OpenRaiser/Intern-Atlas huggingface dataset:
Med-DualLoRA: Local Adaptation of Foundation Models for 3D Cardiac MRI
Venue: arXiv cs.CV 2026
Year: 2026

Foundation models (FMs) show great promise for robust downstream performance across medical imaging tasks and modalities, including cardiac magnetic resonance (CMR), following task-specific adaptation. However, adaptation using single-site data may lead to suboptimal performance and increased model bias, while centralized fine-tuning on clinical data is often infeasible due to privacy constraints. Federated fine-tuning offers a privacy-preserving alternative; yet conventional approaches struggle under heterogeneous, non-IID multi-center data and incur substantial communication overhead when adapting large models. In this work, we study federated FM fine-tuning for 3D CMR disease detection and propose Med-DualLoRA, a client-aware parameter-efficient fine-tuning (PEFT) federated framework that disentangles globally shared and local low-rank adaptations (LoRA) through additive decomposition. Global and local LoRA modules are trained locally, but only the global component is shared and aggregated across sites, keeping local adapters private. This design improves personalization while significantly reducing communication cost, and experiments show that adapting only two transformer blocks preserves performance while further improving efficiency. We evaluate our method on a multi-center state-of-the-art cine 3D CMR FM fine-tuned for disease detection using ACDC and combined M\&Ms datasets, treating each vendor as a federated client. Med-DualLoRA achieves statistically significant improved performance (balanced accuracy 0.768, specificity 0.612) compared to other federated PEFT baselines, while maintaining communication efficiency. Our approach provides a scalable solution for local federated adaptation of medical FMs under realistic clinical constraints.
Too Vivid to Be Real? Benchmarking and Calibrating Generative Color Fidelity
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in text-to-image (T2I) generation have greatly improved visual quality, yet producing images that appear visually authentic to real-world photography remains challenging. This is partly due to biases in existing evaluation paradigms: human ratings and preference-trained metrics often favor visually vivid images with exaggerated saturation and contrast, which make generations often too vivid to be real even when prompted for realistic-style images. To address this issue, we present Color Fidelity Dataset (CFD) and Color Fidelity Metric (CFM) for objective evaluation of color fidelity in realistic-style generations. CFD contains over 1.3M real and synthetic images with ordered levels of color realism, while CFM employs a multimodal encoder to learn perceptual color fidelity. In addition, we propose a training-free Color Fidelity Refinement (CFR) that adaptively modulates spatial-temporal guidance scale in generation, thereby enhancing color authenticity. Together, CFD supports CFM for assessment, whose learned attention further guides CFR to refine T2I fidelity, forming a progressive framework for assessing and improving color fidelity in realistic-style T2I generation. The dataset and code are available at https://github.com/ZhengyaoFang/CFM.
Layered Performance Analysis of TLS 1.3 Handshakes: Classical, Hybrid, and Pure Post-Quantum Key Exchange
Venue: arXiv cs.CR 2026
Year: 2026

In this paper, we present a laboratory study focused on the impact of post-quantum cryptography (PQC) algorithms on multiple layers of stateful HTTP over TLS transactions: the TCP handshake, the intermediate TCP-TLS layer, the TLS handshake, the intermediate TLS layer, and the HTTP application layer. To this end, we propose a laboratory architecture that emulates a real-world setup in which a load test of up to 100 transactions per second is sent to a load balancer, which in turn forwards them to a backend server that returns the responses. Each set of tests is executed using the TLS 1.3 key exchange groups as follows: traditional (or non-PQC), hybrid PQC and pure PQC. Each set of tests also varied the backend response size. Across more than thirty experiments, we performed data reduction and statistical analysis for each layer, to determine the specific impact of each algorithm (PQC and traditional) at every stage of the HTTP-over-TLS transaction.
Beyond the Illusion of Consensus: From Surface Heuristics to Knowledge-Grounded Evaluation in LLM-as-a-Judge
Venue: arXiv cs.CL 2026
Year: 2026

The paradigm of LLM-as-a-judge relies on a critical assumption, namely that high inter-evaluator agreement indicates reliable and objective evaluation. We present two complementary findings that challenge this assumption. \textbf{First}, we demonstrate that this consensus is frequently illusory. We identify and formalize \textbf{Evaluation Illusion}, a phenomenon where LLM judges generate sophisticated critiques yet anchor scores on shared surface heuristics rather than substantive quality. Through a large-scale study of 105,600 evaluation instances (32 LLMs $\times$ 3 frontier judges $\times$ 100 tasks $\times$ 11 temperatures), we show that model-level agreement (Spearman $ρ= 0.99$) masks fragile sample-level agreement (Pearson $\bar{r} = 0.72$; absolute agreement ICC $= 0.67$), that merely sharing rubric structure restores 62\% of total agreement, and that high-quality outputs paradoxically receive the \textit{least} consistent evaluations. \textbf{Second}, we demonstrate that dynamically generating evaluation rubrics grounded in domain knowledge produces more meaningful assessment. We introduce MERG (Metacognitive Enhanced Rubric Generation), a knowledge-driven rubric generation framework whose domain-selective effects confirm this. Agreement \textit{increases} in codified domains (Education +22\%, Academic +27\%) where knowledge anchors evaluators on shared standards, while it decreases in subjective domains where genuine evaluative pluralism emerges. These findings suggest that evaluation rubrics should be dynamically enriched with expert knowledge rather than relying on generic criteria, with implications for reward modeling in RLAIF.
COMIC: Agentic Sketch Comedy Generation
Venue: arXiv cs.CV 2026
Year: 2026

We propose a fully automated AI system that produces short comedic videos similar to sketch shows such as Saturday Night Live. Starting with character references, the system employs a population of agents loosely based on real production studio roles, structured to optimize the quality and diversity of ideas and outputs through iterative competition, evaluation, and improvement. A key contribution is the introduction of LLM critics aligned with real viewer preferences through the analysis of a corpus of comedy videos on YouTube to automatically evaluate humor. Our experiments show that our framework produces results approaching the quality of professionally produced sketches while demonstrating state-of-the-art performance in video generation.
Structure-Aware Epistemic Uncertainty Quantification for Neural Operator PDE Surrogates
Venue: arXiv cs.LG 2026
Year: 2026

Neural operators (NOs) provide fast, resolution-invariant surrogates for mapping input fields to PDE solution fields, but their predictions can exhibit significant epistemic uncertainty due to finite data, imperfect optimization, and distribution shift. For practical deployment in scientific computing, uncertainty quantification (UQ) must be both computationally efficient and spatially faithful, i.e., uncertainty bands should align with the localized residual structures that matter for downstream risk management. We propose a structure-aware epistemic UQ scheme that exploits the modular anatomy common to modern NOs (lifting-propagation-recovering). Instead of applying unstructured weight perturbations (e.g., naive dropout) across the entire network, we restrict Monte Carlo sampling to a module-aligned subspace by injecting stochasticity only into the lifting module, and treat the learned solver dynamics (propagation and recovery) as deterministic. We instantiate this principle with two lightweight lifting-level perturbations, including channel-wise multiplicative feature dropout and a Gaussian feature perturbation with matched variance, followed by standard calibration to construct uncertainty bands. Experiments on challenging PDE benchmarks (including discontinuous-coefficient Darcy flow and geometry-shifted 3D car CFD surrogates) demonstrate that the proposed structure-aware design yields more reliable coverage, tighter bands, and improved residual-uncertainty alignment compared with common baselines, while remaining practical in runtime.
Wide-Area GNSS Spoofing and Jamming Detection Using AIS-Derived Spatiotemporal Integrity Monitoring
Venue: arXiv cs.CR 2026
Year: 2026

Global Navigation Satellite System (GNSS) spoofing and jamming threaten maritime navigation by corrupting positions from Automatic Identification System (AIS) transponders. Crucially, raw AIS messages contain communication-layer defects (duplicated MMSIs, timestamp errors, stale retransmissions, and multi-station rebroadcast delays) that can mimic spoofing or jamming. Thus, AIS positions are unreliable without pre-filtering. We propose a three-stage AIS-based framework that (1) uses rule-based diagnostics to discard communication faults, (2) applies an interacting multiple model filter and transmission-interval analysis to extract kinematic-consistency and continuity anomalies, and (3) applies spatiotemporal DBSCAN to group anomalies by multi-vessel coherence and temporal persistence and classify them as sensor faults, spoofing, or jamming. Tested on approximately 966 million AIS messages from Korean coastal waters, the framework detected 17 spoofing and 343 jamming clusters and reduced false alarms by 98.6% relative to naive clustering. These results show that, after rigorous pre-filtering, AIS data can enable wide-area GNSS interference detection without dedicated sensors.
OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
Venue: arXiv cs.RO 2026
Year: 2026

We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations, including search, triage, and disaster response, where cluttered environments and partial visibility frequently degrade downstream perception. However, many Next-Best-View (NBV) methods primarily optimize generic exploration or long-horizon coverage, and do not explicitly target the immediate goal of obtaining a single usable observation of a partially occluded person under real motion constraints. We present Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots (OA-NBV), an occlusion-aware NBV pipeline that autonomously selects the next traversable viewpoint to obtain a more complete view of an occluded human. OA-NBV integrates perception and motion planning by scoring candidate viewpoints using a target-centric visibility model that accounts for occlusion, target scale, and target completeness, while restricting candidates to feasible robot poses. OA-NBV achieves over 90% success rate in both simulation and real-world trials, while baseline NBV methods degrade sharply under occlusion. Beyond success rate, OA-NBV improves observation quality: compared to the strongest baseline, it increases normalized target area by at least 81% and keypoint visibility by at least 58% across settings, making it a drop-in view-selection module for diverse human-centered downstream tasks.
Context Before Code: An Experience Report on Vibe Coding in Practice
Venue: arXiv cs.SE 2026
Year: 2026

Code-generating tools are increasingly used in software development, yet experience reports on conversational "vibe coding" under production constraints remain limited. This paper presents an experience report from a small full-stack team that applied contextual prompting and explicit architectural constraints to build (i) a multi-project agent learning platform designed for sustained, production-oriented use and (ii) an academic retrieval-augmented generation system. The agent platform supports multiple isolated projects, each with structured memory and background processing, thereby enforcing project-level isolation. The RAG system provides citation-grounded answers, role-based access control, and evaluation tracking. Across both systems, vibe coding accelerated scaffolding and integration. However, the generated code often under-specified isolation rules and infrastructure constraints when these were not explicitly defined. Consequently, aspects such as multi-tenancy, access control, memory policies, and asynchronous processing required deliberate architectural design and verification. We observe a shift in engineering effort from boilerplate implementation toward constraint specification and enforcement auditing. We also identify recurring architectural "non-delegation zones" where conversational code generation remains insufficient for production reliability.
DRAFTO: Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization for Robotic Manipulators
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety, joint limits, and task requirements. Then, it optimizes the coefficients, which are the coordinates of a set of basis functions for trajectory parameterization. To reduce the number of repeated constrained optimizations while handling joint-limit feasibility, the optimization is decoupled into a reduced-space Gauss-Newton (GN) descent for the main iterations and constrained quadratic programming for initialization and terminal feasibility repair. The two-phase acceptance rule with a non-monotone policy is applied to the GN model, which uses a hinge-squared penalty for inequality constraints, to ensure globalizability. The results of our benchmark tests against optimization-based planners, such as CHOMP, TrajOpt, GPMP2, and FACTO, and sampling-based planners, such as RRT-Connect, RRT*, and PRM, validate the high efficiency and reliability across diverse scenarios and tasks. The experiment involving grabbing an object from a drawer further demonstrates the potential for implementation in complex manipulation tasks. The supplemental video is available at https://youtu.be/XisFI37YyTQ.
Unifying Logical and Physical Layout Representations via Heterogeneous Graphs for Circuit Congestion Prediction
Venue: arXiv cs.AR 2026
Year: 2026

As Very Large Scale Integration (VLSI) designs continue to scale in size and complexity, layout verification has become a central challenge in modern Electronic Design Automation (EDA) workflows. In practice, congestion can only be accurately identified after detailed routing, making traditional verification both time-consuming and costly. Learning-based approaches have therefore been explored to enable early-stage congestion prediction and reduce routing iterations. However, although prior methods incorporate both netlist connectivity and layout features, they often model the two in a loosely coupled manner and primarily produce numerical congestion estimates. We propose VeriHGN, a verification framework built on an enhanced heterogeneous graph that unifies circuit components and spatial grids into a single relational representation, enabling more faithful modeling of the interaction between logical intent and physical realization. Experiments on industrial benchmarks, including ISPD2015, CircuitNet-N14, and CircuitNet-N28, demonstrate consistent improvements over state-of-the-art methods in prediction accuracy and correlation metrics.
Probabilistic Disjunctive Normal Forms in Temporal Logic and Automata Theory
Venue: arXiv cs.LO 2026
Year: 2026

This article introduces probabilistic disjunctive normal forms (PDNFs) as a framework for representing and reasoning about uncertainty in logical systems. Unlike classical DNFs, PDNFs assign real-valued weights to variables, encoding probabilistic information about their presence, absence, or negation. Then we construct a vector space of PDNFs that allows algebraic evidence combination. PDNFs are interpreted as probability distributions over venjunctions (temporal logic constructs) and as integrable functions over partitioned intervals, where the integrals determine variable probabilities. This dual perspective allows for a Banach space structure and the application of functional analysis. We demonstrate that, under exponential parametrisation, PDNF addition aligns with Bayesian evidence fusion and derive bounds for outcome identification from random samples. The formalism thus bridges logic, numerical methods, and continuous probability.
Edge-Assisted Multi-Robot Visual-Inertial SLAM with Efficient Communication
Venue: arXiv cs.RO 2026
Year: 2026

The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited computing, communication and storage capacity of terminal equipment. However, limited bandwidth and extremely long communication links between terminal devices and the cloud result in serious performance degradation of multi-robot SLAM systems. To reduce the computational cost of feature tracking and improve the real-time performance of the robot, a lightweight SLAM method of optical flow tracking based on pyramid IMU prediction is proposed. On this basis, a centralized multi-robot SLAM system based on a robot-edge-cloud layered architecture is proposed to realize real-time collaborative SLAM. It avoids the problems of limited on-board computing resources and low execution efficiency of single robot. In this framework, only the feature points and keyframe descriptors are transmitted and lossless encoding and compression are carried out to realize real-time remote information transmission with limited bandwidth resources. This design reduces the actual bandwidth occupied in the process of data transmission, and does not cause the loss of SLAM accuracy caused by data compression. Through experimental verification on the EuRoC dataset, compared with the current most advanced local feature compression method, our method can achieve lower data volume feature transmission, and compared with the current advanced centralized multi-robot SLAM scheme, it can achieve the same or better positioning accuracy under low computational load.
Interventional Time Series Priors for Causal Foundation Models
Venue: arXiv cs.LG 2026
Year: 2026

Prior-data fitted networks (PFNs) have emerged as powerful foundation models for tabular causal inference, yet their extension to time series remains limited by the absence of synthetic data generators that provide interventional targets. Existing time series benchmarks generate observational data with ground-truth causal graphs but lack the interventional data required for training causal foundation models. To address this, we propose \textbf{CausalTimePrior}, a principled framework for generating synthetic temporal structural causal models (TSCMs) with paired observational and interventional time series. Our prior supports configurable causal graph structures, nonlinear autoregressive mechanisms, regime-switching dynamics, and multiple intervention types (hard, soft, time-varying). We demonstrate that PFNs trained on CausalTimePrior can perform in-context causal effect estimation on held-out TSCMs, establishing a pathway toward foundation models for time series causal inference.
Graph Tokenization for Bridging Graphs and Transformers
Venue: arXiv cs.LG 2026
Year: 2026

The success of large pretrained Transformers is closely tied to tokenizers, which convert raw input into discrete symbols. Extending these models to graph-structured data remains a significant challenge. In this work, we introduce a graph tokenization framework that generates sequential representations of graphs by combining reversible graph serialization, which preserves graph information, with Byte Pair Encoding (BPE), a widely adopted tokenizer in large language models (LLMs). To better capture structural information, the graph serialization process is guided by global statistics of graph substructures, ensuring that frequently occurring substructures appear more often in the sequence and can be merged by BPE into meaningful tokens. Empirical results demonstrate that the proposed tokenizer enables Transformers such as BERT to be directly applied to graph benchmarks without architectural modifications. The proposed approach achieves state-of-the-art results on 14 benchmark datasets and frequently outperforms both graph neural networks and specialized graph transformers. This work bridges the gap between graph-structured data and the ecosystem of sequence models. Our code is available at \href{https://github.com/BUPT-GAMMA/Graph-Tokenization-for-Bridging-Graphs-and-Transformers}{\color{blue}here}.
Systematic Scaling Analysis of Jailbreak Attacks in Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Large language models remain vulnerable to jailbreak attacks, yet we still lack a systematic understanding of how jailbreak success scales with attacker effort across methods, model families, and harm types. We initiate a scaling-law framework for jailbreaks by treating each attack as a compute-bounded optimization procedure and measuring progress on a shared FLOPs axis. Our systematic evaluation spans four representative jailbreak paradigms, covering optimization-based attacks, self-refinement prompting, sampling-based selection, and genetic optimization, across multiple model families and scales on a diverse set of harmful goals. We investigate scaling laws that relate attacker budget to attack success score by fitting a simple saturating exponential function to FLOPs--success trajectories, and we derive comparable efficiency summaries from the fitted curves. Empirically, prompting-based paradigms tend to be the most compute-efficient compared to optimization-based methods. To explain this gap, we cast prompt-based updates into an optimization view and show via a same-state comparison that prompt-based attacks more effectively optimize in prompt space. We also show that attacks occupy distinct success--stealthiness operating points with prompting-based methods occupying the high-success, high-stealth region. Finally, we find that vulnerability is strongly goal-dependent: harms involving misinformation are typically easier to elicit than other non-misinformation harms.