OpenRaiser/Intern-Atlas huggingface dataset:
Learning a Unified Latent Space for Cross-Embodiment Robot Control
Venue: arXiv cs.RO 2026
Year: 2026

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid robots. Our method proceeds in two stages: first, we construct a decoupled latent space that captures localized motion patterns across different body parts using contrastive learning, enabling accurate and flexible motion retargeting even across robots with diverse morphologies. To enhance alignment between embodiments, we introduce tailored similarity metrics that combine joint rotation and end-effector positioning for critical segments, such as arms. Then, we train a goal-conditioned control policy directly within this latent space using only human data. Leveraging a conditional variational autoencoder, our policy learns to predict latent space displacements guided by intended goal directions. We show that the trained policy can be directly deployed on multiple robots without any adaptation. Furthermore, our method supports the efficient addition of new robots to the latent space by learning only a lightweight, robot-specific embedding layer. The learned latent policies can also be directly applied to the new robots. Experimental results demonstrate that our approach enables robust, scalable, and embodiment-agnostic robot control across a wide range of humanoid platforms.
ManuRAG: Multi-modal Retrieval Augmented Generation for Manufacturing Question Answering (Early Version)
Venue: arXiv cs.CE 2026
Year: 2026

The evolution of digital manufacturing requires intelligent Question Answering (QA) systems that can seamlessly integrate and analyze complex multi-modal data, such as text, images, formulas, and tables. Conventional Retrieval Augmented Generation (RAG) methods often fall short in handling this complexity, resulting in subpar performance. We introduce ManuRAG, an innovative multi-modal RAG framework designed for manufacturing QA, incorporating specialized techniques to improve answer accuracy, reliability, and interpretability. To benchmark performance, we evaluate ManuRAG on three datasets comprising a total of 1,515 QA pairs, corresponding to mathematical, multiple-choice, and review-based questions in manufacturing principles and practices. Experimental results show that ManuRAG consistently outperforms existing methods across all evaluated datasets. Furthermore, ManuRAG's adaptable design makes it applicable to other domains, including law, healthcare, and finance, positioning it as a versatile tool for domain-specific QA.
A tensor network formalism for neuro-symbolic AI
Venue: arXiv cs.AI 2026
Year: 2026

The unification of neural and symbolic approaches to artificial intelligence remains a central open challenge. In this work, we introduce a tensor network formalism, which captures sparsity principles originating in the different approaches in tensor decompositions. In particular, we describe a basis encoding scheme for functions and model neural decompositions as tensor decompositions. The proposed formalism can be applied to represent logical formulas and probability distributions as structured tensor decompositions. This unified treatment identifies tensor network contractions as a fundamental inference class and formulates efficiently scaling reasoning algorithms, originating from probability theory and propositional logic, as contraction message passing schemes. The framework enables the definition and training of hybrid logical and probabilistic models, which we call Hybrid Logic Network. The theoretical concepts are accompanied by the python library tnreason, which enables the implementation and practical use of the proposed architectures.
Remarks on Algebraic Reconstruction of Types and Effects
Venue: arXiv cs.PL 2026
Year: 2026

In their 1991 paper "Algebraic Reconstruction of Types and Effects," Pierre Jouvelot and David Gifford presented a type-and-effect reconstruction algorithm based on an algebraic structure of effects. Their work is considered a milestone in the development of type-and-effect systems, and has inspired numerous subsequent works in the area of static analysis. However, unlike the later research it spawned, the original algorithm considered a language with higher-rank polymorphism, a feature which is challenging to implement correctly. In this note, we identify subtle bugs related to variable binding in their approach to this feature. We revisit their type system and reconstruction algorithm, and describe the discovered issues.
MuSAlS: A Fast Multiple Sequence Alignment Approach Using Hierarchical Clustering
Venue: arXiv cs.CE 2026
Year: 2026

Motivation: The multiple sequence alignment (MSA) problem has been extensively studied, with numerous approaches developed over recent years. With the rapid growth of sequence data, there is an increasing need for fast and accurate MSA tools that scale effectively to large datasets. Building on our previous work on CLAM, we are able to use exact dynamic programming (Needleman-Wunsch) while scaling to large datasets. We introduce MuSAlS (Multiple Sequence Alignment at Scale), a fast and scalable de novo MSA aligner. MuSAlS uses hierarchical clustering to construct a guide tree based on the Levenshtein distance metric, enabling efficient and accurate alignment through a bottom-up approach. Results: MuSAlS achieves competitive accuracy compared to state-of-the-art methods while significantly improving runtime performance. This makes it a valuable tool for researchers analyzing large-scale genomic and metagenomic datasets, addressing the growing demand for scalable bioinformatics solutions. Availability and Implementation: MuSAlS is implemented in the Rust programming language, and available at https://github.com/URI-ABD/clam
Learning from Synthetic Data: Limitations of ERM
Venue: arXiv cs.LG 2026
Year: 2026

The prevalence and low cost of LLMs have led to a rise of synthetic content. From review sites to court documents, "natural" content has been contaminated by data points that appear similar to natural data, but are in fact LLM-generated. In this work we revisit fundamental learning theory questions in this, now ubiquitous, setting. We model this scenario as a sequence of learning tasks where the input is a mix of natural and synthetic data, and the learning algorithms are oblivious to the origin of any individual example. We study the possibilities and limitations of ERM in this setting. For the problem of estimating the mean of an arbitrary $d$-dimensional distribution, we find that while ERM converges to the true mean, it is outperformed by an algorithm that assigns non-uniform weights to examples from different generations of data. For the PAC learning setting, the disparity is even more stark. We find that ERM does not always converge to the true concept, echoing the model collapse literature. However, we show there are algorithms capable of learning the correct hypothesis for arbitrary VC classes and arbitrary amounts of contamination.
Seeing through Light and Darkness: Sensor-Physics Grounded Deblurring HDR NeRF from Single-Exposure Images and Events
Venue: arXiv cs.CV 2026
Year: 2026

Novel view synthesis from low dynamic range (LDR) blurry images, which are common in the wild, struggles to recover high dynamic range (HDR) and sharp 3D representations in extreme lighting conditions. Although existing methods employ event data to address this issue, they ignore the sensor-physics mismatches between the camera output and physical world radiance, resulting in suboptimal HDR and deblurring results. To cope with this problem, we propose a unified sensor-physics grounded NeRF framework for sharp HDR novel view synthesis from single-exposure blurry LDR images and corresponding events. We employ NeRF to directly represent the actual radiance of the 3D scene in the HDR domain and model raw HDR scene rays hitting the sensor pixels as in the physical world. A pixel-wise RGB mapping field is introduced to align the above rendered pixel values with the sensor-recorded LDR pixel values of the input images. A novel event mapping field is also designed to bridge the physical scene dynamics and actual event sensor output. The two mapping fields are jointly optimized with the NeRF network, leveraging the spatial and temporal dynamic information in events to enhance the sharp HDR 3D representation learning. Experiments on the collected and public datasets demonstrate that our method can achieve state-of-the-art deblurring HDR novel view synthesis results with single-exposure blurry LDR images and corresponding events.
Early predicting of hospital admission using machine learning algorithms: Priority queues approach
Venue: arXiv cs.LG 2026
Year: 2026

Emergency Department overcrowding is a critical issue that compromises patient safety and operational efficiency, necessitating accurate demand forecasting for effective resource allocation. This study evaluates and compares three distinct predictive models: Seasonal AutoRegressive Integrated Moving Average with eXogenous regressors (SARIMAX), EXtreme Gradient Boosting (XGBoost) and Long Short-Term Memory (LSTM) networks for forecasting daily ED arrivals over a seven-day horizon. Utilizing data from an Australian tertiary referral hospital spanning January 2017 to December 2021, this research distinguishes itself by decomposing demand into eight specific ward categories and stratifying patients by clinical complexity. To address data distortions caused by the COVID-19 pandemic, the study employs the Prophet model to generate synthetic counterfactual values for the anomalous period. Experimental results demonstrate that all three proposed models consistently outperform a seasonal naive baseline. XGBoost demonstrated the highest accuracy for predicting total daily admissions with a Mean Absolute Error of 6.63, while the statistical SARIMAX model proved marginally superior for forecasting major complexity cases with an MAE of 3.77. The study concludes that while these techniques successfully reproduce regular day-to-day patterns, they share a common limitation in underestimating sudden, infrequent surges in patient volume.
Multi-Persona Thinking for Bias Mitigation in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) exhibit significant social biases that can perpetuate harmful stereotypes and unfair outcomes. In this paper, we propose Multi-Persona Thinking (MPT), a novel inference-time framework that leverages dialectical reasoning from multiple perspectives to reduce bias. MPT guides models to adopt contrasting social identities (e.g., male and female) along with a neutral viewpoint, and then engages these personas iteratively to expose and correct biases. Through a dialectical reasoning process, the framework transforms the potential weakness of persona assignment into a strength for bias mitigation. We evaluate MPT on two widely used bias benchmarks across both open-source and closed-source models of varying scales. Our results demonstrate substantial improvements over existing prompting-based strategies: MPT achieves the lowest bias while maintaining core reasoning ability.
Tracking the Limits of Knowledge Propagation: How LLMs Fail at Multi-Step Reasoning with Conflicting Knowledge
Venue: arXiv cs.AI 2026
Year: 2026

A common solution for mitigating outdated or incorrect information in Large Language Models (LLMs) is to provide updated facts in-context or through knowledge editing. However, these methods introduce knowledge conflicts when the knowledge update fails to overwrite the model's parametric knowledge, which propagate to faulty reasoning. Current benchmarks for this problem, however, largely focus only on single knowledge updates and fact recall without evaluating how these updates affect downstream reasoning. In this work, we introduce TRACK (Testing Reasoning Amid Conflicting Knowledge), a new benchmark for studying how LLMs propagate new knowledge through multi-step reasoning when it conflicts with the model's initial parametric knowledge. Spanning three reasoning-intensive scenarios (WIKI, CODE, and MATH), TRACK introduces multiple, realistic conflicts to mirror real-world complexity. Our results on TRACK reveal that providing updated facts to models for reasoning can worsen performance compared to providing no updated facts to a model, and that this performance degradation exacerbates as more updated facts are provided. We show this failure stems from both inability to faithfully integrate updated facts, but also flawed reasoning even when knowledge is integrated. TRACK provides a rigorous new benchmark to measure and guide future progress on propagating conflicting knowledge in multi-step reasoning.
The Dark Side of AI Transformers: Sentiment Polarization & the Loss of Business Neutrality by NLP Transformers
Venue: arXiv cs.AI 2026
Year: 2026

The use of Transfer Learning & Transformers has steadily improved accuracy and has significantly contributed in solving complex computation problems. However, this transformer led accuracy improvement in Applied AI Analytics specifically in sentiment analytics comes with the dark side. It is observed during experiments that a lot of these improvements in transformer led accuracy of one class of sentiment has been at the cost of polarization of another class of sentiment and the failing of neutrality. This lack of neutrality poses an acute problem in the Applied NLP space, which relies heavily on the computational outputs of sentiment analytics for reliable industry ready tasks.
DCeption: Real-world Wireless Man-in-the-Middle Attacks Against CCS EV Charging
Venue: arXiv cs.CR 2026
Year: 2026

The adoption of Electric Vehicles (EVs) is happening at a rapid pace. To ensure fast and safe charging, complex communication is required between the vehicle and the charging station. In the globally used Combined Charging System (CCS), this communication is carried over the HomePlug Green PHY (HPGP) physical layer. However, HPGP is known to suffer from wireless leakage, which may expose this data link to nearby attackers. In this paper, we examine active wireless attacks against CCS, and study the impact they can have. We present the first real-time Software-Defined Radio (SDR) implementation of HPGP, granting unprecedented access to the communications within the charging cables. We analyze the characteristics of 2,750 real-world charging sessions to understand the timing constraints for hijacking. Using novel techniques to increase the attacks' reliability, we design a robust wireless Man-in-the-Middle evaluation framework for CCS. We demonstrate full control over TLS usage and CCS protocol version negotiation, including TLS stripping attacks. We investigate how real devices respond to safety-critical MitM attacks, which modify power delivery information, and found target vehicles to be highly permissive. First, we caused a vehicle to display charging power exceeding 900 kW on the dashboard, while receiving only 40 kW. Second, we remotely overcharged a vehicle, at twice the requested current for 17 seconds before the vehicle triggered the emergency shutdown. Finally, we propose a backwards-compatible, downgrade-proof protocol extension to mitigate the underlying vulnerabilities.
QUAIL: Quantization Aware Unlearning for Mitigating Misinformation in LLMs
Venue: arXiv cs.LG 2026
Year: 2026

Machine unlearning aims to remove specific knowledge (e.g., copyrighted or private data) from a trained model without full retraining. In practice, models are often quantized (e.g., 4-bit) for deployment, but we find that quantization can catastrophically restore forgotten information [1]. In this paper, we (1) analyze why low-bit quantization undermines unlearning, and (2) propose a quantization-aware unlearning method to mitigate this. We first compute weight-change statistics and bucket overlaps in quantization to show that typical unlearning updates are too small to cross quantization thresholds. Building on this insight, we introduce a logits space hinge loss: for each forget example, we force the output logits of the unlearned model to differ from the original model by at least a margin (half the quantization step). This ensures forgotten examples remain distinguishable even after quantization. We evaluate on language and classification tasks (including a Twitter misinformation dataset) and show our method preserves forgetting under 4-bit quantization, whereas existing methods almost entirely recover the forgotten knowledge.
Learning Neural Operators from Partial Observations via Latent Autoregressive Modeling
Venue: arXiv cs.LG 2026
Year: 2026

Real-world scientific applications frequently encounter incomplete observational data due to sensor limitations, geographic constraints, or measurement costs. Although neural operators significantly advanced PDE solving in terms of computational efficiency and accuracy, their underlying assumption of fully-observed spatial inputs severely restricts applicability in real-world applications. We introduce the first systematic framework for learning neural operators from partial observation. We identify and formalize two fundamental obstacles: (i) the supervision gap in unobserved regions that prevents effective learning of physical correlations, and (ii) the dynamic spatial mismatch between incomplete inputs and complete solution fields. Specifically, our proposed Latent Autoregressive Neural Operator(LANO) introduces two novel components designed explicitly to address the core difficulties of partial observations: (i) a mask-to-predict training strategy that creates artificial supervision by strategically masking observed regions, and (ii) a Physics-Aware Latent Propagator that reconstructs solutions through boundary-first autoregressive generation in latent space. Additionally, we develop POBench-PDE, a dedicated and comprehensive benchmark designed specifically for evaluating neural operators under partial observation conditions across three PDE-governed tasks. LANO achieves state-of-the-art performance with 18--69$\%$ relative L2 error reduction across all benchmarks under patch-wise missingness with less than 50$\%$ missing rate, including real-world climate prediction. Our approach effectively addresses practical scenarios involving up to 75$\%$ missing rate, to some extent bridging the existing gap between idealized research settings and the complexities of real-world scientific computing.
From Generation to Collaboration: Using LLMs to Edit for Empathy in Healthcare
Venue: arXiv cs.CL 2026
Year: 2026

Clinical empathy is essential for patient care, but physicians need continually balance emotional warmth with factual precision under the cognitive and emotional constraints of clinical practice. This study investigates how large language models (LLMs) can function as empathy editors, refining physicians' written responses to enhance empathetic tone while preserving underlying medical information. More importantly, we introduce novel quantitative metrics, an Empathy Ranking Score and a MedFactChecking Score to systematically assess both emotional and factual quality of the responses. Experimental results show that LLM edited responses significantly increase perceived empathy while preserving factual accuracy compared with fully LLM generated outputs. These findings suggest that using LLMs as editorial assistants, rather than autonomous generators, offers a safer, more effective pathway to empathetic and trustworthy AI-assisted healthcare communication.
When Sharpening Becomes Collapse: Sampling Bias and Semantic Coupling in RL with Verifiable Rewards
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards (RLVR) is a central paradigm for turning large language models (LLMs) into reliable problem solvers, especially in logic-heavy domains. Despite its empirical success, it remains unclear whether RLVR elicits novel capabilities or merely sharpens the distribution over existing knowledge. We study this by formalizing over-sharpening, a phenomenon where the policy collapses onto limited modes, suppressing valid alternatives. At a high level, we discover finite-batch updates intrinsically bias learning toward sampled modes, triggering a collapse that propagates globally via semantic coupling. To mitigate this, we propose inverse-success advantage calibration to prioritize difficult queries and distribution-level calibration to diversify sampling via a memory network. Empirical evaluations validate that our strategies can effectively improve generalization.
Closing the Gap on the Sample Complexity of 1-Identification
Venue: arXiv cs.LG 2026
Year: 2026

1-identification is a fundamental multi-armed bandit formulation on pure exploration. An agent aims to determine whether there exists a qualified arm whose mean reward is not less than a known threshold $μ_0$, or to output \textsf{None} if it believes such an arm does not exist. The agent needs to guarantee its output is correct with probability at least $1-δ$, while making expected total pulling times $\mathbb{E}τ$ as small as possible. We work on 1-identification with two main contributions. (1) We utilize an optimization formulation to derive a new lower bound of $\mathbb{E}τ$, when there is at least one qualified arm. (2) We design a new algorithm, deriving tight upper bounds whose gap to lower bounds are up to a polynomial of logarithm factor across all problem instance. Our result complements the analysis of $\mathbb{E}τ$ when there are multiple qualified arms, which is an open problem left by history literature.
Qwen3-TTS Technical Report
Venue: arXiv cs.SD 2026
Year: 2026

In this report, we present the Qwen3-TTS series, a family of advanced multilingual, controllable, robust, and streaming text-to-speech models. Qwen3-TTS supports state-of-the-art 3-second voice cloning and description-based control, allowing both the creation of entirely novel voices and fine-grained manipulation over the output speech. Trained on over 5 million hours of speech data spanning 10 languages, Qwen3-TTS adopts a dual-track LM architecture for real-time synthesis, coupled with two speech tokenizers: 1) Qwen-TTS-Tokenizer-25Hz is a single-codebook codec emphasizing semantic content, which offers seamlessly integration with Qwen-Audio and enables streaming waveform reconstruction via a block-wise DiT. 2) Qwen-TTS-Tokenizer-12Hz achieves extreme bitrate reduction and ultra-low-latency streaming, enabling immediate first-packet emission ($97\,\mathrm{ms}$) through its 12.5 Hz, 16-layer multi-codebook design and a lightweight causal ConvNet. Extensive experiments indicate state-of-the-art performance across diverse objective and subjective benchmark (e.g., TTS multilingual test set, InstructTTSEval, and our long speech test set). To facilitate community research and development, we release both tokenizers and models under the Apache 2.0 license.