OpenRaiser/Intern-Atlas huggingface dataset:
Role-Adaptive Collaborative Formation Planning for Team of Quadruped Robots in Cluttered Environments
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles, the proposed approach integrates dynamic role assignment and partial goal planning, enabling flexible, collision-free navigation in complex scenarios. Formation stability and inter-robot safety are ensured through a virtual spring-damper system coupled with a novel obstacle avoidance layer that adaptively adjusts each agent's velocity. A dynamic look-ahead reference generator further enhances flexibility, allowing temporary formation deformation to maneuver around obstacles while maintaining goal-directed motion. The Fast Marching Square (FM2) algorithm provides the global path for the leader and local paths for the followers as the planning backbone. The framework is validated through extensive simulations and real-world experiments with teams of quadruped robots. Results demonstrate smooth coordination, adaptive role switching, and robust formation maintenance in complex, unstructured environments. A video featuring the simulation and physical experiments along with their associated visualizations can be found at https://youtu.be/scq37Tua9W4.
Detecting PowerShell-based Fileless Cryptojacking Attacks Using Machine Learning
Venue: arXiv cs.CR 2026
Year: 2026

With the emergence of remote code execution (RCE) vulnerabilities in ubiquitous libraries and advanced social engineering techniques, threat actors have started conducting widespread fileless cryptojacking attacks. These attacks have become effective with stealthy techniques based on PowerShell-based exploitation in Windows OS environments. Even if attacks are detected and malicious scripts removed, processes may remain operational on victim endpoints, creating a significant challenge for detection mechanisms. In this paper, we conducted an experimental study with a collected dataset on detecting PowerShell-based fileless cryptojacking scripts. The results showed that Abstract Syntax Tree (AST)-based fine-tuned CodeBERT achieved a high recall rate, proving the importance of the use of AST integration and fine-tuned pre-trained models for programming language.
Context-Aware Mapping of 2D Drawing Annotations to 3D CAD Features Using LLM-Assisted Reasoning for Manufacturing Automation
Venue: arXiv cs.CE 2026
Year: 2026

Manufacturing automation in process planning, inspection planning, and digital-thread integration depends on a unified specification that binds the geometric features of a 3D CAD model to the geometric dimensioning and tolerancing (GD&T) callouts, datum definitions, and surface requirements carried by the corresponding 2D engineering drawing. Although Model-Based Definition (MBD) allows such specifications to be embedded directly in 3D models, 2D drawings remain the primary carrier of manufacturing intent in automotive, aerospace, shipbuilding, and heavy-machinery industries. Correctly linking drawing annotations to the corresponding 3D features is difficult because of contextual ambiguity, repeated feature patterns, and the need for transparent and traceable decisions. This paper presents a deterministic-first, context-aware framework that maps 2D drawing entities to 3D CAD features to produce a unified manufacturing specification. Drawing callouts are first semantically enriched and then scored against candidate features using an interpretable metric that combines type compatibility, tolerance-aware dimensional agreement, and conservative context consistency, along with engineering-domain heuristics. When deterministic scoring cannot resolve an ambiguity, the system escalates to multimodal and constrained large-language-model reasoning, followed by a single human-in-the-loop (HITL) review step. Experiments on 20 real CAD-drawing pairs achieve a mean precision of 83.67%, recall of 90.46%, and F1 score of 86.29%. An ablation study shows that each pipeline component contributes to overall accuracy, with the full system outperforming all reduced variants. By prioritizing deterministic rules, clear decision tracking, and retaining unresolved cases for human review, the framework provides a practical foundation for downstream manufacturing automation in real-world industrial environments.
VeriSoftBench: Repository-Scale Formal Verification Benchmarks for Lean
Venue: arXiv cs.SE 2026
Year: 2026

Large language models have achieved striking results in interactive theorem proving, particularly in Lean. However, most benchmarks for LLM-based proof automation are drawn from mathematics in the Mathlib ecosystem, whereas proofs in software verification are developed inside definition-rich codebases with substantial project-specific libraries. We introduce VeriSoftBench, a benchmark of 500 Lean 4 proof obligations drawn from open-source formal-methods developments and packaged to preserve realistic repository context and cross-file dependencies. Our evaluation of frontier LLMs and specialized provers yields three observations. First, provers tuned for Mathlib-style mathematics transfer poorly to this repository-centric setting. Second, success is strongly correlated with transitive repository dependence: tasks whose proofs draw on large, multi-hop dependency closures are less likely to be solved. Third, providing curated context restricted to a proof's dependency closure improves performance relative to exposing the full repository, but nevertheless leaves substantial room for improvement. Our benchmark and evaluation suite are released at https://github.com/utopia-group/VeriSoftBench.
Diff2DGS: Reliable Reconstruction of Occluded Surgical Scenes via 2D Gaussian Splatting
Venue: arXiv cs.CV 2026
Year: 2026

Real-time reconstruction of deformable surgical scenes is vital for advancing robotic surgery, improving surgeon guidance, and enabling automation. Recent methods achieve dense reconstructions from da Vinci robotic surgery videos, with Gaussian Splatting (GS) offering real-time performance via graphics acceleration. However, reconstruction quality in occluded regions remains limited, and depth accuracy has not been fully assessed, as benchmarks like EndoNeRF and StereoMIS lack 3D ground truth. We propose Diff2DGS, a novel two-stage framework for reliable 3D reconstruction of occluded surgical scenes. In the first stage, a diffusion-based video module with temporal priors inpaints tissue occluded by instruments with high spatial-temporal consistency. In the second stage, we adapt 2D Gaussian Splatting (2DGS) with a Learnable Deformation Model (LDM) to capture dynamic tissue deformation and anatomical geometry. We also extend evaluation beyond prior image-quality metrics by performing quantitative depth accuracy analysis on the SCARED dataset. Diff2DGS outperforms state-of-the-art approaches in both appearance and geometry, reaching 38.02 dB PSNR on EndoNeRF and 34.40 dB on StereoMIS. Furthermore, our experiments demonstrate that optimizing for image quality alone does not necessarily translate into optimal 3D reconstruction accuracy. To address this, we further optimize the depth quality of the reconstructed 3D results, ensuring more faithful geometry in addition to high-fidelity appearance.
PsihoRo: Depression and Anxiety Romanian Text Corpus
Venue: arXiv cs.CL 2026
Year: 2026

Psychological corpora in NLP are collections of texts used to analyze human psychology, emotions, and mental health. These texts allow researchers to study psychological constructs, identify patterns related to mental health problems and analyze emotional language. However, collecting accurate mental health data from social media can be challenging due to the assumptions made by data collectors. A more effective approach involves gathering data through open-ended questions and then assessing participants' mental health status using self-report screening surveys. This method was successfully employed for English, a language with a lot of psychological NLP resources. However, the same cannot be stated for Romanian, which currently has no open-source mental health corpus. To address this gap, we have collected the first open-source corpus focused on depression and anxiety in Romanian, by utilizing a form with 6 open-ended questions along with the standardized PHQ-9 and GAD-7 screening questionnaires. Although the PsihoRo corpus contains texts from only 205 respondents, it represents an important first step toward understanding and analyzing mental health issues within the Romanian population. We employ statistical analysis, text analysis using Romanian LIWC, emotion detection, and topic modeling to identify the most important features of this newly introduced resource for the NLP community. The data is publicly available at https://huggingface.co/datasets/Alegzandra/PsihoRo.
On the "Induction Bias" in Sequence Models
Venue: arXiv cs.LG 2026
Year: 2026

Despite the remarkable practical success of transformer-based language models, recent work has raised concerns about their ability to perform state tracking. In particular, a growing body of literature has shown this limitation primarily through failures in out-of-distribution (OOD) generalization, such as length extrapolation. In this work, we shift attention to the in-distribution implications of these limitations. We conduct a large-scale experimental study of the data efficiency of transformers and recurrent neural networks (RNNs) across multiple supervision regimes. We find that the amount of training data required by transformers grows much more rapidly with state-space size and sequence length than for RNNs. Furthermore, we analyze the extent to which learned state-tracking mechanisms are shared across different sequence lengths. We show that transformers exhibit negligible or even detrimental weight sharing across lengths, indicating that they learn length-specific solutions in isolation. In contrast, recurrent models exhibit effective amortized learning by sharing weights across lengths, allowing data from one sequence length to improve performance on others. Together, these results demonstrate that state tracking remains a fundamental challenge for transformers, even when training and evaluation distributions match.
Qualitative Coding Analysis through Open-Source Large Language Models: A User Study and Design Recommendations
Venue: arXiv cs.HC 2026
Year: 2026

Qualitative data analysis is labor-intensive, yet the privacy risks associated with commercial Large Language Models (LLMs) often preclude their use in sensitive research. To address this, we introduce ChatQDA, an on-device framework powered by open-source LLMs designed for privacy-preserving open coding. Our mixed-methods user study reveals that while participants rated the system highly for usability and perceived efficiency, they exhibited "conditional trust", valuing the tool for surface-level extraction while questioning its interpretive nuance and consistency. Furthermore, despite the technical security of local deployment, participants reported epistemic uncertainty regarding data protection, suggesting that invisible security measures are insufficient to foster trust. We conclude with design recommendations for local-first analysis tools that prioritize verifiable privacy and methodological rigor.
PRISM-FCP: Byzantine-Resilient Federated Conformal Prediction via Partial Sharing
Venue: arXiv cs.LG 2026
Year: 2026

We propose PRISM-FCP (Partial shaRing and robust calIbration with Statistical Margins for Federated Conformal Prediction), a Byzantine-resilient federated conformal prediction framework that utilizes partial model sharing to improve robustness against Byzantine attacks during both model training and conformal calibration. Existing approaches address adversarial behavior only in the calibration stage, leaving the learned model susceptible to poisoned updates. In contrast, PRISM-FCP mitigates attacks end-to-end. During training, clients partially share updates by transmitting only $M$ of $D$ parameters per round. This attenuates the expected energy of an adversary's perturbation in the aggregated update by a factor of $M/D$, yielding lower mean-square error (MSE) and tighter prediction intervals. During calibration, clients convert nonconformity scores into characterization vectors, compute distance-based maliciousness scores, and downweight or filter suspected Byzantine contributions before estimating the conformal quantile. Extensive experiments on both synthetic data and the UCI Superconductivity dataset demonstrate that PRISM-FCP maintains nominal coverage guarantees under Byzantine attacks while avoiding the interval inflation observed in standard FCP with reduced communication, providing a robust and communication-efficient approach to federated uncertainty quantification.
Latent Equivariant Operators for Robust Object Recognition: Promises and Challenges
Venue: arXiv cs.CV 2026
Year: 2026

Despite the successes of deep learning in computer vision, difficulties persist in recognizing objects that have undergone group-symmetric transformations rarely seen during training$\unicode{x2013}$for example objects seen in unusual poses, scales, positions, or combinations thereof. Equivariant neural networks are a solution to the problem of generalizing across symmetric transformations, but require knowledge of transformations a priori. An alternative family of architectures proposes to learn equivariant operators in a latent space, from examples of symmetric transformations. Here, using simple datasets of rotated and translated noisy MNIST, we illustrate how such architectures can successfully be harnessed for out-of-distribution classification, thus overcoming the limitations of both traditional and equivariant networks. While conceptually enticing, we discuss challenges ahead on the path of scaling these architectures to more complex datasets. Our code is available at https://github.com/BRAIN-Aalto/equivariant_operator.
Snapping Actuators with Asymmetric and Sequenced Motion
Venue: arXiv cs.RO 2026
Year: 2026

Snapping instabilities in soft structures offer a powerful pathway to achieve rapid and energy-efficient actuation. In this study, an eccentric dome-shaped snapping actuator is developed to generate controllable asymmetric motion through geometry-induced instability. Finite element simulations and experiments reveal consistent asymmetric deformation and the corresponding pressure characteristics. By coupling four snapping actuators in a pneumatic network, a compact quadrupedal robot achieves coordinated wavelike locomotion using only a single pressure input. The robot exhibits frequency-dependent performance with a maximum speed of 72.78~mm/s at 7.5~Hz. These findings demonstrate the potential of asymmetric snapping mechanisms for physically controlled actuation and lay the groundwork for fully untethered and efficient soft robotic systems.
SARAH: Spatially Aware Real-time Agentic Humans
Venue: arXiv cs.CV 2026
Year: 2026

As embodied agents become central to VR, telepresence, and digital human applications, their motion must go beyond speech-aligned gestures: agents should turn toward users, respond to their movement, and maintain natural gaze. Current methods lack this spatial awareness. We close this gap with the first real-time, fully causal method for spatially-aware conversational motion, deployable on a streaming VR headset. Given a user's position and dyadic audio, our approach produces full-body motion that aligns gestures with speech while orienting the agent according to the user. Our architecture combines a causal transformer-based VAE with interleaved latent tokens for streaming inference and a flow matching model conditioned on user trajectory and audio. To support varying gaze preferences, we introduce a gaze scoring mechanism with classifier-free guidance to decouple learning from control: the model captures natural spatial alignment from data, while users can adjust eye contact intensity at inference time. On the Embody 3D dataset, our method achieves state-of-the-art motion quality at over 300 FPS -- 3x faster than non-causal baselines -- while capturing the subtle spatial dynamics of natural conversation. We validate our approach on a live VR system, bringing spatially-aware conversational agents to real-time deployment. Please see https://evonneng.github.io/sarah/ for details.
From "Help" to Helpful: A Hierarchical Assessment of LLMs in Mental e-Health Applications
Venue: arXiv cs.HC 2026
Year: 2026

Psychosocial online counselling frequently encounters generic subject lines that impede efficient case prioritisation. This study evaluates eleven large language models generating six-word subject lines for German counselling emails through hierarchical assessment - first categorising outputs, then ranking within categories to enable manageable evaluation. Nine assessors (counselling professionals and AI systems) enable analysis via Krippendorff's $α$, Spearman's $ρ$, Pearson's $r$ and Kendall's $τ$. Results reveal performance trade-offs between proprietary services and privacy-preserving open-source alternatives, with German fine-tuning consistently improving performance. The study addresses critical ethical considerations for mental health AI deployment including privacy, bias and accountability.
Emergent Dark Patterns in AI-Generated User Interfaces
Venue: arXiv cs.HC 2026
Year: 2026

The advancement of artificial intelligence has transformed user interface design by enabling adaptive and personalized systems. Alongside these benefits, AI driven interfaces have also enabled the emergence of dark patterns, which are manipulative design strategies that influence user behavior for financial or business gain. As AI systems learn from data that already contains deceptive practices, they can replicate and optimize these patterns in increasingly subtle and personalized ways. This paper examines AI generated dark patterns, their psychological foundations, technical mechanisms, and regulatory implications in India. We introduce DarkPatternDetector, an automated system that crawls and analyzes websites to detect dark patterns using a combination of UI heuristics, natural language processing, and temporal behavioral signals. The system is evaluated on a curated dataset of dark and benign webpages and achieves strong precision and recall. By aligning detection results with India's Digital Personal Data Protection Act, 2023, this work provides a technical and regulatory framework for identifying and mitigating deceptive interface practices. The goal is to support ethical AI design, regulatory enforcement, and greater transparency in modern digital systems.
INSURE-Dial: A Phase-Aware Conversational Dataset & Benchmark for Compliance Verification and Phase Detection
Venue: arXiv cs.CL 2026
Year: 2026

Administrative phone tasks drain roughly 1 trillion USD annually from U.S. healthcare, with over 500 million insurance-benefit verification calls manually handled in 2024. We introduce INSURE-Dial, to our knowledge the first public benchmark for developing and assessing compliance-aware voice agents for phase-aware call auditing with span-based compliance verification. The corpus includes 50 de-identified, AI-initiated calls with live insurance representatives (mean 71 turns/call) and 1,000 synthetically generated calls that mirror the same workflow. All calls are annotated with a phase-structured JSON schema covering IVR navigation, patient identification, coverage status, medication checks (up to two drugs), and agent identification (CRN), and each phase is labeled for Information and Procedural compliance under explicit ask/answer logic. We define two novel evaluation tasks: (1) Phase Boundary Detection (span segmentation under phase-specific acceptance rules) and (2) Compliance Verification (IC/PC decisions given fixed spans). Per-phase scores are strong across small, low-latency baselines, but end-to-end reliability is constrained by span-boundary errors. On real calls, full-call exact segmentation is low, showing a gap between conversational fluency and audit-grade evidence.
Prompt Optimization Via Diffusion Language Models
Venue: arXiv cs.CL 2026
Year: 2026

We propose a diffusion-based framework for prompt optimization that leverages Diffusion Language Models (DLMs) to iteratively refine system prompts through masked denoising. By conditioning on interaction traces, including user queries, model responses, and optional feedback, our method enables flexible, span-level prompt updates without requiring gradient access or modifying the downstream language model. Across diverse benchmarks (e.g., $τ$-bench, SST-2, SST-5), DLM-optimized prompts consistently improve the performance of a frozen target LLM (e.g., GPT-4o-mini). We further show that moderate diffusion step counts provide the best balance between refinement quality and stability. These results highlight diffusion-based prompt optimization as a general, model-agnostic, and scalable approach for enhancing LLM performance through iterative prompt refinement.
Impact of AI Search Summaries on Website Traffic: Evidence from Google AI Overviews and Wikipedia
Venue: arXiv cs.CY 2026
Year: 2026

Search engines increasingly display LLM-generated answers shown above organic links, shifting search from link lists to answer-first summaries. Publishers contend these summaries substitute for source pages and cannibalize traffic, while platforms argue they are complementary by directing users through included links. We estimate the causal impact of Google's AI Overview (AIO) on Wikipedia traffic by leveraging the feature's staggered geographic rollout and Wikipedia's multilingual structure. Using a difference-in-differences design, we compare English Wikipedia articles exposed to AIO to the same underlying articles in language editions (Hindi, Indonesian, Japanese, and Portuguese) that were not exposed to AIO during the observation period. Across 161,382 matched article-language pairs, AIO exposure reduces daily traffic to English articles by approximately 15%. Effects are heterogeneous: relative declines are largest for Culture articles and substantially smaller for STEM, consistent with stronger substitution when short synthesized answers satisfy informational intent. These findings provide early causal evidence that generative-answer features in search engines can materially reallocate attention away from informational publishers, with implications for content monetization, search platform design, and policy.
The Doctor Will (Still) See You Now: On the Structural Limits of Agentic AI in Healthcare
Venue: arXiv cs.CY 2026
Year: 2026

Across healthcare, agentic artificial intelligence (AI) systems are increasingly promoted as capable of autonomous action, yet in practice they currently operate under near-total human oversight due to safety, regulatory, and liability constraints that make autonomous clinical reasoning infeasible in high-stakes environments. While market enthusiasm suggests a revolution in healthcare agents, the conceptual assumptions and accountability structures shaping these systems remain underexamined. We present a qualitative study based on interviews with 20 stakeholders, including developers, implementers, and end users. Our analysis identifies three mutually reinforcing tensions: conceptual fragmentation regarding the definition of `agentic'; an autonomy contradiction where commercial promises exceed operational reality; and an evaluation blind spot that prioritizes technical benchmarks over sociotechnical safety. We argue that agentic {AI} functions as a site of contested meaning-making where technical aspirations, commercial incentives, and clinical constraints intersect, carrying material consequences for patient safety and the distribution of blame.