a category, related to projectivity. Surprisingly, both the universal property and the iterative construction for trees arise as instances of this generalized notion of reachability. Our iterative construction works for all analytic set functors.
From Intrinsic Toxicity to Reception-Based Toxicity: A Contextual Framework for Prediction and Evaluation
Venue: arXiv cs.LG 2026
Year: 2026

Most toxicity detection models treat toxicity as an intrinsic property of text, overlooking the role of context in shaping its impact. In this position paper, drawing on insights from psychology, neuroscience, and computational social science, we reconceptualise toxicity as a socially emergent signal of stress. We formalise this perspective in the Contextual Stress Framework (CSF), which defines toxicity as a stress-inducing norm violation within a given context and introduces an additional dimension for toxicity detection. As one possible realisation of CSF, we introduce PONOS (Proportion Of Negative Observed Sentiments), a metric that quantifies toxicity through collective social reception rather than lexical features. We validate this approach on a novel dataset, demonstrating improved contextual sensitivity and adaptability when used alongside existing models.
Fin-R1: A Large Language Model for Financial Reasoning through Reinforcement Learning
Venue: arXiv cs.CL 2026
Year: 2026

In recent years, general-purpose large language models (LLMs) such as GPT, Gemini, Claude, and DeepSeek have advanced at an unprecedented pace. Despite these achievements, their application to finance remains challenging, due to fragmented data sources, intransparent reasoning processes, and weak transferability to business applications. In response, we introduce Fin-R1, a reasoning LLM designed for financial scenarios. With a compact size of 7 billion parameters, Fin-R1 reduces deployment costs while addressing the aforementioned challenges. Its development follows a two-stage pipeline. First, we construct Fin-R1-Data, a high-quality financial dataset consisting of 60,091 chain-of-thought (CoT) samples, distilled and filtered from multiple authoritative benchmarks to ensure consistency and reliability. Second, we train Fin-R1 using Fin-R1-Data through supervised fine-tuning (SFT), followed by reinforcement learning (RL). This stage substantially improves the model's ability to solve complex financial reasoning tasks, yielding outputs that are both accurate and interpretable. Despite its relatively small parameter scale, Fin-R1 achieves competitive empirical performance across established financial benchmarks and demonstrates practical utility in compliance checking and robo-advisory. Our code is publicly available at https://github.com/SUFE-AIFLM-Lab/Fin-R1, and has already attracted over 700 stars.
Issue2Test: Generating Reproducing Test Cases from Issue Reports
Venue: arXiv cs.SE 2026
Year: 2026

Automated tools for solving GitHub issues are receiving significant attention by both researchers and practitioners, e.g., in the form of foundation models and LLM-based agents prompted with issues. A crucial step toward successfully solving an issue is creating a test case that accurately reproduces the issue. Such a test case can guide the search for an appropriate patch and help validate whether the patch matches the issue's intent. However, existing techniques for issue reproduction show only moderate success. This paper presents Issue2Test, an LLM-based technique for automatically generating a reproducing test case for a given issue report. Unlike automated regression test generators, which aim at creating passing tests, our approach aims at a test that fails, and that fails specifically for the reason described in the issue. To this end, Issue2Test performs three steps: (1) understand the issue and gather context (e.g., related files and project-specific guidelines) relevant for reproducing it; (2) generate a candidate test case; and (3) iteratively refine the test case based on compilation and runtime feedback until it fails and the failure aligns with the problem described in the issue. We evaluate Issue2Test on the SWT-bench-lite dataset, where it successfully reproduces 32.9% of the issues, achieving a 16.3% relative improvement over the best existing technique. Our evaluation also shows that Issue2Test reproduces 20 issues that four prior techniques fail to address, contributing a total of 60.4% of all issues reproduced by these tools. We envision our approach to contribute to enhancing the overall progress in the important task of automatically solving GitHub issues.
Affective and Conversational Predictors of Re-Engagement in Human-Robot Interactions -- A Student-Centered Study with A Humanoid Social Robot
Venue: arXiv cs.HC 2026
Year: 2026

Humanoid social robots are increasingly present in daily life, making sustained user engagement a critical factor for their effectiveness and acceptance. While prior work has often examined affective evaluations or anthropomorphic design, less is known about the relative influence of dynamic conversational qualities and perceived robot characteristics in determining a user's intention to re-engage with Large Language Model (LLM)-driven social robots. In this study, 68 participants interacted in open-ended conversations with the Nadine humanoid social robot, completing pre- and post-interaction surveys to assess changes in robot perception, conversational quality, and intention to re-engage. The results showed that verbal interaction significantly improved the robot's perceived characteristics, with statistically significant increases in pleasantness ($p<.0001$) and approachability ($p<.0001$), and a reduction in creepiness ($p<.001$). However, these affective changes were not strong and unique predictors of users' intention to re-engage in a multiple regression model. Instead, participants' perceptions of the interestingness ($β=0.60$, $p<.001$) and naturalness ($β=0.31$, $p=0.015$) of the robot's conversation emerged as the most significant and robust independent predictors of intention to re-engage. Overall, the results highlight that conversational quality, specifically perceived interestingness and naturalness, is the dominant driver of re-engagement, indicating that LLM-driven robot design should prioritize engaging, natural dialogue over affective impression management or anthropomorphic cues.
Adams Bashforth Moulton Solver for Inversion and Editing in Rectified Flow
Venue: arXiv cs.CV 2026
Year: 2026

Rectified flow models have achieved remarkable performance in image and video generation tasks. However, existing numerical solvers face a trade-off between fast sampling and high accuracy solutions, limiting their effectiveness in downstream applications such as reconstruction and editing. To address this challenge, we propose leveraging the Adams Bashforth Moulton (ABM) predictor corrector method to enhance the accuracy of ODE solving in rectified flow models. Specifically, we introduce ABM Solver, which integrates a multi step predictor corrector approach to reduce local truncation errors and employs Adaptive Step Size Adjustment to improve sampling speed. Furthermore, to effectively preserve non edited regions while facilitating semantic modifications, we introduce a Mask Guided Feature Injection module. We estimate self-similarity to generate a spatial mask that differentiates preserved regions from those available for editing. Extensive experiments on multiple high resolution image datasets validate that ABM Solver significantly improves inversion precision and editing quality, outperforming existing solvers without requiring additional training or optimization.
A Foundational Individual Mobility Prediction Model based on Open-Source Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Individual mobility prediction plays a key role in urban transport, enabling personalized service recommendations and effective travel management. It is widely modeled by data-driven methods such as machine learning, deep learning, as well as classical econometric methods to capture key features of mobility patterns. However, such methods are hindered in promoting further transferability and robustness due to limited capacity to learn mobility patterns from different data sources, predict in out-of-distribution settings (a.k.a ``zero-shot"). To address this challenge, this paper introduces MoBLLM, a foundational model for individual mobility prediction that aims to learn a shared and transferable representation of mobility behavior across heterogeneous data sources. Based on a lightweight open-source large language model (LLM), MoBLLM employs Parameter-Efficient Fine-Tuning (PEFT) techniques to create a cost-effective training pipeline, avoiding the need for large-scale GPU clusters while maintaining strong performance. We conduct extensive experiments on six real-world mobility datasets to evaluate its accuracy, robustness, and transferability across varying temporal scales (years), spatial contexts (cities), and situational conditions (e.g., disruptions and interventions). MoBLLM achieves the best F1 score and accuracy across all datasets compared with state-of-the-art deep learning models and shows better transferability and cost efficiency than commercial LLMs. Further experiments reveal its robustness under network changes, policy interventions, special events, and incidents. These results indicate that MoBLLM provides a generalizable modeling foundation for individual mobility behavior, enabling more reliable and adaptive personalized information services for transportation management.
CoBRA: A Universal Strategyproof Confirmation Protocol for Quorum-based Proof-of-Stake Blockchains
Venue: arXiv cs.CR 2026
Year: 2026

The security of many Proof-of-Stake (PoS) payment systems relies on quorum-based State Machine Replication (SMR) protocols. While classical analyses assume purely Byzantine faults, real-world systems must tolerate both arbitrary failures and strategic, profit-driven validators. We therefore study quorum-based SMR under a hybrid model with honest, Byzantine, and rational participants. We first establish the fundamental limitations of traditional consensus mechanisms, proving two impossibility results: (1) in partially synchronous networks, no quorum-based protocol can achieve SMR when rational and Byzantine validators collectively exceed $1/3$ of the participants; and (2) even under synchronous network assumptions, SMR remains unattainable if this coalition comprises more than $2/3$ of the validator set. Assuming a synchrony bound $Δ$, we show how to extend any quorum-based SMR protocol to tolerate up to $1/3$ Byzantine and $1/3$ rational validators by modifying only its finalization rule. Our approach enforces a necessary bound on the total transaction volume finalized within any time window $Δ$ and introduces the \emph{strongest chain rule}, which enables efficient finalization of transactions when a supermajority of honest participants provably supports execution. Empirical analysis of Ethereum and Cosmos demonstrates validator participation exceeding the required $5/6$ threshold in over $99%$ of blocks, supporting the practicality of our design. Finally, we present a recovery mechanism that restores safety and liveness after consistency violations, even with up to $5/9$ Byzantine stake and $1/9$ rational stake, guaranteeing full reimbursement of provable client losses.
Classifying Implementations of Cryptographic Primitives and Protocols that Use Post-Quantum Algorithms
Venue: arXiv cs.CR 2026
Year: 2026

Classification techniques can be used to analyze system behaviors, network protocols, and cryptographic primitives based on identifiable traits. While useful for defense, such classification can also be leveraged by attackers to infer system configurations, detect vulnerabilities, and tailor attacks such as denial-of-service, key recovery, or downgrade attacks. In this paper, we study the feasibility of classifying post-quantum (PQ) algorithms by analyzing implementations of key exchange and digital signatures, their use within secure protocols, and their integration into SNARK generation libraries. Unlike traditional cryptography, PQ algorithms have larger memory requirements and variable computational costs. Our research examines two post-quantum cryptography libraries, liboqs and CIRCL, evaluating TLS, SSH, QUIC, OpenVPN, and OpenID Connect (OIDC) across Windows, Ubuntu, and macOS. We also analyze pysnark and lattice_zksnark for SNARK generation and verification on Ubuntu. Experimental results show that (1) classical and PQ key exchange and signature algorithms can be distinguished with accuracies of 98% and 100%; (2) specific PQ algorithms can be identified with 97% accuracy for key exchange and 86% for signatures; (3) implementations of the same algorithm in liboqs and CIRCL are distinguishable with up to 100% accuracy; and (4) within CIRCL, PQ and hybrid key exchange implementations can be distinguished with 97% accuracy. For secure protocols, we can determine whether key exchange is classical or PQ and identify the PQ algorithm used. SNARK generation and verification in pysnark and lattice_zksnark are distinguishable with 100% accuracy. We demonstrate real-world applicability by identifying PQ-enabled TLS domains in the Tranco dataset and integrating our methods into QUARTZ, an open-source risk and threat analyzer by Cisco.
LLaVAction: evaluating and training multi-modal large language models for action understanding
Venue: arXiv cs.CV 2026
Year: 2026

Understanding human behavior requires measuring behavioral actions. Due to its complexity, behavior is best mapped onto a rich, semantic structure such as language. Emerging multimodal large language models (MLLMs) are promising candidates, but their fine-grained action understanding ability has not been fully examined. In this work, we reformulate EPIC-KITCHENS-100, one of the largest and most challenging egocentric action recognition datasets, into a MLLM benchmark (EPIC-KITCHENS-100-MQA). We demonstrate that when we sample difficult answers based on specialist models as distractors, leading MLLMs struggle to recognize the correct actions. How can we increase the performance of MLLMs? We curated a supervised finetuning dataset that includes `hard' action recognition, temporal detection, captioning, and free-form question answering to improve models' diverse action understanding capabilities. We introduce a new model called LLaVAction that adds an action token to boost models' attention on visual tokens and a two-stage pipeline to obtain structured actions. LLaVAction greatly improves the MLLMs' ability of action understanding, achieving strong improvements on both MLLM benchmarks (21 points in accuracy over GPT-4o on EPIC-KITCHENS-100-MQA) and established action recognition benchmarks, suggesting that our methods prepare MLLMs to be a promising path forward for complex action tasks. Code, data, the benchmark, and models are available at https://github.com/AdaptiveMotorControlLab/LLaVAction.