OpenRaiser/Intern-Atlas huggingface dataset:
Secret Sharing in the Rank Metric
Venue: arXiv cs.IT 2026
Year: 2026

The connection between secret sharing and matroid theory is well established. In this paper, we generalize the concepts of secret sharing and matroid ports to $q$-polymatroids. Specifically, we introduce the notion of an access structure on a vector space, and consider properties related to duality, minors, and the relationship to $q$-polymatroids. Finally, we show how rank-metric codes give rise to secret sharing schemes within this framework.
Sparsity Forcing: Reinforcing Token Sparsity of MLLMs
Venue: arXiv cs.LG 2026
Year: 2026

Sparse attention mechanisms aim to reduce computational overhead with minimal accuracy loss by selectively processing salient tokens. Despite their effectiveness, most methods merely exploit a model's inherent sparsity and thus plateau at moderate budgets (about 50\% token reduction), with little headroom to push budget lower without hurting accuracy. Other approaches attempt to enforce sparsity through trainable sparse attention or sharpness-inducing regularizers, but these either fix rigid patterns that ignore input and layer dynamics, or optimize proxy objectives without direct control over token budgets. In this paper, we explicitly reinforce token sparsity in well-posed multimodal large language models (MLLMs) through a simple RL-based post-training framework named \textit{Sparsity Forcing}. Our method explores the efficiency-accuracy trade-off by running multiple rollouts with different token budgets, where both efficiency (token reduction ratio) and performance (answer correctness) are formulated as joint rewards. By contrasting rollouts within each group, the more efficient and correct answer is rewarded while less efficient or incorrect ones are penalized, thereby turning token saving into an end-to-end, inference-consistent optimization objective. Across thirteen image and video benchmarks, Sparsity Forcing raises token reduction ratio on Qwen2-VL/Qwen2.5-VL from 20\% to 75\% with minimal accuracy decline, significantly reducing long-context inference memory by up to 3$\times$ while speeding up decoding by up to 3.3$\times$.
SPD Matrix Learning for Neuroimaging Analysis: Perspectives, Methods, and Challenges
Venue: arXiv cs.LG 2026
Year: 2026

Neuroimaging provides essential tools for characterizing brain activity by quantifying connectivity strength between remote regions, using different modalities that capture different aspects of connectivity. Yet, decoding meaningful neural signatures must contend with modality-specific challenges, including measurement noise, spatial and temporal distortions, heterogeneous acquisition protocols, and limited sample sizes. A unifying perspective emerges when these data are expressed through symmetric positive definite (SPD)-valued representations: across neuroimaging modalities, SPD-valued representations naturally give rise to SPD matrices that capture dependencies between sensors or brain regions. Endowing the SPD space with Riemannian metrics equips it with a non-Euclidean geometric structure, enabling principled statistical modeling and machine learning on the resulting manifold. This review consolidates machine learning methodologies that operate on the SPD manifold under a unified framework termed SPD matrix learning. SPD matrix learning brings conceptual clarity across multiple modalities, establishes continuity with decades of geometric statistics in neuroimaging, and positions SPD modeling as a methodological bridge between classical analysis and emerging AI-driven paradigms. We show that (i) modeling on the SPD manifold is mathematically natural and numerically stable, preserving symmetry and positive definiteness while avoiding degeneracies inherent to Euclidean embeddings; (ii) SPD matrix learning extends a broad family of established geometric statistical tools used across neuroimaging; and (iii) SPD matrix learning integrates new-generation AI technologies, driving a new class of neuroimaging problems that were previously out of reach. Taken together, SPD matrix learning offers a principled and forward-looking framework for next-generation neuroimaging analytics.
DeepInsert: Early Layer Bypass for Efficient and Performant Multimodal Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Hyperscaling of data and parameter count in LLMs is yielding diminishing improvement when weighed against training costs, underlining a growing need for more efficient finetuning and inference without sacrificing performance. This is especially so for multimodal language models (MLMs), where the overhead of processing multimodal tokens can limit their practical viability. Parallely, recent work has uncovered implicit cross-modal alignment in the deeper layers of large MLMs, deepening our understanding of how MLMs process and encode information. Motivated by this, and our observation that MLMs naturally defer most cross-modal token interactions to deeper layers of the model, we propose a simple modification. Instead of concatenation with the language prompt at the start, we insert multimodal tokens directly into the middle, allowing them to entirely bypass the early layers. Our results with diverse modalities, (i) LLaVA \& BLIP for vision, (ii) LTU for audio, and (iii) MoLCA for molecular data, and model sizes, starting from 350M to 13B parameters, indicate that our method reduces both training and inference costs, while at least preserving, if not surpassing the performance of existing baselines.
Smart placement, faster robots-a comparison of algorithms for robot base-pose optimization
Venue: arXiv cs.RO 2026
Year: 2026

Robotic automation is a key technology that increases the efficiency and flexibility of manufacturing processes. However, one of the challenges in deploying robots in novel environments is finding the optimal base pose for the robot, which affects its reachability and deployment cost. Yet, existing research on automatically optimizing the base pose of robots has not been compared. We address this problem by optimizing the base pose of industrial robots with Bayesian optimization (BO), exhaustive search (ES), genetic algorithms (GAs), and stochastic gradient descent (SGD), and we find that all algorithms can reduce the cycle time for various evaluated tasks in synthetic and real-world environments. Stochastic gradient descent shows superior performance with regard to the success rate, solving more than 90% of our real-world tasks, while genetic algorithms show the lowest final costs. All benchmarks and implemented methods are available as baselines against which novel approaches can be compared.
Soft-Label Caching and Sharpening for Communication-Efficient Federated Distillation
Venue: arXiv cs.LG 2026
Year: 2026

Federated Learning (FL) enables collaborative model training across decentralized clients, enhancing privacy by keeping data local. Yet conventional FL, relying on frequent parameter-sharing, suffers from high communication overhead and limited model heterogeneity. Distillation-based FL approaches address these issues by sharing predictions (soft-labels, i.e., normalized probability distributions) instead, but they often involve redundant transmissions across communication rounds, reducing efficiency. We propose SCARLET, a novel framework integrating synchronized soft-label caching and an enhanced Entropy Reduction Aggregation (Enhanced ERA) mechanism. SCARLET minimizes redundant communication by reusing cached soft-labels, achieving up to 50% reduction in communication costs compared to existing methods while maintaining competitive accuracy. Enhanced ERA resolves the fundamental instability of conventional temperature-based aggregation, ensuring robust control and high performance in diverse client scenarios. Experimental evaluations demonstrate that SCARLET consistently outperforms state-of-the-art distillation-based FL methods in terms of accuracy and communication efficiency. The implementation of SCARLET is publicly available at https://github.com/kitsuyaazuma/SCARLET.
RV-Syn: Rational and Verifiable Mathematical Reasoning Data Synthesis based on Structured Function Library
Venue: arXiv cs.AI 2026
Year: 2026

The advancement of reasoning capabilities in Large Language Models (LLMs) requires substantial amounts of high-quality reasoning data, particularly in mathematics. Existing data synthesis methods, such as data augmentation from annotated training sets or direct question generation based on relevant knowledge points and documents, have expanded datasets but face challenges in mastering the inner logic of the problem during generation and ensuring the verifiability of the solutions. To address these issues, we propose RV-Syn, a novel Rational and Verifiable mathematical Synthesis approach. RV-Syn constructs a structured mathematical operation function library based on initial seed problems and generates computational graphs as solutions by combining Python-formatted functions from this library. These graphs are then back-translated into complex problems. Based on the constructed computation graph, we achieve solution-guided logic-aware problem generation. Furthermore, the executability of the computational graph ensures the verifiability of the solving process. Experimental results show that RV-Syn surpasses existing synthesis methods, including those involving human-generated problems, achieving greater efficient data scaling. This approach provides a scalable framework for generating high-quality reasoning datasets.
MuRAL: A Multi-Resident Ambient Sensor Dataset Annotated with Natural Language for Activities of Daily Living
Venue: arXiv cs.AI 2026
Year: 2026

Recent progress in Large Language Models (LLMs) has enabled advanced reasoning and zero-shot recognition for human activity understanding with ambient sensor data. However, widely used multi-resident datasets such as CASAS, ARAS, and MARBLE lack natural language context and fine-grained annotation, limiting the full exploitation of LLM capabilities in realistic smart environments. To address this gap, we present MuRAL (Multi-Resident Ambient sensor dataset with natural Language), comprising over 21 hours of multi-user sensor data from 21 sessions in a smart home. MuRAL uniquely features detailed natural language descriptions, explicit resident identities, and rich activity labels, all situated in complex, dynamic, multi-resident scenarios. We benchmark state-of-the-art LLMs on MuRAL for three core tasks: subject assignment, action description, and activity classification. Results show that current LLMs still face major challenges on MuRAL, especially in maintaining accurate resident assignment over long sequences, generating precise action descriptions, and effectively integrating context for activity prediction. The dataset is publicly available at: https://mural.imag.fr/.
UniversalRAG: Retrieval-Augmented Generation over Corpora of Diverse Modalities and Granularities
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval-Augmented Generation (RAG) has shown substantial promise in improving factual accuracy by grounding model responses with external knowledge relevant to queries. However, most existing approaches are limited to a text-only corpus, and while recent efforts have extended RAG to other modalities such as images and videos, they typically operate over a single modality-specific corpus. In contrast, real-world queries vary widely in the type of knowledge they require, which a single type of knowledge source cannot address. To address this, we introduce UniversalRAG, designed to retrieve and integrate knowledge from heterogeneous sources with diverse modalities and granularities. Specifically, motivated by the observation that forcing all modalities into a unified representation space derived from a single aggregated corpus causes a modality gap, where the retrieval tends to favor items from the same modality as the query, we propose modality-aware routing, which dynamically identifies the most appropriate modality-specific corpus and performs targeted retrieval within it, and further justify its effectiveness with a theoretical analysis. Moreover, beyond modality, we organize each modality into multiple granularity levels, enabling fine-tuned retrieval tailored to the complexity and scope of the query. We validate UniversalRAG on 10 benchmarks of multiple modalities, showing its superiority over various modality-specific and unified baselines.
Hybrid quantum recurrent neural network for remaining useful life prediction
Venue: arXiv cs.LG 2026
Year: 2026

Predictive maintenance in aerospace heavily relies on accurate estimation of the remaining useful life of jet engines. In this paper, we introduce a Hybrid Quantum Recurrent Neural Network framework, combining Quantum Long Short-Term Memory layers with classical dense layers for Remaining Useful Life forecasting on NASA's Commercial Modular Aero-Propulsion System Simulation dataset. Each Quantum Long Short-Term Memory gate replaces conventional linear transformations with Quantum Depth-Infused circuits, allowing the network to learn high-frequency components more effectively. Experimental results demonstrate that, despite having fewer trainable parameters, the Hybrid Quantum Recurrent Neural Network achieves up to a 5% improvement over a Recurrent Neural Network based on stacked Long Short-Term Memory layers in terms of mean root-mean-square error and mean absolute error. Moreover, a thorough comparison of our method with established techniques, including Random Forest, Convolutional Neural Network, and Multilayer Perceptron, demonstrates that our approach, which achieves a Root Mean Squared Error of 15.46, surpasses these baselines by approximately 13.68%, 16.21%, and 7.87%, respectively. Nevertheless, certain advanced joint architectures still outperform it. Our findings highlight the potential of hybrid quantum-classical approaches for robust time-series forecasting under limited-data conditions, offering new avenues for enhancing reliability in predictive maintenance tasks.
Learning Large-Scale Competitive Team Behaviors with Mean-Field Interactions and Online Opponent Modeling
Venue: arXiv cs.MA 2026
Year: 2026

While multi-agent reinforcement learning (MARL) has been proven effective across both collaborative and competitive tasks, existing algorithms often struggle to scale to large populations of agents. Recent advancements in mean-field (MF) theory provide scalable solutions by approximating population interactions as a continuum, yet most existing frameworks focus exclusively on either fully cooperative or purely competitive settings. To bridge this gap, we introduce MF-MAPPO, a mean-field extension of PPO designed for zero-sum team games that integrate intra-team cooperation with inter-team competition. MF-MAPPO employs a shared actor and a minimally informed critic per team and is trained directly on finite-population simulators, thereby enabling deployment to realistic scenarios with thousands of agents. We further show that MF-MAPPO naturally extends to partially observable settings through a simple gradient-regularized training scheme. Our evaluation utilizes large-scale benchmark scenarios using our own testing simulation platform for MF team games (MFEnv), including offense-defense battlefield tasks as well as variants of population-based rock-paper-scissors games that admit analytical solutions, for benchmarking. Across these benchmarks, MF-MAPPO outperforms existing methods and exhibits complex, heterogeneous behaviors, demonstrating the effectiveness of combining mean-field theory and MARL techniques at scale.
Deterministic Distributed DFS and Other Problems via Cycle Separators in Planar Graphs
Venue: arXiv cs.DC 2026
Year: 2026

One of the most basic techniques in algorithm design consists of breaking a problem into subproblems and then proceeding recursively. In the case of graph algorithms, one way to implement this approach is through separator sets. Given a graph $G=(V,E)$, a subset of nodes $S \subseteq V$ is called a separator set of $G$ if the size of each connected component of $G-S$ is at most $2/3 \cdot |V|$. The most useful separator sets are those that satisfy certain restrictions of cardinality or structure. For over 40 years, various efficient algorithms have been developed for computing separators of different kinds, particularly in planar graphs. Separator sets, combined with a divide and conquer approach, have been fundamental in the design of efficient algorithms in various settings. In this work, we present the first deterministic algorithm in the distributed CONGEST model that recursively computes a cycle separator in planar graphs in $\tilde{\mathcal{O}}(D)$ rounds. This result, as in the centralized setting, has significant implications for distributed planar algorithms. In fact, from this result, we can construct a deterministic algorithm that computes a DFS tree in $\tilde{\mathcal{O}}(D)$ rounds. This matches both the best-known randomized algorithm of Ghaffari and Parter (DISC'17) and, up to polylogarithmic factors, the trivial lower bound of $Ω(D)$ rounds. Besides DFS, our deterministic cycle separator algorithm can be used to derandomize several planar-graph algorithms whose only randomized ingredient is the computation of a cycle separator, such as maximum flow (Abd-Elhaleem, Dory, Parter and Weimann, PODC'25), single-source shortest path (Li and Parter, STOC'19), and reachability (Parter, DISC'20).
Cert-SSBD: Certified Backdoor Defense with Sample-Specific Smoothing Noises
Venue: arXiv cs.CR 2026
Year: 2026

Deep neural networks (DNNs) are vulnerable to backdoor attacks, where an attacker manipulates a small portion of the training data to implant hidden backdoors into the model. The compromised model behaves normally on clean samples but misclassifies backdoored samples into the attacker-specified target class, posing a significant threat to real-world DNN applications. Currently, several empirical defense methods have been proposed to mitigate backdoor attacks, but they are often bypassed by more advanced backdoor techniques. In contrast, certified defenses based on randomized smoothing have shown promise by adding random noise to training and testing samples to counteract backdoor attacks. In this paper, we reveal that existing randomized smoothing defenses implicitly assume that all samples are equidistant from the decision boundary. However, it may not hold in practice, leading to suboptimal certification performance. To address this issue, we propose a sample-specific certified backdoor defense method, termed Cert-SSB. Cert-SSB first employs stochastic gradient ascent to optimize the noise magnitude for each sample, ensuring a sample-specific noise level that is then applied to multiple poisoned training sets to retrain several smoothed models. After that, Cert-SSB aggregates the predictions of multiple smoothed models to generate the final robust prediction. In particular, in this case, existing certification methods become inapplicable since the optimized noise varies across different samples. To conquer this challenge, we introduce a storage-update-based certification method, which dynamically adjusts each sample's certification region to improve certification performance. We conduct extensive experiments on multiple benchmark datasets, demonstrating the effectiveness of our proposed method. Our code is available at https://github.com/NcepuQiaoTing/Cert-SSB.
Whleaper: A 10-DOF Flexible Bipedal Wheeled Robot
Venue: arXiv cs.RO 2026
Year: 2026

Wheel-legged robots combine the advantages of both wheeled robots and legged robots, offering versatile locomotion capabilities with excellent stability on challenging terrains and high efficiency on flat surfaces. However, existing wheel-legged robots typically have limited hip joint mobility compared to humans, while hip joint plays a crucial role in locomotion. In this paper, we introduce Whleaper, a novel 10-degree-of-freedom (DOF) bipedal wheeled robot, with 3 DOFs at the hip of each leg. Its humanoid joint design enables adaptable motion in complex scenarios, ensuring stability and flexibility. This paper introduces the details of Whleaper, with a focus on innovative mechanical design, control algorithms and system implementation. Firstly, stability stems from the increased DOFs at the hip, which expand the range of possible postures and improve the robot's foot-ground contact. Secondly, the extra DOFs also augment its mobility. During walking or sliding, more complex movements can be adopted to execute obstacle avoidance tasks. Thirdly, we utilize two control algorithms to implement multimodal motion for walking and sliding. By controlling specific DOFs of the robot, we conducted a series of simulations and practical experiments, demonstrating that a high-DOF hip joint design can effectively enhance the stability and flexibility of wheel-legged robots. Whleaper shows its capability to perform actions such as squatting, obstacle avoidance sliding, and rapid turning in real-world scenarios.
KnowEEG: Explainable Knowledge Driven EEG Classification
Venue: arXiv cs.LG 2026
Year: 2026

Electroencephalography (EEG) is a method of recording brain activity that shows significant promise in applications ranging from disease classification to emotion detection and brain-computer interfaces. Recent advances in deep learning have improved EEG classification performance yet model explainability remains an issue. To address this key limitation of explainability we introduce KnowEEG; a novel explainable machine learning approach for EEG classification. KnowEEG extracts a comprehensive set of per-electrode features, filters them using statistical tests, and integrates between-electrode connectivity statistics. These features are then input to our modified Random Forest model (Fusion Forest) that balances per electrode statistics with between electrode connectivity features in growing the trees of the forest. By incorporating knowledge from both the generalized time-series and EEG-specific domains, KnowEEG achieves performance comparable to or exceeding state-of-the-art deep learning models across five different classification tasks: emotion detection, mental workload classification, eyes open/closed detection, abnormal EEG classification, and event detection. In addition to high performance, KnowEEG provides inherent explainability through feature importance scores for understandable features. We demonstrate by example on the eyes closed/open classification task that this explainability can be used to discover knowledge about the classes. This discovered knowledge for eyes open/closed classification was proven to be correct by current neuroscience literature. Therefore, the impact of KnowEEG will be significant for domains where EEG explainability is critical such as healthcare.