OpenRaiser/Intern-Atlas huggingface dataset:
No Mesh, No Problem: Estimating Coral Volume and Surface from Sparse Multi-View Images
Venue: arXiv cs.CV 2026
Year: 2026

Effective reef monitoring requires the quantification of coral growth via accurate volumetric and surface area estimates, which is a challenging task due to the complex morphology of corals. We propose a novel, lightweight, and scalable learning framework that addresses this challenge by predicting the 3D volume and surface area of coral-like objects from 2D multi-view RGB images. Our approach utilizes a pre-trained module (VGGT) to extract dense point maps from each view; these maps are merged into a unified point cloud and enriched with per-view confidence scores. The resulting cloud is fed to two parallel DGCNN decoder heads, which jointly output the volume and the surface area of the coral, as well as their corresponding confidence estimate. To enhance prediction stability and provide uncertainty estimates, we introduce a composite loss function based on Gaussian negative log-likelihood in both real and log domains. Our method achieves competitive accuracy and generalizes well to unseen morphologies. This framework paves the way for efficient and scalable coral geometry estimation directly from a sparse set of images, with potential applications in coral growth analysis and reef monitoring.
PeruMedQA: Benchmarking Large Language Models (LLMs) on Peruvian Medical Exams -- Dataset Construction and Evaluation
Venue: arXiv cs.CL 2026
Year: 2026

BACKGROUND: Medical large language models (LLMs) have demonstrated remarkable performance in answering medical examinations. However, the extent to which this high performance is transferable to medical questions in Spanish and from a Latin American country remains unexplored. This knowledge is crucial as LLM-based medical applications gain traction in Latin America. AIMS: To build a dataset of questions medical examinations taken by Peruvian physicians pursuing specialty training; to fine-tune a LLM on this dataset; to evaluate and compare the performance in terms of accuracy between vanilla LLMs and the fine-tuned LLM. METHODS: We curated PeruMedQA, a multiple-choice question-answering (MCQA) dataset containing 8,380 questions spanning 12 specialties (2018-2025). We selected ten medical LLMs, including medgemma-4b-it and medgemma-27b-text-it, and developed zero-shot task specific prompts to answer the questions. We employed parameter-efficient fine tuning (PEFT) and low-rand adaptation (LoRA) to fine-tune medgemma-4b-it utilizing all questions except those from 2025 (test set). RESULTS: Medgemma-27b showed the highest accuracy across all specialities, achieving the highest score of 89.29% in Psychiatry; yet, in two specialties, OctoMed-7B exhibited slight superiority: Neurosurgery with 77.27% and 77.38, respectively; and Radiology with 76.13% and 77.39%, respectively. Across specialties, most LLMs with <10 billion parameters exhibited <50% of correct answers. The fine-tuned version of medgemma-4b-it emerged victorious against all LLMs with <10 billion parameters and rivaled a LLM with 70 billion parameters across various examinations. CONCLUSIONS: For medical AI applications and research that require knowledge bases from Spanish-speaking countries and those exhibiting similar epidemiological profile to Peru's, interested parties should utilize medgemma-27b-text-it.
TabStruct: Measuring Structural Fidelity of Tabular Data
Venue: arXiv cs.LG 2026
Year: 2026

Evaluating tabular generators remains a challenging problem, as the unique causal structural prior of heterogeneous tabular data does not lend itself to intuitive human inspection. Recent work has introduced structural fidelity as a tabular-specific evaluation dimension to assess whether synthetic data complies with the causal structures of real data. However, existing benchmarks often neglect the interplay between structural fidelity and conventional evaluation dimensions, thus failing to provide a holistic understanding of model performance. Moreover, they are typically limited to toy datasets, as quantifying existing structural fidelity metrics requires access to ground-truth causal structures, which are rarely available for real-world datasets. In this paper, we propose a novel evaluation framework that jointly considers structural fidelity and conventional evaluation dimensions. We introduce a new evaluation metric, $\textbf{global utility}$, which enables the assessment of structural fidelity even in the absence of ground-truth causal structures. In addition, we present $\textbf{TabStruct}$, a comprehensive evaluation benchmark offering large-scale quantitative analysis on 13 tabular generators from nine distinct categories, across 29 datasets. Our results demonstrate that global utility provides a task-independent, domain-agnostic lens for tabular generator performance. We release the TabStruct benchmark suite, including all datasets, evaluation pipelines, and raw results. Code is available at https://github.com/SilenceX12138/TabStruct.
E2-BKI: Evidential Ellipsoidal Bayesian Kernel Inference for Uncertainty-aware Gaussian Semantic Mapping
Venue: arXiv cs.RO 2026
Year: 2026

Semantic mapping aims to construct a 3D semantic representation of the environment, providing essential knowledge for robots operating in complex outdoor settings. While Bayesian Kernel Inference (BKI) addresses discontinuities of map inference from sparse sensor data, existing semantic mapping methods suffer from various sources of uncertainties in challenging outdoor environments. To address these issues, we propose an uncertainty-aware semantic mapping framework that handles multiple sources of uncertainties, which significantly degrade mapping performance. Our method estimates uncertainties in semantic predictions using Evidential Deep Learning and incorporates them into BKI for robust semantic inference. It further aggregates noisy observations into coherent Gaussian representations to mitigate the impact of unreliable points, while employing geometry-aligned kernels that adapt to complex scene structures. These Gaussian primitives effectively fuse local geometric and semantic information, enabling robust, uncertainty-aware mapping in complex outdoor scenarios. Comprehensive evaluation across diverse off-road and urban outdoor environments demonstrates consistent improvements in mapping quality, uncertainty calibration, representational flexibility, and robustness, while maintaining real-time efficiency. Our project website: https://e2-bki.github.io
TransLibEval: Demystify Large Language Models' Capability in Third-party Library-targeted Code Translation
Venue: arXiv cs.SE 2026
Year: 2026

In recent years, Large Language Models (LLMs) have been widely studied in the code translation field on the method, class, and even repository levels. However, most of these benchmarks are limited in terms of Third-Party Library (TPL) categories and scales, making TPL-related errors hard to expose and hindering the development of targeted solutions. Considering the high dependence (over 90%) on TPLs in practical programming, demystifying and analyzing LLMs' code translation performance involving various TPLs becomes imperative. To address this gap, we construct TransLibEval, the first benchmark dedicated to library-centric code translation. It consists of 200 real-world tasks across Python, Java, and C++, each explicitly involving TPLs from diverse categories such as data processing, machine learning, and web development, with comprehensive dependency coverage and high-coverage test suites. We evaluate seven recent LLMs of commercial, general, and code-specialized families under six translation strategies of three categories: Direct, IR-guided, and Retrieval-augmented. Experimental results show a dramatic performance drop compared with library-free settings (average CA decline over 60%), while diverse strategies demonstrate heterogeneous advantages. Furthermore, we analyze 4,831 failed cases from GPT-4o, one of the State-of-the-Art (SOTA) LLMs, revealing numerous third-party reference errors that were obscured previously. These findings highlight the unique challenges of library-centric translation and provide practical guidance for improving TPL-aware code intelligence.
Secure Semantic Communication over Wiretap Channels: Rate-Distortion-Equivocation Tradeoff
Venue: arXiv cs.IT 2026
Year: 2026

This paper investigates an information-theoretic model of secure semantic-aware communication. For this purpose, we consider the lossy joint source-channel coding (JSCC) of a memoryless semantic source transmitted over a memoryless wiretap channel. The source consists of two correlated parts that represent semantic and observed aspects of the information. Our model assumes separate fidelity and secrecy constraints on each source component and, in addition, encompasses two cases for the source output, in order to evaluate the performance gains if the encoder has an extended access to the source. Specifically, in Case 1, the encoder has direct access only to the samples from a single (observed) source component, while in Case 2 it has additional direct access to the samples of the underlaying semantic information. We derive single-letter converse and achievability bounds on the rate-distortion-equivocation region. The converse bound explicitly contains rate-distortion functions, making it easy to evaluate, especially for some common distributions. The proposed achievability coding scheme involves novel stochastic superposition coding with two private parts to enable analysis of the equivocation for each source component, separately. Our results generalise some of the previously established source and source-channel coding problems. The general results are further specialised to Gaussian and Bernoulli sources transmitted over Gaussian and binary wiretap channels, respectively. The numerical evaluations illustrate the derived bounds for these distributions.
Comparative Analysis of Wave Scattering Numerical Modeling Using the Boundary Element Method and Physics-Informed Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

This study compares the Boundary Element Method (BEM) and Physics-Informed Neural Networks (PINNs) for solving the two-dimensional Helmholtz equation in wave scattering problems. The objective is to evaluate the performance of both methods under the same conditions. We solve the Helmholtz equation using BEM and PINNs for the same scattering problem. PINNs are trained by minimizing the residual of the governing equations and boundary conditions with their configuration determined through hyperparameter optimization, while BEM is applied using boundary discretization. Both methods are evaluated in terms of solution accuracy and computation time. We conducted numerical experiments by varying the number of boundary integration points for the BEM and the number of hidden layers and neurons per layer for the PINNs. We performed a hyperparameter tuning to identify an adequate PINN configuration for this problem as a network with 3 hidden layers and 25 neurons per layer, using a learning rate of $10^{-2}$ and a sine activation function. At comparable levels of accuracy, the assembly and solution of the BEM system required a computational time on the order of $10^{-2}$~s, whereas the training time of the PINN was on the order of $10^{2}$~s, corresponding to a difference of approximately four orders of magnitude. However, once trained, the PINN achieved evaluation times on the order of $10^{-2}$~s, which is about two orders of magnitude faster than the evaluation of the BEM solution at interior points. This work establishes a procedure for comparing BEM and PINNs. It also presents a direct comparison between the two methods for the scattering problem. The analysis provides quantitative data on their performance, supporting their use in future research on wave propagation problems and outlining challenges and directions for further investigation.
An LLM Agentic Approach for Legal-Critical Software: A Case Study for Tax Prep Software
Venue: arXiv cs.SE 2026
Year: 2026

Large language models (LLMs) show promise for translating natural-language statutes into executable logic, but reliability in legally critical settings remains challenging due to ambiguity and hallucinations. We present an agentic approach for developing legal-critical software, using U.S. federal tax preparation as a case study. The key challenge is test-case generation under the oracle problem, where correct outputs require interpreting law. Building on metamorphic testing, we introduce higher-order metamorphic relations that compare system outputs across structured shifts among similar individuals. Because authoring such relations is tedious and error-prone, we use an LLM-driven, role-based framework to automate test generation and code synthesis. We implement a multi-agent system that translates tax code into executable software and incorporates a metamorphic-testing agent that searches for counterexamples. In experiments, our framework using a smaller model (GPT-4o-mini) achieves a worst-case pass rate of 45%, outperforming frontier models (GPT-4o and Claude 3.5, 9-15%) on complex tax-code tasks. These results support agentic LLM methodologies as a path to robust, trustworthy legal-critical software from natural-language specifications.
CoBRA: Programming Cognitive Bias in Social Agents Using Classic Social Science Experiments
Venue: arXiv cs.AI 2026
Year: 2026

This paper introduces CoBRA, a novel toolkit for systematically specifying agent behavior in LLM-based social simulation. We found that conventional approaches that specify agent behavior through implicit natural-language descriptions often do not yield consistent behavior across models, and the resulting behavior does not capture the nuances of the descriptions. In contrast, CoBRA introduces a model-agnostic way to control agent behavior that lets researchers explicitly specify desired nuances and obtain consistent behavior across models. At the heart of CoBRA is a novel closed-loop system primitive with two components: (1) Cognitive Bias Index that measures the demonstrated cognitive bias of a social agent, by quantifying the agent's reactions in a set of validated classic social science experiments; (2) Behavioral Regulation Engine that aligns the agent's behavior to exhibit controlled cognitive bias. Through CoBRA, we show how to operationalize validated social science knowledge (i.e., classical experiments) as reusable "gym" environments for AI -- an approach that may generalize to richer social and affective simulations beyond bias alone.
See, Think, Act: Teaching Multimodal Agents to Effectively Interact with GUI by Identifying Toggles
Venue: arXiv cs.AI 2026
Year: 2026

The advent of multimodal agents facilitates effective interaction within graphical user interface (GUI), especially in ubiquitous GUI control. However, their inability to reliably execute toggle control instructions remains a key bottleneck. To investigate this, we construct a state control benchmark with binary toggle instructions derived from public datasets. Evaluation results of existing agents demonstrate their notable unreliability, particularly when the current toggle state already matches the desired state. To address the challenge, we propose State-aware Reasoning (StaR), a multimodal reasoning method that enables agents to perceive the current toggle state, infer the desired state from the instruction, and act accordingly. Experiments on four multimodal agents demonstrate that StaR can improve toggle instruction execution accuracy by over 30\%. Further evaluations on three public agentic benchmarks show that StaR also enhances general agentic task performance. Finally, evaluations on a dynamic environment highlight the potential of StaR for real-world applications. Code and benchmark: https://github.com/ZrW00/StaR.
DREAM: Domain-aware Reasoning for Efficient Autonomous Underwater Monitoring
Venue: arXiv cs.RO 2026
Year: 2026

The ocean is warming and acidifying, increasing the risk of mass mortality events for temperature-sensitive shellfish such as oysters. This motivates the development of long-term monitoring systems. However, human labor is costly and long-duration underwater work is highly hazardous, thus favoring robotic solutions as a safer and more efficient option. To enable underwater robots to make real-time, environment-aware decisions without human intervention, we must equip them with an intelligent "brain." This highlights the need for persistent,wide-area, and low-cost benthic monitoring. To this end, we present DREAM, a Vision Language Model (VLM)-guided autonomy framework for long-term underwater exploration and habitat monitoring. The results show that our framework is highly efficient in finding and exploring target objects (e.g., oysters, shipwrecks) without prior location information. In the oyster-monitoring task, our framework takes 31.5% less time than the previous baseline with the same amount of oysters. Compared to the vanilla VLM, it uses 23% fewer steps while covering 8.88% more oysters. In shipwreck scenes, our framework successfully explores and maps the wreck without collisions, requiring 27.5% fewer steps than the vanilla model and achieving 100% coverage, while the vanilla model achieves 60.23% average coverage in our shipwreck environments.
The Economics of Information Pollution in the Age of AI: General Equilibrium, Welfare, and Policy Design
Venue: arXiv cs.CY 2026
Year: 2026

The advent of Large Language Models (LLMs) represents a fundamental shock to the economics of information production. By asymmetrically collapsing the marginal cost of generating low-quality, synthetic content while leaving high-quality production costly, AI systematically incentivizes information pollution. This paper develops a general equilibrium framework to analyze this challenge. We model the strategic interactions among a monopolistic platform, profit-maximizing producers, and utility-maximizing consumers in a three-stage game. The core of our model is a production technology with differential elasticities of substitution (σ_L > 1 > σ_H), which formalizes the insight that AI is a substitute for labor in low-quality production but a complement in high-quality creation. We prove the existence of a unique "Polluted Information Equilibrium" and demonstrate its inefficiency, which is driven by a threefold market failure: a production externality, a platform governance failure, and an information commons externality. Methodologically, we derive a theoretically-grounded Information Pollution Index (IPI) with endogenous welfare weights to measure ecosystem health. From a policy perspective, we show that a first-best outcome requires a portfolio of instruments targeting each failure. Finally, considering the challenges of deep uncertainty, we advocate for an adaptive governance framework where policy instruments are dynamically adjusted based on real-time IPI readings, offering a robust blueprint for regulating information markets in the age of AI.
Language Conditioning Improves Accuracy of Aircraft Goal Prediction in Non-Towered Airspace
Venue: arXiv cs.RO 2026
Year: 2026

Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to predict the intent, and corresponding goal location, of other aircraft. This paper introduces a multimodal framework for aircraft goal prediction that integrates natural language understanding with spatial reasoning to improve autonomous decision-making in such environments. We leverage automatic speech recognition and large language models to transcribe and interpret pilot radio calls, identify aircraft, and extract discrete intent labels. These intent labels are fused with observed trajectories to condition a temporal convolutional network and Gaussian mixture model for probabilistic goal prediction. Our method significantly reduces goal prediction error compared to baselines that rely solely on motion history, demonstrating that language-conditioned prediction increases prediction accuracy. Experiments on a real-world dataset from a non-towered airport validate the approach and highlight its potential to enable socially aware, language-conditioned robotic motion planning.
MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
Venue: arXiv cs.RO 2026
Year: 2026

As robots become more integrated in society, their ability to coordinate with other robots and humans on multi-modal tasks (those with multiple valid solutions) is crucial. We propose to learn such behaviors from expert demonstrations via imitation learning (IL). However, when expert demonstrations are multi-modal, standard IL approaches can struggle to capture the diverse strategies, hindering effective coordination. Diffusion models are known to be effective at handling complex multi-modal trajectory distributions in single-agent systems. Diffusion models have also excelled in multi-agent scenarios where multi-modality is more common and crucial to learning coordinated behaviors. Typically, diffusion-based approaches require a centralized planner or explicit communication among agents, but this assumption can fail in real-world scenarios where robots must operate independently or with agents like humans that they cannot directly communicate with. Therefore, we propose MIMIC-D, a Centralized Training, Decentralized Execution (CTDE) paradigm for multi-modal multi-agent imitation learning using diffusion policies. Agents are trained jointly with full information, but execute policies using only local information to achieve implicit coordination. We demonstrate in both simulation and hardware experiments that our method recovers multi-modal coordination behavior among agents in a variety of tasks and environments, while improving upon state-of-the-art baselines.
AI and the Future of Academic Peer Review
Venue: arXiv cs.CY 2026
Year: 2026

Peer review remains the central quality-control mechanism of science, yet its ability to fulfill this role is increasingly strained. Empirical studies document serious shortcomings: long publication delays, escalating reviewer burden concentrated on a small minority of scholars, inconsistent quality and low inter-reviewer agreement, and systematic biases by gender, language, and institutional prestige. Decades of human-centered reforms have yielded only marginal improvements. Meanwhile, artificial intelligence, especially large language models (LLMs), is being piloted across the peer-review pipeline by journals, funders, and individual reviewers. Early studies suggest that AI assistance can produce reviews comparable in quality to humans, accelerate reviewer selection and feedback, and reduce certain biases, but also raise distinctive concerns about hallucination, confidentiality, gaming, novelty recognition, and loss of trust. In this paper, we map the aims and persistent failure modes of peer review to specific LLM applications and systematically analyze the objections they raise alongside safeguards that could make their use acceptable. Drawing on emerging evidence, we show that targeted, supervised LLM assistance can plausibly improve error detection, timeliness, and reviewer workload without displacing human judgment. We highlight advanced architectures, including fine-tuned, retrieval-augmented, and multi-agent systems, that may enable more reliable, auditable, and interdisciplinary review. We argue that ethical and practical considerations are not peripheral but constitutive: the legitimacy of AI-assisted peer review depends on governance choices as much as technical capacity. The path forward is neither uncritical adoption nor reflexive rejection, but carefully scoped pilots with explicit evaluation metrics, transparency, and accountability.