OpenRaiser/Intern-Atlas huggingface dataset:
Ad Insertion in LLM-Generated Responses
Venue: arXiv cs.GT 2026
Year: 2026

Sustainable monetization of Large Language Models (LLMs) remains a critical open challenge. Traditional search advertising, which relies on static keywords, fails to capture the fleeting, context-dependent user intents--the specific information, goods, or services a user seeks--embedded in conversational flows. Beyond the standard goal of social welfare maximization, effective LLM advertising imposes additional requirements on contextual coherence (ensuring ads align semantically with transient user intents) and computational efficiency (avoiding user interaction latency), as well as adherence to ethical and regulatory standards, including preserving privacy and ensuring explicit ad disclosure. Although various recent solutions have explored bidding on token-level and query-level, both categories of approaches generally fail to holistically satisfy this multifaceted set of constraints. We propose a practical framework that resolves these tensions through two decoupling strategies. First, we decouple ad insertion from response generation to ensure safety and explicit disclosure. Second, we decouple bidding from specific user queries by using ``genres'' (high-level semantic clusters) as a proxy. This allows advertisers to bid on stable categories rather than sensitive real-time response, reducing computational burden and privacy risks. We demonstrate that applying the VCG auction mechanism to this genre-based framework yields approximately dominant strategy incentive compatibility (DSIC) and individual rationality (IR), as well as approximately optimal social welfare, while maintaining high computational efficiency. Finally, we introduce an "LLM-as-a-Judge" metric to estimate contextual coherence. Our experiments show that this metric correlates strongly with human ratings (Spearman's $ρ\approx 0.66$), outperforming 80% of individual human evaluators.
eHMI for All -- Investigating the Effect of External Communication of Automated Vehicles on Pedestrians, Manual Drivers, and Cyclists in Virtual Reality
Venue: arXiv cs.HC 2026
Year: 2026

With automated vehicles (AVs), the absence of a human operator could necessitate external Human-Machine Interfaces (eHMIs) to communicate with other road users. Existing research primarily focuses on pedestrian-AV interactions, with limited attention given to other road users, such as cyclists and drivers of manually driven vehicles. So far, no studies have compared the effects of eHMIs across these three road user roles. Therefore, we conducted a within-subjects virtual reality experiment (N=40), evaluating the subjective and objective impact of an eHMI communicating the AV's intention to pedestrians, cyclists, and drivers under various levels of distraction (no distraction, visual noise, interference). eHMIs positively influenced safety perceptions, trust, perceived usefulness, and mental demand across all roles. While distraction and road user roles showed significant main effects, interaction effects were only observed in perceived usability. Thus, a unified eHMI design is effective, facilitating the standardization and broader adoption of eHMIs in diverse traffic.
On the Expressiveness of State Space Models via Temporal Logics
Venue: arXiv cs.LO 2026
Year: 2026

We investigate the expressive power of state space models (SSM), which have recently emerged as a potential alternative to transformer architectures in large language models. Building on recent work, we analyse SSM expressiveness through fragments and extensions of linear temporal logic over finite traces. Our results show that the expressive capabilities of SSM vary substantially depending on the underlying gating mechanism. We further distinguish between SSM operating over fixed-width arithmetic (quantised models), whose expressive power remains within regular languages, and SSM with unbounded precision, which can capture counting properties and non-regular languages. In addition, we provide a systematic comparison between these different SSM variants and known results on transformers, thereby clarifying how the two architectures relate in terms of expressive power.
Dual-Strategy-Enhanced ConBiMamba for Neural Speaker Diarization
Venue: arXiv cs.SD 2026
Year: 2026

Conformer and Mamba have achieved strong performance in speech modeling but face limitations in speaker diarization. Mamba is efficient but struggles with local details and nonlinear patterns. Conformer's self-attention incurs high memory overhead for long speech sequences and may cause instability in long-range dependency modeling. These limitations are critical for diarization, which requires both precise modeling of local variations and robust speaker consistency over extended spans. To address these challenges, we first apply ConBiMamba for speaker diarization. We follow the Pyannote pipeline and propose the Dual-Strategy-Enhanced ConBiMamba neural speaker diarization system. ConBiMamba integrates the strengths of Conformer and Mamba, where Conformer's convolutional and feed-forward structures are utilized to improve local feature extraction. By replacing Conformer's self-attention with ExtBiMamba, ConBiMamba efficiently handles long audio sequences while alleviating the high memory cost of self-attention. Furthermore, to address the problem of the higher DER around speaker change points, we introduce the Boundary-Enhanced Transition Loss to enhance the detection of speaker change points. We also propose Layer-wise Feature Aggregation to enhance the utilization of multi-layer representations. The system is evaluated on six diarization datasets and achieves state-of-the-art performance on four of them. The source code of our study is available at https://github.com/lz-hust/DSE-CBM.
The S3LI Vulcano Dataset: A Dataset for Multi-Modal SLAM in Unstructured Planetary Environments
Venue: arXiv cs.CV 2026
Year: 2026

We release the S3LI Vulcano dataset, a multi-modal dataset towards development and benchmarking of Simultaneous Localization and Mapping (SLAM) and place recognition algorithms that rely on visual and LiDAR modalities. Several sequences are recorded on the volcanic island of Vulcano, from the Aeolian Islands in Sicily, Italy. The sequences provide users with data from a variety of environments, textures and terrains, including basaltic or iron-rich rocks, geological formations from old lava channels, as well as dry vegetation and water. The data (rmc.dlr.de/s3li_dataset) is accompanied by an open source toolkit (github.com/DLR-RM/s3li-toolkit) providing tools for generating ground truth poses as well as preparation of labelled samples for place recognition tasks.
MaDiS: Taming Masked Diffusion Language Models for Sign Language Generation
Venue: arXiv cs.CV 2026
Year: 2026

Sign language generation (SLG) aims to translate written texts into expressive sign motions, bridging communication barriers for the Deaf and Hard-of-Hearing communities. Recent studies formulate SLG within the language modeling framework using autoregressive language models, which suffer from unidirectional context modeling and slow token-by-token inference. To address these limitations, we present MaDiS, a masked-diffusion-based language model for SLG that captures bidirectional dependencies and supports efficient parallel multi-token generation. We further introduce a tri-level cross-modal pretraining scheme that jointly learns from token-, latent-, and 3D physical-space objectives to leverage complementary, multi-level sign representations. To accelerate model convergence in the fine-tuning stage, we design a novel unmasking strategy with temporal checkpoints, which restructures generation in a coarse-to-fine manner and reduces the combinatorial complexity of unmasking orders by over $10^{41}$ times. In addition, a mixture-of-parts embedding layer is developed to effectively fuse information stored in different part-wise sign tokens through a learnable gate and well-optimized codebooks. Extensive experiments on CSL-Daily, Phoenix-2014T, and How2Sign demonstrate that MaDiS achieves superior performance across multiple metrics, including DTW error and two newly introduced metrics, SiBLEU and SiCLIP, while delivering a 40\% higher throughput. Code and models will be publicly released.
QuaMo: Quaternion Motions for Vision-based 3D Human Kinematics Capture
Venue: arXiv cs.CV 2026
Year: 2026

Vision-based 3D human motion capture from videos remains a challenge in computer vision. Traditional 3D pose estimation approaches often ignore the temporal consistency between frames, causing implausible and jittery motion. The emerging field of kinematics-based 3D motion capture addresses these issues by estimating the temporal transitioning between poses instead. A major drawback in current kinematics approaches is their reliance on Euler angles. Despite their simplicity, Euler angles suffer from discontinuity that leads to unstable motion reconstructions, especially in online settings where trajectory refinement is unavailable. Contrarily, quaternions have no discontinuity and can produce continuous transitions between poses. In this paper, we propose QuaMo, a novel Quaternion Motions method using quaternion differential equations (QDE) for human kinematics capture. We utilize the state-space model, an effective system for describing real-time kinematics estimations, with quaternion state and the QDE describing quaternion velocity. The corresponding angular acceleration is computed from a meta-PD controller with a novel acceleration enhancement that adaptively regulates the control signals as the human quickly changes to a new pose. Unlike previous work, our QDE is solved under the quaternion unit-sphere constraint that results in more accurate estimations. Experimental results show that our novel formulation of the QDE with acceleration enhancement accurately estimates 3D human kinematics with no discontinuity and minimal implausibilities. QuaMo outperforms comparable state-of-the-art methods on multiple datasets, namely Human3.6M, Fit3D, SportsPose and AIST. The code is available at https://github.com/cuongle1206/QuaMo
The Competence Crisis: A Design Fiction on AI-Assisted Research in Software Engineering
Venue: arXiv cs.SE 2026
Year: 2026

Rising publication pressure and the routine use of generative AI tools are reshaping how software engineering research is produced, assessed, and taught. While these developments promise efficiency, they also raise concerns about skill degradation, responsibility, and trust in scholarly outputs. This vision paper employs Design Fiction as a methodological lens to examine how such concerns might materialise if current practices persist. Drawing on themes reported in a recent community survey, we construct a speculative artifact situated in a near future research setting. The fiction is used as an analytical device rather than a forecast, enabling reflection on how automated assistance might impede domain knowledge competence, verification, and mentoring practices. By presenting an intentionally unsettling scenario, the paper invites discussion on how the software engineering research community in the future will define proficiency, allocate responsibility, and support learning.
A Bisimulation-Invariance-Based Approach to the Separation of Polynomial Complexity Classes
Venue: arXiv cs.LO 2026
Year: 2026

We investigate the possibility to separate the bisimulation-invariant fragment of P from that of NP, resp. PSPACE. We build on Otto's Theorem stating that the bisimulation-invariant queries in P are exactly those that are definable in the polyadic mu-calculus, and use a known construction from model checking in order to reduce definability in the polyadic $μ$-calculus to definability in the ordinary modal mu-calculus within the class of so-called power graphs, giving rise to a notion of relative regularity. We give examples of certain bisimulation-invariant queries in NP, resp. PSPACE, and characterise their membership in P in terms of relative non-regularity of particular families of tree languages. A proof of non-regularity for all members of one such family would separate the corresponding class from P, but the combinatorial complexity involved in it is high. On the plus side, the step into the bisimulation-invariant world alleviates the order-problem that other approaches in descriptive complexity suffer from when studying the relationship between P and classes above.
Using LLMs to Evaluate Architecture Documents: Results from a Digital Marketplace Environment
Venue: arXiv cs.SE 2026
Year: 2026

Generative AI plays an increasing role during software engineering activities to make them, e.g., more efficient or provide better quality. However, it is often unclear how much benefit LLMs really provide. We concentrate on software architects and investigated how an LLM-supported evaluation of architecture documents can support software architects to improve such artefacts. In the context of a research project where a digital marketplace is developed and digital solutions should be analyzed, we used different LLMs to analyze the quality of architecture documents and compared the results with evaluations from software architects. We found out that the quality of the artifact has a strong influence on the quality of the LLM, i.e., the better the quality of the architecture document was, the more consistent were the LLM-based evaluation and the human expert evaluation. While using LLMs in this architecture task is promising, our results showed inconsistencies that need further analyses before generalizing them.
AlignCoder: Aligning Retrieval with Target Intent for Repository-Level Code Completion
Venue: arXiv cs.SE 2026
Year: 2026

Repository-level code completion remains a challenging task for existing code large language models (code LLMs) due to their limited understanding of repository-specific context and domain knowledge. While retrieval-augmented generation (RAG) approaches have shown promise by retrieving relevant code snippets as cross-file context, they suffer from two fundamental problems: misalignment between the query and the target code in the retrieval process, and the inability of existing retrieval methods to effectively utilize the inference information. To address these challenges, we propose AlignCoder, a repository-level code completion framework that introduces a query enhancement mechanism and a reinforcement learning based retriever training method. Our approach generates multiple candidate completions to construct an enhanced query that bridges the semantic gap between the initial query and the target code. Additionally, we employ reinforcement learning to train an AlignRetriever that learns to leverage inference information in the enhanced query for more accurate retrieval. We evaluate AlignCoder on two widely-used benchmarks (CrossCodeEval and RepoEval) across five backbone code LLMs, demonstrating an 18.1% improvement in EM score compared to baselines on the CrossCodeEval benchmark. The results show that our framework achieves superior performance and exhibits high generalizability across various code LLMs and programming languages.
Differentiable Semantic ID for Generative Recommendation
Venue: arXiv cs.IR 2026
Year: 2026

Generative recommendation provides a novel paradigm in which each item is represented by a discrete semantic ID (SID) learned from rich content. Most existing methods treat SIDs as predefined and train recommenders under static indexing. In practice, SIDs are typically optimized only for content reconstruction rather than recommendation accuracy. This leads to an objective mismatch: the system optimizes an indexing loss to learn the SID and a recommendation loss for interaction prediction, but because the tokenizer is trained independently, the recommendation loss cannot update it. A natural approach is to make semantic indexing differentiable so that recommendation gradients can directly influence SID learning, but this often causes codebook collapse, where only a few codes are used. We attribute this issue to early deterministic assignments that limit codebook exploration, resulting in imbalance and unstable optimization. In this paper, we propose DIGER (Differentiable Semantic ID for Generative Recommendation), a first step toward effective differentiable semantic IDs for generative recommendation. DIGER introduces Gumbel noise to explicitly encourage early-stage exploration over codes, mitigating codebook collapse and improving code utilization. To balance exploration and convergence, we further design two uncertainty decay strategies that gradually reduce the Gumbel noise, enabling a smooth transition from early exploration to exploitation of learned SIDs. Extensive experiments on multiple public datasets demonstrate consistent improvements from differentiable semantic IDs. These results confirm the effectiveness of aligning indexing and recommendation objectives through differentiable SIDs and highlight differentiable semantic indexing as a promising research direction.
Physics-Aware Novel-View Acoustic Synthesis with Vision-Language Priors and 3D Acoustic Environment Modeling
Venue: arXiv cs.SD 2026
Year: 2026

Spatial audio is essential for immersive experiences, yet novel-view acoustic synthesis (NVAS) remains challenging due to complex physical phenomena such as reflection, diffraction, and material absorption. Existing methods based on single-view or panoramic inputs improve spatial fidelity but fail to capture global geometry and semantic cues such as object layout and material properties. To address this, we propose Phys-NVAS, the first physics-aware NVAS framework that integrates spatial geometry modeling with vision-language semantic priors. A global 3D acoustic environment is reconstructed from multi-view images and depth maps to estimate room size and shape, enhancing spatial awareness of sound propagation. Meanwhile, a vision-language model extracts physics-aware priors of objects, layouts, and materials, capturing absorption and reflection beyond geometry. An acoustic feature fusion adapter unifies these cues into a physics-aware representation for binaural generation. Experiments on RWAVS demonstrate that Phys-NVAS yields binaural audio with improved realism and physical consistency.
Improving Policy Exploitation in Online Reinforcement Learning with Instant Retrospect Action
Venue: arXiv cs.LG 2026
Year: 2026

Existing value-based online reinforcement learning (RL) algorithms suffer from slow policy exploitation due to ineffective exploration and delayed policy updates. To address these challenges, we propose an algorithm called Instant Retrospect Action (IRA). Specifically, we propose Q-Representation Discrepancy Evolution (RDE) to facilitate Q-network representation learning, enabling discriminative representations for neighboring state-action pairs. In addition, we adopt an explicit method to policy constraints by enabling Greedy Action Guidance (GAG). This is achieved through backtracking historical actions, which effectively enhances the policy update process. Our proposed method relies on providing the learning algorithm with accurate $k$-nearest-neighbor action value estimates and learning to design a fast-adaptable policy through policy constraints. We further propose the Instant Policy Update (IPU) mechanism, which enhances policy exploitation by systematically increasing the frequency of policy updates. We further discover that the early-stage training conservatism of the IRA method can alleviate the overestimation bias problem in value-based RL. Experimental results show that IRA can significantly improve the learning efficiency and final performance of online RL algorithms on eight MuJoCo continuous control tasks.The code is available at https://github.com/2706853499/IRA.
SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects
Venue: arXiv cs.RO 2026
Year: 2026

We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.
WaterClear-GS: Optical-Aware Gaussian Splatting for Underwater Reconstruction and Restoration
Venue: arXiv cs.CV 2026
Year: 2026

Underwater 3D reconstruction and appearance restoration are hindered by the complex optical properties of water, such as wavelength-dependent attenuation and scattering. Existing Neural Radiance Fields (NeRF)-based methods struggle with slow rendering speeds and suboptimal color restoration, while 3D Gaussian Splatting (3DGS) inherently lacks the capability to model complex volumetric scattering effects. To address these issues, we introduce WaterClear-GS, the first pure 3DGS-based framework that explicitly integrates underwater optical properties of local attenuation and scattering into Gaussian primitives, eliminating the need for an auxiliary medium network. Our method employs a dual-branch optimization strategy to ensure underwater photometric consistency while naturally recovering water-free appearances. This strategy is enhanced by depth-guided geometry regularization and perception-driven image loss, together with exposure constraints, spatially-adaptive regularization, and physically guided spectral regularization, which collectively enforce local 3D coherence and maintain natural visual perception. Experiments on standard benchmarks and our newly collected dataset demonstrate that WaterClear-GS achieves outstanding performance on both novel view synthesis (NVS) and underwater image restoration (UIR) tasks, while maintaining real-time rendering. The code will be available at https://buaaxrzhang.github.io/WaterClear-GS/.
The Effect of Architecture During Continual Learning
Venue: arXiv cs.LG 2026
Year: 2026

Continual learning is a challenge for models with static architecture, as they fail to adapt to when data distributions evolve across tasks. We introduce a mathematical framework that jointly models architecture and weights in a Sobolev space, enabling a rigorous investigation into the role of neural network architecture in continual learning and its effect on the forgetting loss. We derive necessary conditions for the continual learning solution and prove that learning only model weights is insufficient to mitigate catastrophic forgetting under distribution shifts. Consequently, we prove that by learning the architecture and weights simultaneously at each task, we can reduce catastrophic forgetting. To learn weights and architecture simultaneously, we formulate continual learning as a bilevel optimization problem: the upper level selects an optimal architecture for a given task, while the lower level computes optimal weights via dynamic programming over all tasks. To solve the upper level problem, we introduce a derivative-free direct search algorithm to determine the optimal architecture. Once found, we must transfer knowledge from the current architecture to the optimal one. However, the optimal architecture will result in a weights parameter space different from the current architecture (i.e., dimensions of weights matrices will not match). To bridge the dimensionality gap, we develop a low-rank transfer mechanism to map knowledge across architectures of mismatched dimensions. Empirical studies across regression and classification problems, including feedforward, convolutional, and graph neural networks, demonstrate that learning the optimal architecture and weights simultaneously yields substantially improved performance (up to two orders of magnitude), reduced forgetting, and enhanced robustness to noise compared with static architecture approaches.