OpenRaiser/Intern-Atlas huggingface dataset:
STEP: Warm-Started Visuomotor Policies with Spatiotemporal Consistency Prediction
Venue: arXiv cs.RO 2026
Year: 2026

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads to substantial inference latency, limiting control frequency in real-time closed-loop systems. Existing acceleration methods either reduce sampling steps, bypass diffusion through direct prediction, or reuse past actions, but often struggle to jointly preserve action quality and achieve consistently low latency. In this work, we propose STEP, a lightweight spatiotemporal consistency prediction mechanism to construct high-quality warm-start actions that are both distributionally close to the target action and temporally consistent, without compromising the generative capability of the original diffusion policy. Then, we propose a velocity-aware perturbation injection mechanism that adaptively modulates actuation excitation based on temporal action variation to prevent execution stall especially for real-world tasks. We further provide a theoretical analysis showing that the proposed prediction induces a locally contractive mapping, ensuring convergence of action errors during diffusion refinement. We conduct extensive evaluations on nine simulated benchmarks and two real-world tasks. Notably, STEP with 2 steps can achieve an average 21.6% and 27.5% higher success rate than BRIDGER and DDIM on the RoboMimic benchmark and real-world tasks, respectively. These results demonstrate that STEP consistently advances the Pareto frontier of inference latency and success rate over existing methods.
Language Predicts Identity Fusion Across Cultures and Reveals Divergent Pathways to Violence
Venue: arXiv cs.CL 2026
Year: 2026

In light of increasing polarization and political violence, understanding the psychological roots of extremism is increasingly important. Prior research shows that identity fusion predicts willingness to engage in extreme acts. We evaluate the Cognitive Linguistic Identity Fusion Score, a method that uses cognitive linguistic patterns, LLMs, and implicit metaphor to measure fusion from language. Across datasets from the United Kingdom and Singapore, this approach outperforms existing methods in predicting validated fusion scores. Applied to extremist manifestos, two distinct high-fusion pathways to violence emerge: ideologues tend to frame themselves in terms of group, forming kinship bonds; whereas grievance-driven individuals frame the group in terms of their personal identity. These results refine theories of identity fusion and provide a scalable tool aiding fusion research and extremism detection.
DexFormer: Cross-Embodied Dexterous Manipulation via History-Conditioned Transformer
Venue: arXiv cs.RO 2026
Year: 2026

Dexterous manipulation remains one of the most challenging problems in robotics, requiring coherent control of high-DoF hands and arms under complex, contact-rich dynamics. A major barrier is embodiment variability: different dexterous hands exhibit distinct kinematics and dynamics, forcing prior methods to train separate policies or rely on shared action spaces with per-embodiment decoder heads. We present DexFormer, an end-to-end, dynamics-aware cross-embodiment policy built on a modified transformer backbone that conditions on historical observations. By using temporal context to infer morphology and dynamics on the fly, DexFormer adapts to diverse hand configurations and produces embodiment-appropriate control actions. Trained over a variety of procedurally generated dexterous-hand assets, DexFormer acquires a generalizable manipulation prior and exhibits strong zero-shot transfer to Leap Hand, Allegro Hand, and Rapid Hand. Our results show that a single policy can generalize across heterogeneous hand embodiments, establishing a scalable foundation for cross-embodiment dexterous manipulation. Project website: https://davidlxu.github.io/DexFormer-web/.
Effect-Level Validation for Causal Discovery
Venue: arXiv cs.AI 2026
Year: 2026

Causal discovery is increasingly applied to large-scale telemetry data to estimate the effects of user-facing interventions, yet its reliability for decision-making in feedback-driven systems with strong self-selection remains unclear. In this paper, we propose an effect-centric, admissibility-first framework that treats discovered graphs as structural hypotheses and evaluates them by identifiability, stability, and falsification rather than by graph recovery accuracy alone. Empirically, we study the effect of early exposure to competitive gameplay on short-term retention using real-world game telemetry. We find that many statistically plausible discovery outputs do not admit point-identified causal queries once minimal temporal and semantic constraints are enforced, highlighting identifiability as a critical bottleneck for decision support. When identification is possible, several algorithm families converge to similar, decision-consistent effect estimates despite producing substantially different graph structures, including cases where the direct treatment-outcome edge is absent and the effect is preserved through indirect causal pathways. These converging estimates survive placebo, subsampling, and sensitivity refutation. In contrast, other methods exhibit sporadic admissibility and threshold-sensitive or attenuated effects due to endpoint ambiguity. These results suggest that graph-level metrics alone are inadequate proxies for causal reliability for a given target query. Therefore, trustworthy causal conclusions in telemetry-driven systems require prioritizing admissibility and effect-level validation over causal structural recovery alone.
Reinforcement Learning with Backtracking Feedback
Venue: arXiv cs.LG 2026
Year: 2026

Addressing the critical need for robust safety in Large Language Models (LLMs), particularly against adversarial attacks and in-distribution errors, we introduce Reinforcement Learning with Backtracking Feedback (RLBF). This framework advances upon prior methods, such as BSAFE, by primarily leveraging a Reinforcement Learning (RL) stage where models learn to dynamically correct their own generation errors. Through RL with critic feedback on the model's live outputs, LLMs are trained to identify and recover from their actual, emergent safety violations by emitting an efficient "backtrack by x tokens" signal, then continuing generation autoregressively. This RL process is crucial for instilling resilience against sophisticated adversarial strategies, including middle filling, Greedy Coordinate Gradient (GCG) attacks, and decoding parameter manipulations. To further support the acquisition of this backtracking capability, we also propose an enhanced Supervised Fine-Tuning (SFT) data generation strategy (BSAFE+). This method improves upon previous data creation techniques by injecting violations into coherent, originally safe text, providing more effective initial training for the backtracking mechanism. Comprehensive empirical evaluations demonstrate that RLBF significantly reduces attack success rates across diverse benchmarks and model scales, achieving superior safety outcomes while critically preserving foundational model utility.
AI-Assisted Model for Generating Multiple-Choice Questions
Venue: arXiv cs.HC 2026
Year: 2026

Multiple-choice questions (MCQs) are widely used across diverse educational fields and levels. Well-designed MCQs should evaluate knowledge application in real-world situations. However, writing such test items in sufficient numbers is challenging and time-consuming, especially in natural science education. The problem of a sufficient number of MCQs has two aspects: content coverage and exam security. Therefore, generating test items involves two tasks: creating MCQ prototypes and transforming these prototypes into item series. In automated item generation, prototype creation aligns with template-based methods like cognitive modelling, while item expansion corresponds to example-based techniques. The aim of this research was designing the goal-oriented conceptual model of human - AI co-creation of MCQs that should meet strictly formulated quality criteria. The resulting three-step model for creating MCQ prototypes distributed prompts between several AIs, with human revision of responses for each prompt before setting the next one. To transform the MCQ prototype into an MCQ series, a one-step model was developed in which multiple new items are generated simultaneously. These items assess the same learning outcome but are not simple rephrasings of the prototype or of one another. Based on human and automated evaluation, approximately half of the output MCQs were acceptable without editing. Minor corrections of initially rejected test items allowed for a moderate increase in acceptance of MCQs in series and a significant improvement of MCQ-prototypes.
Towards Real-World Industrial-Scale Verification: LLM-Driven Theorem Proving on seL4
Venue: arXiv cs.CR 2026
Year: 2026

Formal methods (FM) are reliable but costly to apply, often requiring years of expert effort in industrial-scale projects such as seL4, especially for theorem proving. Recent advances in large language models (LLMs) have made automated theorem proving increasingly feasible. However, most prior work focuses on mathematics-oriented benchmarks such as miniF2F, with limited evaluation on real-world verification projects. The few studies that consider industrial-scale verification mostly rely on closed-source models with hundreds of billions of parameters, which cannot be locally deployed and incur substantial usage costs. In this paper, we propose AutoReal, an LLM-driven theorem proving method for real-world industrial-scale systems with support for lightweight local deployment. We evaluate AutoReal on the seL4-Isabelle verification project as a representative and challenging case study. AutoReal incorporates two key improvements: (1) chain-of-thought (CoT)-based proof training, which teaches the LLM the reasoning behind proof steps and enables step-wise explanations alongside proofs, and (2) context augmentation, which leverages proof context from the project to enhance LLM-driven proving. Based on the AutoReal methodology, we fine-tune a base model to obtain AutoReal-Prover, a compact 7B-scale prover for industrial-scale theorem proving. AutoReal-Prover achieves a 51.67% proof success rate on 660 theorems from seL4-designated Important Theories across all 10 seL4 proof categories, substantially outperforming prior attempts on seL4 (27.06%). To evaluate generalization, we further apply AutoReal-Prover to three security-related projects from the Archive of Formal Proofs (AFP), covering all 451 theorems and achieving a proof success rate of 53.88%. Overall, this work advances the application of LLM-driven theorem proving in real-world industrial-scale verification.
Altruism and Fair Objective in Mixed-Motive Markov games
Venue: arXiv cs.MA 2026
Year: 2026

Cooperation is fundamental for society's viability, as it enables the emergence of structure within heterogeneous groups that seek collective well-being. However, individuals are inclined to defect in order to benefit from the group's cooperation without contributing the associated costs, thus leading to unfair situations. In game theory, social dilemmas entail this dichotomy between individual interest and collective outcome. The most dominant approach to multi-agent cooperation is the utilitarian welfare which can produce efficient highly inequitable outcomes. This paper proposes a novel framework to foster fairer cooperation by replacing the standard utilitarian objective with Proportional Fairness. We introduce a fair altruistic utility for each agent, defined on the individual log-payoff space and derive the analytical conditions required to ensure cooperation in classic social dilemmas. We then extend this framework to sequential settings by defining a Fair Markov Game and deriving novel fair Actor-Critic algorithms to learn fair policies. Finally, we evaluate our method in various social dilemma environments.
SCOUT-RAG: Scalable and Cost-Efficient Unifying Traversal for Agentic Graph-RAG over Distributed Domains
Venue: arXiv cs.AI 2026
Year: 2026

Graph-RAG improves LLM reasoning using structured knowledge, yet conventional designs rely on a centralized knowledge graph. In distributed and access-restricted settings (e.g., hospitals or multinational organizations), retrieval must select relevant domains and appropriate traversal depth without global graph visibility or exhaustive querying. To address this challenge, we introduce \textbf{SCOUT-RAG} (\textit{\underline{S}calable and \underline{CO}st-efficient \underline{U}nifying \underline{T}raversal}), a distributed agentic Graph-RAG framework that performs progressive cross-domain retrieval guided by incremental utility goals. SCOUT-RAG employs four cooperative agents that: (i) estimate domain relevance, (ii) decide when to expand retrieval to additional domains, (iii) adapt traversal depth to avoid unnecessary graph exploration, and (iv) synthesize the high-quality answers. The framework is designed to minimize retrieval regret, defined as missing useful domain information, while controlling latency and API cost. Across multi-domain knowledge settings, SCOUT-RAG achieves performance comparable to centralized baselines, including DRIFT and exhaustive domain traversal, while substantially reducing cross-domain calls, total tokens processed, and latency.
A Sketch+Text Composed Image Retrieval Dataset for Thangka
Venue: arXiv cs.IR 2026
Year: 2026

Composed Image Retrieval (CIR) enables image retrieval by combining multiple query modalities, but existing benchmarks predominantly focus on general-domain imagery and rely on reference images with short textual modifications. As a result, they provide limited support for retrieval scenarios that require fine-grained semantic reasoning, structured visual understanding, and domain-specific knowledge. In this work, we introduce CIRThan, a sketch+text Composed Image Retrieval dataset for Thangka imagery, a culturally grounded and knowledge-specific visual domain characterized by complex structures, dense symbolic elements, and domain-dependent semantic conventions. CIRThan contains 2,287 high-quality Thangka images, each paired with a human-drawn sketch and hierarchical textual descriptions at three semantic levels, enabling composed queries that jointly express structural intent and multi-level semantic specification. We provide standardized data splits, comprehensive dataset analysis, and benchmark evaluations of representative supervised and zero-shot CIR methods. Experimental results reveal that existing CIR approaches, largely developed for general-domain imagery, struggle to effectively align sketch-based abstractions and hierarchical textual semantics with fine-grained Thangka images, particularly without in-domain supervision. We believe CIRThan offers a valuable benchmark for advancing sketch+text CIR, hierarchical semantic modeling, and multimodal retrieval in cultural heritage and other knowledge-specific visual domains. The dataset is publicly available at https://github.com/jinyuxu-whut/CIRThan.
The Connection between Kriging and Large Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

AI has impacted many disciplines and is nowadays ubiquitous. In particular, spatial statistics is in a pivotal moment where it will increasingly intertwine with AI. In this scenario, a relevant question is what relationship spatial statistics models have with machine learning (ML) models, if any. In particular, in this paper, we explore the connections between Kriging and neural networks. At first glance, they may appear unrelated. Kriging - and its ML counterpart, Gaussian process regression - are grounded in probability theory and stochastic processes, whereas many ML models are extensively considered Black-Box models. Nevertheless, they are strongly related. We study their connections and revisit the relevant literature. The understanding of their relations and the combination of both perspectives may enhance ML techniques by making them more interpretable, reliable, and spatially aware.
Understanding and Optimizing Attention-Based Sparse Matching for Diverse Local Features
Venue: arXiv cs.CV 2026
Year: 2026

We revisit the problem of training attention-based sparse image matching models for various local features. We first identify one critical design choice that has been previously overlooked, which significantly impacts the performance of the LightGlue model. We then investigate the role of detectors and descriptors within the transformer-based matching framework, finding that detectors, rather than descriptors, are often the primary cause for performance difference. Finally, we propose a novel approach to fine-tune existing image matching models using keypoints from a diverse set of detectors, resulting in a universal, detector-agnostic model. When deployed as a zero-shot matcher for novel detectors, the resulting model achieves or exceeds the accuracy of models specifically trained for those features. Our findings offer valuable insights for the deployment of transformer-based matching models and the future design of local features.
Demo-ICL: In-Context Learning for Procedural Video Knowledge Acquisition
Venue: arXiv cs.CV 2026
Year: 2026

Despite the growing video understanding capabilities of recent Multimodal Large Language Models (MLLMs), existing video benchmarks primarily assess understanding based on models' static, internal knowledge, rather than their ability to learn and adapt from dynamic, novel contexts from few examples. To bridge this gap, we present Demo-driven Video In-Context Learning, a novel task focused on learning from in-context demonstrations to answer questions about the target videos. Alongside this, we propose Demo-ICL-Bench, a challenging benchmark designed to evaluate demo-driven video in-context learning capabilities. Demo-ICL-Bench is constructed from 1200 instructional YouTube videos with associated questions, from which two types of demonstrations are derived: (i) summarizing video subtitles for text demonstration; and (ii) corresponding instructional videos as video demonstrations. To effectively tackle this new challenge, we develop Demo-ICL, an MLLM with a two-stage training strategy: video-supervised fine-tuning and information-assisted direct preference optimization, jointly enhancing the model's ability to learn from in-context examples. Extensive experiments with state-of-the-art MLLMs confirm the difficulty of Demo-ICL-Bench, demonstrate the effectiveness of Demo-ICL, and thereby unveil future research directions.
Multipoint Code-Weight Sphere Decoding: Parallel Near-ML Decoding for Short-Blocklength Codes
Venue: arXiv cs.IT 2026
Year: 2026

Ultra-reliable low-latency communications (URLLC) operate with short packets, where finite-blocklength effects make near-maximum-likelihood (near-ML) decoding desirable but often too costly. This paper proposes a two-stage near-ML decoding framework that applies to any linear block code. In the first stage, we run a low-complexity decoder to produce a candidate codeword and a cyclic redundancy check. When this stage succeeds, we terminate immediately. When it fails, we invoke a second-stage decoder, termed multipoint code-weight sphere decoding (MP-WSD). The central idea behind {MP-WSD} is to concentrate the ML search where it matters. We pre-compute a set of low-weight codewords and use them to generate structured local perturbations of the current estimate. Starting from the first-stage output, MP-WSD iteratively explores a small Euclidean sphere of candidate codewords formed by adding selected low-weight codewords, tightening the search region as better candidates are found. This design keeps the average complexity low: at high signal-to-noise ratio, the first stage succeeds with high probability and the second stage is rarely activated; when it is activated, the search remains localized. Simulation results show that the proposed decoder attains near-ML performance for short-blocklength, low-rate codes while maintaining low decoding latency.
A General Theory of Proportionality with Additive Utilities
Venue: arXiv cs.GT 2026
Year: 2026

We consider a model where a subset of candidates must be selected based on voter preferences, subject to general constraints that specify which subsets are feasible. This model generalizes committee elections with diversity constraints, participatory budgeting (including constraints specifying how funds must be allocated to projects from different pools), and public decision-making. Axioms of proportionality have recently been defined for this general model, but the proposed rules apply only to approval ballots, where each voter submits a subset of candidates she finds acceptable. We propose proportional rules for cardinal ballots, where each voter assigns a numerical value to each candidate corresponding to her utility if that candidate is selected. In developing these rules, we also introduce methods that produce proportional rankings, ensuring that every prefix of the ranking satisfies proportionality.
A Multi-objective Evolutionary Algorithm Based on Bi-population with Uniform Sampling for Neural Architecture Search
Venue: arXiv cs.NE 2026
Year: 2026

Neural architecture search (NAS) automates neural network design, improving efficiency over manual approaches. However, efficiently discovering high-performance neural network architectures that simultaneously optimize multiple objectives remains a significant challenge in NAS. Existing methods often suffer from limited population diversity and inadequate exploration of the search space, particularly in regions with extreme complexity values. To address these challenges, we propose MOEA-BUS, an innovative multi-objective evolutionary algorithm based on bi-population with uniform sampling for neural architecture search, aimed at simultaneously optimizing both accuracy and network complexity. In MOEA-BUS, a novel uniform sampling method is proposed to initialize the population, ensuring that architectures are distributed uniformly across the objective space. Furthermore, to enhance exploration, we deploy a bi-population framework where two populations evolve synergistically, facilitating comprehensive search space coverage. Experiments on CIFAR-10 and ImageNet demonstrate MOEA-BUS's superiority, achieving top-1 accuracies of 98.39% on CIFAR-10, and 80.03% on ImageNet. Notably, it achieves 78.28% accuracy on ImageNet with only 446M MAdds. Ablation studies confirm that both uniform sampling and bi-population mechanisms enhance population diversity and performance. Additionally, in terms of the Kendall's tau coefficient, the SVM achieves an improvement of at least 0.035 compared to the other three commonly used machine learning models, and uniform sampling provided an enhancement of approximately 0.07.