OpenRaiser/Intern-Atlas huggingface dataset:
Building Enterprise Realtime Voice Agents from Scratch: A Technical Tutorial
Venue: arXiv cs.SD 2026
Year: 2026

We present a technical tutorial for building enterprise-grade realtime voice agents from first principles. While over 25 open-source speech-to-speech models and numerous voice agent frameworks exist, no single resource explains the complete pipeline from individual components to a working streaming voice agent with function calling capabilities. Through systematic investigation, we find that (1) native speech-to-speech models like Qwen2.5-Omni, while capable of high-quality audio generation, are too slow for realtime interaction ($\sim$13s time-to-first-audio); (2) the industry-standard approach uses a cascaded streaming pipeline: STT $\rightarrow$ LLM $\rightarrow$ TTS, where each component streams its output to the next; and (3) the key to ``realtime'' is not any single fast model but rather \textit{streaming and pipelining} across components. We build a complete voice agent using Deepgram (streaming STT), vLLM-served LLMs with function calling (streaming text generation), and ElevenLabs (streaming TTS), achieving a measured P50 time-to-first-audio of 947ms (best case 729ms) with cloud LLM APIs, and comparable latency with self-hosted vLLM on NVIDIA A10G GPU. We release the full codebase as a tutorial with working, tested code for every component.
Residual RL--MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow
Venue: arXiv cs.RO 2026
Year: 2026

Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break pushing contact and induce large lateral drift. We study planar cell pushing with a magnetic rolling microrobot that tracks a waypoint-sampled reference curve under time-varying Poiseuille flow. We propose a hybrid controller that augments a nominal MPC with a learned residual policy trained by SAC. The policy outputs a bounded 2D velocity correction that is contact-gated, so residual actions are applied only during robot--cell contact, preserving reliable approach behavior and stabilizing learning. All methods share the same actuation interface and speed envelope for fair comparisons. Experiments show improved robustness and tracking accuracy over pure MPC and PID under nonstationary flow, with generalization from a clover training curve to unseen circle and square trajectories. A residual-bound sweep identifies an intermediate correction limit as the best trade-off, which we use in all benchmarks.
SurvHTE-Bench: A Benchmark for Heterogeneous Treatment Effect Estimation in Survival Analysis
Venue: arXiv cs.LG 2026
Year: 2026

Estimating heterogeneous treatment effects (HTEs) from right-censored survival data is critical in high-stakes applications such as precision medicine and individualized policy-making. Yet, the survival analysis setting poses unique challenges for HTE estimation due to censoring, unobserved counterfactuals, and complex identification assumptions. Despite recent advances, from Causal Survival Forests to survival meta-learners and outcome imputation approaches, evaluation practices remain fragmented and inconsistent. We introduce SurvHTE-Bench, the first comprehensive benchmark for HTE estimation with censored outcomes. The benchmark spans (i) a modular suite of synthetic datasets with known ground truth, systematically varying causal assumptions and survival dynamics, (ii) semi-synthetic datasets that pair real-world covariates with simulated treatments and outcomes, and (iii) real-world datasets from a twin study (with known ground truth) and from an HIV clinical trial. Across synthetic, semi-synthetic, and real-world settings, we provide the first rigorous comparison of survival HTE methods under diverse conditions and realistic assumption violations. SurvHTE-Bench establishes a foundation for fair, reproducible, and extensible evaluation of causal survival methods. The data and code of our benchmark are available at: https://github.com/Shahriarnz14/SurvHTE-Bench .
Reasoning Theater: Disentangling Model Beliefs from Chain-of-Thought
Venue: arXiv cs.CL 2026
Year: 2026

We provide evidence of performative chain-of-thought (CoT) in reasoning models, where a model becomes strongly confident in its final answer, but continues generating tokens without revealing its internal belief. Our analysis compares activation probing, early forced answering, and a CoT monitor across two large models (DeepSeek-R1 671B & GPT-OSS 120B) and find task difficulty-specific differences: The model's final answer is decodable from activations far earlier in CoT than a monitor is able to say, especially for easy recall-based MMLU questions. We contrast this with genuine reasoning in difficult multihop GPQA-Diamond questions. Despite this, inflection points (e.g., backtracking, 'aha' moments) occur almost exclusively in responses where probes show large belief shifts, suggesting these behaviors track genuine uncertainty rather than learned "reasoning theater." Finally, probe-guided early exit reduces tokens by up to 80% on MMLU and 30% on GPQA-Diamond with similar accuracy, positioning attention probing as an efficient tool for detecting performative reasoning and enabling adaptive computation.
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
Venue: arXiv cs.RO 2026
Year: 2026

Effective robot autonomy requires motion generation that is safe, feasible, and reactive. Current methods are fragmented: fast planners output physically unexecutable trajectories, reactive controllers struggle with high-fidelity perception, and existing solvers fail on high-DoF systems. We present cuRoboV2, a unified framework with three key innovations: (1) B-spline trajectory optimization that enforces smoothness and torque limits; (2) a GPU-native TSDF/ESDF perception pipeline that generates dense signed distance fields covering the full workspace, unlike existing methods that only provide distances within sparsely allocated blocks, up to 10x faster and in 8x less memory than the state-of-the-art at manipulation scale, with up to 99% collision recall; and (3) scalable GPU-native whole-body computation, namely topology-aware kinematics, differentiable inverse dynamics, and map-reduce self-collision, that achieves up to 61x speedup while also extending to high-DoF humanoids (where previous GPU implementations fail). On benchmarks, cuRoboV2 achieves 99.7% success under 3kg payload (where baselines achieve only 72--77%), 99.6% collision-free IK on a 48-DoF humanoid (where prior methods fail entirely), and 89.5% retargeting constraint satisfaction (vs. 61% for PyRoki); these collision-free motions yield locomotion policies with 21% lower tracking error than PyRoki and 12x lower cross-seed variance than mink. A ground-up codebase redesign for discoverability enabled LLM coding assistants to author up to 73% of new modules, including hand-optimized CUDA kernels, demonstrating that well-structured robotics code can unlock productive human--LLM collaboration. Together, these advances provide a unified, dynamics-aware motion generation stack that scales from single-arm manipulators to full humanoids.
Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
Venue: arXiv cs.RO 2026
Year: 2026

Traditional safety-critical control methods, such as control barrier functions, suffer from semantic blindness, exhibiting the same behavior around obstacles regardless of contextual significance. This limitation leads to the uniform treatment of all obstacles, despite their differing semantic meanings. We present Safe-SAGE (Social-Semantic Adaptive Guidance for Safe Engagement), a unified framework that bridges the gap between high-level semantic understanding and low-level safety-critical control through a Poisson safety function (PSF) modulated using a Laplace guidance field. Our approach perceives the environment by fusing multi-sensor point clouds with vision-based instance segmentation and persistent object tracking to maintain up-to-date semantics beyond the camera's field of view. A multi-layer safety filter is then used to modulate system inputs to achieve safe navigation using this semantic understanding of the environment. This safety filter consists of both a model predictive control layer and a control barrier function layer. Both layers utilize the PSF and flux modulation of the guidance field to introduce varying levels of conservatism and multi-agent passing norms for different obstacles in the environment. Our framework enables legged robots to safely navigate semantically rich, dynamic environments with context-dependent safety margins.
Accelerating Text-to-Video Generation with Calibrated Sparse Attention
Venue: arXiv cs.CV 2026
Year: 2026

Recent diffusion models enable high-quality video generation, but suffer from slow runtimes. The large transformer-based backbones used in these models are bottlenecked by spatiotemporal attention. In this paper, we identify that a significant fraction of token-to-token connections consistently yield negligible scores across various inputs, and their patterns often repeat across queries. Thus, the attention computation in these cases can be skipped with little to no effect on the result. This observation continues to hold for connections among local token blocks. Motivated by this, we introduce CalibAtt, a training-free method that accelerates video generation via calibrated sparse attention. CalibAtt performs an offline calibration pass that identifies block-level sparsity and repetition patterns that are stable across inputs, and compiles these patterns into optimized attention operations for each layer, head, and diffusion timestep. At inference time, we compute the selected input-dependent connections densely, and skip the unselected ones in a hardware-efficient manner. Extensive experiments on Wan 2.1 14B, Mochi 1, and few-step distilled models at various resolutions show that CalibAtt achieves up to 1.58x end-to-end speedup, outperforming existing training-free methods while maintaining video generation quality and text-video alignment.
Traversal-as-Policy: Log-Distilled Gated Behavior Trees as Externalized, Verifiable Policies for Safe, Robust, and Efficient Agents
Venue: arXiv cs.LG 2026
Year: 2026

Autonomous LLM agents fail because long-horizon policy remains implicit in model weights and transcripts, while safety is retrofitted post hoc. We propose Traversal-as-Policy: distill sandboxed OpenHands execution logs into a single executable Gated Behavior Tree (GBT) and treat tree traversal -- rather than unconstrained generation -- as the control policy whenever a task is in coverage. Each node encodes a state-conditioned action macro mined and merge-checked from successful trajectories; macros implicated by unsafe traces attach deterministic pre-execution gates over structured tool context and bounded history, updated under experience-grounded monotonicity so previously rejected unsafe contexts cannot be re-admitted. At runtime, a lightweight traverser matches the base model's intent to child macros, executes one macro at a time under global and node-local gating, and when stalled performs risk-aware shortest-path recovery to a feasible success leaf; the visited path forms a compact spine memory that replaces transcript replay. Evaluated in a unified OpenHands sandbox on 15+ software, web, reasoning, and safety/security benchmarks, GBT improves success while driving violations toward zero and reducing cost. On SWE-bench Verified (Protocol A, 500 issues), GBT-SE raises success from 34.6% to 73.6%, reduces violations from 2.8% to 0.2%, and cuts token/character usage from 208k/820k to 126k/490k; with the same distilled tree, 8B executors more than double success on SWE-bench Verified (14.0%58.8%) and WebArena (9.1%37.3%).
Verify as You Go: An LLM-Powered Browser Extension for Fake News Detection
Venue: arXiv cs.CL 2026
Year: 2026

The rampant spread of fake news in the digital age poses serious risks to public trust and democratic institutions, underscoring the need for effective, transparent, and user-centered detection tools. Existing browser extensions often fall short due to opaque model behavior, limited explanatory support, and a lack of meaningful user engagement. This paper introduces Aletheia, a novel browser extension that leverages Retrieval-Augmented Generation (RAG) and Large Language Models (LLMs) to detect fake news and provide evidence-based explanations. Aletheia further includes two interactive components: a Discussion Hub that enables user dialogue around flagged content and a Stay Informed feature that surfaces recent fact-checks. Through extensive experiments, we show that Aletheia outperforms state-of-the-art baselines in detection performance. Complementing this empirical evaluation, a complementary user study with 250 participants confirms the system's usability and perceived effectiveness, highlighting its potential as a transparent tool for combating online fake news.
Information-Theoretic Privacy Control for Sequential Multi-Agent LLM Systems
Venue: arXiv cs.MA 2026
Year: 2026

Sequential multi-agent large language model (LLM) systems are increasingly deployed in sensitive domains such as healthcare, finance, and enterprise decision-making, where multiple specialized agents collaboratively process a single user request. Although individual agents may satisfy local privacy constraints, sensitive information can still be inferred through sequential composition and intermediate representations. In this work, we study \emph{compositional privacy leakage} in sequential LLM agent pipelines. We formalize leakage using mutual information and derive a theoretical bound that characterizes how locally introduced leakage can amplify across agents under sequential execution. Motivated by this analysis, we propose a privacy-regularized training framework that directly constrains information flow between agent outputs and agent-local sensitive variables. We evaluate our approach across sequential agent pipelines of varying depth on three benchmark datasets, demonstrating stable optimization dynamics and consistent, interpretable privacy-utility trade-offs. Our results show that privacy in agentic LLM systems cannot be guaranteed by local constraints alone and must instead be treated as a system-level property during both training and deployment.
Ecosystem Trust Profiles
Venue: arXiv cs.CR 2026
Year: 2026

We define a method how digital ecosystems (including data spaces) may autonomously define and "advertise" credentials they issue or they trust in the form of so-called ecosystem trust profiles. An ecosystem trust profile collects all (verifiable) credentials and issuers sorted by trust scope accepted ("trusted") by a particular ecosystem. We then show how a minimal trust relation between ecosystems may be defined using ecosystem trust frameworks of different ecosystems and explore a few of its properties. A first application of the theory is given for a use case in the manufacturing realm where different international ecosystems need to agree on certain credentials for various scopes of trust such as identity, service compliance, and other conformance standards. We implement this requirement by identifying and discussing two different definitions of credential equivalence for a given trust scope, one requiring additional cross-ecosystem governance or coordination, one not. The second approach demonstrates how to solve the so-called cross-ecosystem trust dilemma, that is, the problem how ecosystems can establish cross-ecosystem trust while, at the same time, allowing them to fully retain their sovereignty. A fragility theorem demonstrates that this sovereignty leads trust to be unstable without any additional coordination or governance mechanisms on top of (and outside to) ecosystem trust profiles. We extend our method to data spaces in particular and propose a novel rigorous definition of cross-data space interoperability. This allows us to prove the proposition that the extent of interoperability between two data spaces is exactly determined by the amount of commonality in their respective ecosystem trust profiles.
Towards Neural Graph Data Management
Venue: arXiv cs.DB 2026
Year: 2026

While AI systems have made remarkable progress in processing unstructured text, structured data such as graphs stored in databases, continues to grow rapidly yet remains difficult for neural models to effectively utilize. We introduce NGDBench, a unified benchmark for evaluating neural graph database capabilities across five diverse domains, including finance, medicine, and AI agent tooling. Unlike prior benchmarks limited to elementary logical operations, NGDBench supports the full Cypher query language, enabling complex pattern matching, variable-length paths, and numerical aggregations, while incorporating realistic noise injection and dynamic data management operations. Our evaluation of state-of-the-art LLMs and RAG methods reveals significant limitations in structured reasoning, noise robustness, and analytical precision, establishing NGDBench as a critical testbed for advancing neural graph data management. Our code and data are available at https://github.com/HKUST-KnowComp/NGDBench.
EigenData: A Self-Evolving Multi-Agent Platform for Function-Calling Data Synthesis, Auditing, and Repair
Venue: arXiv cs.SE 2026
Year: 2026

Function-calling agents -- large language models that invoke tools and APIs -- require high-quality, domain-specific training data spanning executable environments, backing databases, and diverse multi-turn trajectories. We introduce EigenData, an integrated, self-evolving platform that automates the full data lifecycle through a multi-agent architecture. A top-level orchestrator, EigenCore, coordinates three specialized sub-systems: DatabaseAgent for realistic domain database construction, CodingAgent for verified executable environment generation with iterative test-debug loops, and DataAgent for multi-turn trajectory synthesis with self-evolving prompt optimization. Cross-component feedback ensures consistency across all artifacts. We apply EigenData to audit and repair the Berkeley Function-Calling Leaderboard (BFCL-V3), identifying systematic errors in function schemas, implementations, and reference trajectories, automatically correcting them through coordinated schema refinement, code-level bug fixes, and trajectory modification, and introducing an outcome-aware evaluation protocol that assesses task success via database-state correctness rather than turn-level trajectory matching. We demonstrate that the repaired benchmark, coupled with outcome-aware metrics, produces model rankings substantially better correlated with human judgments of functional correctness.
Towards Efficient and Stable Ocean State Forecasting: A Continuous-Time Koopman Approach
Venue: arXiv cs.LG 2026
Year: 2026

We investigate the Continuous-Time Koopman Autoencoder (CT-KAE) as a lightweight surrogate model for long-horizon ocean state forecasting in a two-layer quasi-geostrophic (QG) system. By projecting nonlinear dynamics into a latent space governed by a linear ordinary differential equation, the model enforces structured and interpretable temporal evolution while enabling temporally resolution-invariant forecasting via a matrix exponential formulation. Across 2083-day rollouts, CT-KAE exhibits bounded error growth and stable large-scale statistics, in contrast to autoregressive Transformer baselines which exhibit gradual error amplification and energy drift over long rollouts. While fine-scale turbulent structures are partially dissipated, bulk energy spectra, enstrophy evolution, and autocorrelation structure remain consistent over long horizons. The model achieves orders-of-magnitude faster inference compared to the numerical solver, suggesting that continuous-time Koopman surrogates offer a promising backbone for efficient and stable hybrid physical-machine learning climate models.
DreamCAD: Scaling Multi-modal CAD Generation using Differentiable Parametric Surfaces
Venue: arXiv cs.CV 2026
Year: 2026

Computer-Aided Design (CAD) relies on structured and editable geometric representations, yet existing generative methods are constrained by small annotated datasets with explicit design histories or boundary representation (BRep) labels. Meanwhile, millions of unannotated 3D meshes remain untapped, limiting progress in scalable CAD generation. To address this, we propose DreamCAD, a multi-modal generative framework that directly produces editable BReps from point-level supervision, without CAD-specific annotations. DreamCAD represents each BRep as a set of parametric patches (e.g., Bézier surfaces) and uses a differentiable tessellation method to generate meshes. This enables large-scale training on 3D datasets while reconstructing connected and editable surfaces. Furthermore, we introduce CADCap-1M, the largest CAD captioning dataset to date, with 1M+ descriptions generated using GPT-5 for advancing text-to-CAD research. DreamCAD achieves state-of-the-art performance on ABC and Objaverse benchmarks across text, image, and point modalities, improving geometric fidelity and surpassing 75% user preference. Code and dataset will be publicly available.
Hybrid Structured Editing: Structures for Tools, Text for Users
Venue: arXiv cs.PL 2026
Year: 2026

In programming, better tools often yield better results. For that, modern programming environments offer mechanisms to allow for their extensibility. The closer those tools are to the code, the easier it is for programmers to map the information provided by a tool to the code this information is about. However, existing extension mechanisms do not facilitate the close integration of tools with textual source code. Tools must be able to track program structures across edits to appear at the right positions but the parsing step of text complicates tracking structures. We propose hybrid structured editing, an approach that supports tool builders by providing structural guarantees while providing tool users with a familiar and consistent text editing interface. Hybrid structured editing allows tool builders to declare constraints on the structure that a program must conform to and ensures their observance. We present an implementation and several case studies of tools based on hybrid structured editing to demonstrate its effectiveness. Hybrid structured editing supports the safe extension of programming environments with tools that work on a structured representation of code and provide a consistent and reliable user experience.