OpenRaiser/Intern-Atlas huggingface dataset:
Central Limits via Dilated Categories
Venue: arXiv cs.LO 2026
Year: 2026

The Central Limit Theorem (CLT) establishes that sufficiently large sequences of independent and identically distributed random variables converge in probability to a normal distribution. This makes the CLT a fundamental building block of statistical reasoning and, by extension, in reasoning about computing systems that are based on statistical inference such as probabilistic programing languages, programs with optimisation, and machine learning components. However, there is no general theory of CLT-like results currently, which forces practitioners to redo proofs without having a good handle on the essential ingredients of CLT-type results. In this paper, we introduce dilated seminorm-enriched category theory as a unifying framework for central limits, and we establish an abstract central limit theorem within that framework. We illustrate how a strengthened version of the classical CLT and the law of large numbers can be obtained as instances of our framework. Moreover, we derive from our framework a novel central limit theorem for symplectic manifolds, the CLT for observables, which finds applications in statistical mechanics.
Towards a more efficient bias detection in financial language models
Venue: arXiv cs.AI 2026
Year: 2026

Bias in financial language models constitutes a major obstacle to their adoption in real-world applications. Detecting such bias is challenging, as it requires identifying inputs whose predictions change when varying properties unrelated to the decision, such as demographic attributes. Existing approaches typically rely on exhaustive mutation and pairwise prediction analysis over large corpora, which is effective but computationally expensive-particularly for large language models and can become impractical in continuous retraining and releasing processes. Aiming at reducing this cost, we conduct a large-scale study of bias in five financial language models, examining similarities in their bias tendencies across protected attributes and exploring cross-model-guided bias detection to identify bias-revealing inputs earlier. Our study uses approximately 17k real financial news sentences, mutated to construct over 125k original-mutant pairs. Results show that all models exhibit bias under both atomic (0.58\%-6.05\%) and intersectional (0.75\%-5.97\%) settings. Moreover, we observe consistent patterns in bias-revealing inputs across models, enabling substantial reuse and cost reduction in bias detection. For example, up to 73\% of FinMA's biased behaviours can be uncovered using only 20\% of the input pairs when guided by properties derived from DistilRoBERTa outputs.
Using Multimodal and Language-Agnostic Sentence Embeddings for Abstractive Summarization
Venue: arXiv cs.CL 2026
Year: 2026

Abstractive summarization aims to generate concise summaries by creating new sentences, allowing for flexible rephrasing. However, this approach can be vulnerable to inaccuracies, particularly `hallucinations' where the model introduces non-existent information. In this paper, we leverage the use of multimodal and multilingual sentence embeddings derived from pretrained models such as LaBSE, SONAR, and BGE-M3, and feed them into a modified BART-based French model. A Named Entity Injection mechanism that appends tokenized named entities to the decoder input is introduced, in order to improve the factual consistency of the generated summary. Our novel framework, SBARThez, is applicable to both text and speech inputs and supports cross-lingual summarization; it shows competitive performance relative to token-level baselines, especially for low-resource languages, while generating more concise and abstract summaries.
HDR-NSFF: High Dynamic Range Neural Scene Flow Fields
Venue: arXiv cs.CV 2026
Year: 2026

Radiance of real-world scenes typically spans a much wider dynamic range than what standard cameras can capture. While conventional HDR methods merge alternating-exposure frames, these approaches are inherently constrained to 2D pixel-level alignment, often leading to ghosting artifacts and temporal inconsistency in dynamic scenes. To address these limitations, we present HDR-NSFF, a paradigm shift from 2D-based merging to 4D spatio-temporal modeling. Our framework reconstructs dynamic HDR radiance fields from alternating-exposure monocular videos by representing the scene as a continuous function of space and time, and is compatible with both neural radiance field and 4D Gaussian Splatting (4DGS) based dynamic representations. This unified end-to-end pipeline explicitly models HDR radiance, 3D scene flow, geometry, and tone-mapping, ensuring physical plausibility and global coherence. We further enhance robustness by (i) extending semantic-based optical flow with DINO features to achieve exposure-invariant motion estimation, and (ii) incorporating a generative prior as a regularizer to compensate for limited observation in monocular captures and saturation-induced information loss. To evaluate HDR space-time view synthesis, we present the first real-world HDR-GoPro dataset specifically designed for dynamic HDR scenes. Experiments demonstrate that HDR-NSFF recovers fine radiance details and coherent dynamics even under challenging exposure variations, thereby achieving state-of-the-art performance in novel space-time view synthesis. Project page: https://shin-dong-yeon.github.io/HDR-NSFF/
Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling
Venue: arXiv cs.RO 2026
Year: 2026

Efficient monitoring of sparse benthic phenomena, such as coral colonies, presents a great challenge for Autonomous Underwater Vehicles. Traditional exhaustive coverage strategies are energy-inefficient, while recent adaptive sampling approaches rely on costly vertical maneuvers. To address these limitations, we propose HIMoS (Hierarchical Informative Multi-Modal Search), a fixed-altitude framework for sparse coral search-and-sample missions. The system integrates a heterogeneous sensor suite within a two-layer planning architecture. At the strategic level, a Global Planner optimizes topological routes to maximize potential discovery. At the tactical level, a receding-horizon Local Planner leverages differentiable belief propagation to generate kinematically feasible trajectories that balance acoustic substrate exploration, visual coral search, and close-range sampling. Validated in high-fidelity simulations derived from real-world coral reef benthic surveys, our approach demonstrates superior mission efficiency compared to state-of-the-art baselines.
The Complexity of Extending Storylines with Minimum Local Crossing Number
Venue: arXiv cs.CG 2026
Year: 2026

Storyline layouts visualize temporal interactions by drawing each character as an $x$-monotone curve and enforcing that the participants of every meeting form a contiguous vertical group. We study a drawing extension variant in which a layout of a sub-storyline is fixed and has to be extended by inserting missing characters while preserving all meeting constraints. We minimize the local crossing number $χ$, i.e., the maximum number of crossings along any single character. We prove that the problem is W[1]-hard parameterized by the number $k$ of inserted characters plus the maximum number $σ$ of active characters, in XP parameterized by $σ$ and in FPT parameterized by $σ+χ$.
ERASE -- A Real-World Aligned Benchmark for Unlearning in Recommender Systems
Venue: arXiv cs.IR 2026
Year: 2026

Machine unlearning (MU) enables the removal of selected training data from trained models, to address privacy compliance, security, and liability issues in recommender systems. Existing MU benchmarks poorly reflect real-world recommender settings: they focus primarily on collaborative filtering, assume unrealistically large deletion requests, and overlook practical constraints such as sequential unlearning and efficiency. We present ERASE, a large-scale benchmark for MU in recommender systems designed to align with real-world usage. ERASE spans three core tasks -- collaborative filtering, session-based recommendation, and next-basket recommendation -- and includes unlearning scenarios inspired by real-world applications, such as sequentially removing sensitive interactions or spam. The benchmark covers seven unlearning algorithms, including general-purpose and recommender-specific methods, across nine public datasets and nine state-of-the-art models. We execute ERASE to produce more than 600 GB of reusable artifacts, such as extensive experimental logs and more than a thousand model checkpoints. Crucially, the artifacts that we release enable systematic analysis of where current unlearning methods succeed and where they fall short. ERASE showcases that approximate unlearning can match retraining in some settings, but robustness varies widely across datasets and architectures. Repeated unlearning exposes weaknesses in general-purpose methods, especially for attention-based and recurrent models, while recommender-specific approaches behave more reliably. ERASE provides the empirical foundation to help the community assess, drive, and track progress toward practical MU in recommender systems.
Multi-Axis Concentration Modulation for Mobile Molecular Communication Systems
Venue: arXiv cs.ET 2026
Year: 2026

Molecular communication (MC) is emerging paradigm that employs molecules as information carriers, inspired by biological signaling processes. Existing modulation schemes such as on-off keying (OOK), although simple to implement, suffer from high error probability in dynamic or hard-to-estimate channels due to their dependence on accurate channel information (CI). This work develops a unified MC constellation framework that allows higher order modulation across multiple dimensions and designs efficient constellation for dynamic MC. We propose a general multi-axis concentration modulation (MAxCM(K,M)) of modulation order M, utilizing K-dimensional constellation space with each axis corresponding to a particular molecular type, and information is jointly encoded in their concentrations. The corresponding ML decoders are derived for both static and dynamic MC under exact and partial CI. We show that the use of MAxCM can provide improvements in spectral efficiency (SE) and error rate. We then focus on a special subclass, namely multiple-axis ratio shift keying (MAxRSK), that encodes information into the concentration ratios. Its ML decoder is shown to be a weighted combiner, and design constraints are derived to enable channel-independent decoding. We study one such example, symmetric binary RSK (SBRSK), to show its robustness in dynamic channel conditions compared to OOK. Numerical investigations show significant performance gains over OOK and provide insights into optimal constellation design and receiver configurations.
M$^3$-ACE: Rectifying Visual Perception in Multimodal Math Reasoning via Multi-Agentic Context Engineering
Venue: arXiv cs.AI 2026
Year: 2026

Multimodal large language models have recently shown promising progress in visual mathematical reasoning. However, their performance is often limited by a critical yet underexplored bottleneck: inaccurate visual perception. Through systematic analysis, we find that the most failures originate from incorrect or incomplete visual evidence extraction rather than deficiencies in reasoning capability. Moreover, models tend to remain overly confident in their initial perceptions, making standard strategies such as prompt engineering, multi-round self-reflection, or posterior guidance insufficient to reliably correct errors. To address this limitation, we propose M3-ACE, a multi-agentic context engineering framework designed to rectify visual perception in multimodal math reasoning. Instead of directly aggregating final answers, our approach decouples perception and reasoning by dynamically maintaining a shared context centered on visual evidence lists. Multiple agents collaboratively contribute complementary observations, enabling the system to expose inconsistencies and recover missing perceptual information. To support stable multi-turn collaboration, we further introduce two lightweight tools: a Summary Tool that organizes evidence from different agents into consistent, complementary, and conflicting components, and a Refine Tool that filters unreliable samples and guides iterative correction. Extensive experiments demonstrate that M3-ACE substantially improves visual mathematical reasoning performance across multiple benchmarks. Our method establishes new state-of-the-art results 89.1 on the MathVision benchmark and achieves consistent improvements on other related datasets, including MathVista and MathVerse. These results highlight the importance of perception-centric multi-agent collaboration for advancing multimodal reasoning systems.
This Looks Distinctly Like That: Grounding Interpretable Recognition in Stiefel Geometry against Neural Collapse
Venue: arXiv cs.CV 2026
Year: 2026

Prototype networks provide an intrinsic case based explanation mechanism, but their interpretability is often undermined by prototype collapse, where multiple prototypes degenerate to highly redundant evidence. We attribute this failure mode to the terminal dynamics of Neural Collapse, where cross entropy optimization suppresses intra class variance and drives class conditional features toward a low dimensional limit. To mitigate this, we propose Adaptive Manifold Prototypes (AMP), a framework that leverages Riemannian optimization on the Stiefel manifold to represent class prototypes as orthonormal bases and make rank one prototype collapse infeasible by construction. AMP further learns class specific effective rank via a proximal gradient update on a nonnegative capacity vector, and introduces spatial regularizers that reduce rotational ambiguity and encourage localized, non overlapping part evidence. Extensive experiments on fine-grained benchmarks demonstrate that AMP achieves state-of-the-art classification accuracy while significantly improving causal faithfulness over prior interpretable models.
Real-Time Drone Detection in Event Cameras via Per-Pixel Frequency Analysis
Venue: arXiv cs.CV 2026
Year: 2026

Detecting fast-moving objects, such as unmanned aerial vehicle (UAV), from event camera data is challenging due to the sparse, asynchronous nature of the input. Traditional Discrete Fourier Transforms (DFT) are effective at identifying periodic signals, such as spinning rotors, but they assume uniformly sampled data, which event cameras do not provide. We propose a novel per-pixel temporal analysis framework using the Non-uniform Discrete Fourier Transform (NDFT), which we call Drone Detection via Harmonic Fingerprinting (DDHF). Our method uses purely analytical techniques that identify the frequency signature of drone rotors, as characterized by frequency combs in their power spectra, enabling a tunable and generalizable algorithm that achieves accurate real-time localization of UAV. We compare against a YOLO detector under equivalent conditions, demonstrating improvement in accuracy and latency across a difficult array of drone speeds, distances, and scenarios. DDHF achieves an average localization F1 score of 90.89% and average latency of 2.39ms per frame, while YOLO achieves an F1 score of 66.74% and requires 12.40ms per frame. Through utilization of purely analytic techniques, DDHF is quickly tuned on small data, easily interpretable, and achieves competitive accuracies and latencies to deep learning alternatives.
One Model Is Enough: Native Retrieval Embeddings from LLM Agent Hidden States
Venue: arXiv cs.CL 2026
Year: 2026

LLM agents that retrieve external knowledge typically generate a search query as text, then run a separate embedding model to encode it into a vector. This two-model pipeline adds infrastructure complexity and latency, yet is redundant: the LLM already encodes the full conversational context in its hidden states. We propose equipping LLM agents with native retrieval capability by adding a lightweight projection head that maps hidden states directly into the embedding space, eliminating the need for a separate embedding model. Trained with a combination of alignment, contrastive, and rank distillation losses, our method retains 97\% of baseline retrieval quality while enabling the LLM agent to search with its own representations. Experiments on the QReCC conversational search benchmark show competitive Recall@10 and MRR@10 compared to the standard generate-then-encode pipeline, with systematic ablations confirming the contribution of each loss component.
Alfa: Attentive Low-Rank Filter Adaptation for Structure-Aware Cross-Domain Personalized Gaze Estimation
Venue: arXiv cs.CV 2026
Year: 2026

Pre-trained gaze models learn to identify useful patterns commonly found across users, but subtle user-specific variations (i.e., eyelid shape or facial structure) can degrade model performance. Test-time personalization (TTP) adapts pre-trained models to these user-specific domain shifts using only a few unlabeled samples. Efficient fine-tuning is critical in performing this domain adaptation: data and computation resources can be limited-especially for on-device customization. While popular parameter-efficient fine-tuning (PEFT) methods address adaptation costs by updating only a small set of weights, they may not be taking full advantage of structures encoded in pre-trained filters. To more effectively leverage existing structures learned during pre-training, we reframe personalization as a process to reweight existing features rather than learning entirely new ones. We present Attentive Low-Rank Filter Adaptation (Alfa) to adapt gaze models by reweighting semantic patterns in pre-trained filters. With Alfa, singular value decomposition (SVD) extracts dominant spatial components that capture eye and facial characteristics across users. Via an attention mechanism, we need only a few unlabeled samples to adjust and reweight pre-trained structures, selectively amplifying those relevant to a target user. Alfa achieves the lowest average gaze errors across four cross-dataset gaze benchmarks, outperforming existing TTP methods and low-rank adaptation (LoRA)-based variants. We also show that Alfa's attentive low-rank methods can be applied to applications beyond vision, such as diffusion-based language models.
An Open-Source Robotics Research Platform for Autonomous Laparoscopic Surgery
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms, primarily based on the da Vinci Research Kit, suffer from cable-driven mechanical limitations that degrade state-space consistency and hinder the downstream training of reliable autonomous policies. We present an open-source, robot-agnostic Remote Center of Motion (RCM) controller based on a closed-form analytical velocity solver that enforces the trocar constraint deterministically without iterative optimization. The controller operates in Cartesian space, enabling any industrial manipulator to function as a surgical robot. We provide implementations for the UR5e and Franka Emika Panda manipulators, and integrate stereoscopic 3D perception. We integrate the robot control into a full-stack ROS-based surgical robotics platform supporting teleoperation, demonstration recording, and deployment of learned policies via a decoupled server-client architecture. We validate the system on a bowel grasping and retraction task across phantom, ex vivo, and in vivo porcine laparoscopic procedures. RCM deviations remain sub-millimeter across all conditions, and trajectory smoothness metrics (SPARC, LDLJ) are comparable to expert demonstrations from the JIGSAWS benchmark recorded on the da Vinci system. These results demonstrate that the platform provides the precision and robustness required for teleoperation, data collection and autonomous policy deployment in realistic surgical scenarios.
All Vehicles Can Lie: Efficient Adversarial Defense in Fully Untrusted-Vehicle Collaborative Perception via Pseudo-Random Bayesian Inference
Venue: arXiv cs.CV 2026
Year: 2026

Collaborative perception (CP) enables multiple vehicles to augment their individual perception capacities through the exchange of feature-level sensory data. However, this fusion mechanism is inherently vulnerable to adversarial attacks, especially in fully untrusted-vehicle environments. Existing defense approaches often assume a trusted ego vehicle as a reference or incorporate additional binary classifiers. These assumptions limit their practicality in real-world deployments due to the questionable trustworthiness of ego vehicles, the requirement for real-time detection, and the need for generalizability across diverse scenarios. To address these challenges, we propose a novel Pseudo-Random Bayesian Inference (PRBI) framework, a first efficient defense method tailored for fully untrusted-vehicle CP. PRBI detects adversarial behavior by leveraging temporal perceptual discrepancies, using the reliable perception from the preceding frame as a dynamic reference. Additionally, it employs a pseudo-random grouping strategy that requires only two verifications per frame, while applying Bayesian inference to estimate both the number and identities of malicious vehicles. Theoretical analysis has proven the convergence and stability of the proposed PRBI framework. Extensive experiments show that PRBI requires only 2.5 verifications per frame on average, outperforming existing methods significantly, and restores detection precision to between 79.4% and 86.9% of pre-attack levels.
CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
Venue: arXiv cs.RO 2026
Year: 2026

As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred behavior profile moves increasingly farther out of reach. These systems benefit strongly by being able to align their behavior to reflect human preferences and respond to corrections, but manually encoding this feedback is infeasible. Active preference learning (APL) learns human reward functions by presenting trajectories for ranking. However, existing methods sample from fixed trajectory sets or replay buffers that limit query diversity and often fail to identify informative comparisons. We propose CRED, a novel trajectory generation method for APL that improves reward inference by jointly optimizing environment design and trajectory selection to efficiently query and extract preferences from users. CRED "imagines" new scenarios through environment design and leverages counterfactual reasoning -- by sampling possible rewards from its current belief and asking "What if this were the true preference?" -- to generate trajectory pairs that expose differences between competing reward functions. Comprehensive experiments and a user study show that CRED significantly outperforms state-of-the-art methods in reward accuracy and sample efficiency and receives higher user ratings.