OpenRaiser/Intern-Atlas huggingface dataset:
Test-Time Computing for Referring Multimodal Large Language Models
Venue: arXiv cs.CV 2026
Year: 2026

We propose ControlMLLM++, a novel test-time adaptation framework that injects learnable visual prompts into frozen multimodal large language models (MLLMs) to enable fine-grained region-based visual reasoning without any model retraining or fine-tuning. Leveraging the insight that cross-modal attention maps intrinsically encode semantic correspondences between textual tokens and visual regions, ControlMLLM++ optimizes a latent visual token modifier during inference via a task-specific energy function to steer model attention towards user-specified areas. To enhance optimization stability and mitigate language prompt biases, ControlMLLM++ incorporates an improved optimization strategy (Optim++) and a prompt debiasing mechanism (PromptDebias). Supporting diverse visual prompt types including bounding boxes, masks, scribbles, and points, our method demonstrates strong out-of-domain generalization and interpretability. The code is available at https://github.com/mrwu-mac/ControlMLLM.
Anticipate, Adapt, Act: A Hybrid Framework for Task Planning
Venue: arXiv cs.RO 2026
Year: 2026

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and Large Language Models (LLMs) because of the uncertainty associated with the tasks and their outcomes. Toward addressing this challenge, we present a hybrid framework that integrates the generic prediction capabilities of an LLM with the probabilistic sequential decision-making capability of Relational Dynamic Influence Diagram Language. For any given task, the robot reasons about the task and the capabilities of the human attempting to complete it; predicts potential failures due to lack of ability (in the human) or lack of relevant domain objects; and executes actions to prevent such failures or recover from them. Experimental evaluation in the VirtualHome 3D simulation environment demonstrates substantial improvement in performance compared with state of the art baselines.
Covering a Polyomino-Shaped Stain with Non-Overlapping Identical Stickers
Venue: arXiv cs.DS 2026
Year: 2026

You find a stain on the wall and decide to cover it with non-overlapping stickers of a single identical shape (rotation and reflection are allowed). Is it possible to find a sticker shape that fails to cover the stain? In this paper, we consider this problem under polyomino constraints and complete the classification of always-coverable stain shapes (polyominoes). We provide proofs for the maximal always-coverable polyominoes and construct concrete counterexamples for the minimal not always-coverable ones, demonstrating that such cases exist even among hole-free polyominoes. This classification consequently yields an algorithm to determine the always-coverability of any given stain. We also show that the problem of determining whether a given sticker can cover a given stain is $\NP$-complete, even though exact cover is not demanded. This result extends to the 1D case where the connectivity requirement is removed. As an illustration of the problem complexity, for a specific hexomino (6-cell) stain, the smallest sticker found in our search that avoids covering it has, although not proven minimum, a bounding box of $325 \times 325$.
Large Language Model-Assisted UAV Operations and Communications: A Multifaceted Survey and Tutorial
Venue: arXiv cs.RO 2026
Year: 2026

Uncrewed Aerial Vehicles (UAVs) are widely deployed across diverse applications due to their mobility and agility. Recent advances in Large Language Models (LLMs) offer a transformative opportunity to enhance UAV intelligence beyond conventional optimization-based and learning-based approaches. By integrating LLMs into UAV systems, advanced environmental understanding, swarm coordination, mobility optimization, and high-level task reasoning can be achieved, thereby allowing more adaptive and context-aware aerial operations. This survey systematically explores the intersection of LLMs and UAV technologies and proposes a unified framework that consolidates existing architectures, methodologies, and applications for UAVs. We first present a structured taxonomy of LLM adaptation techniques for UAVs, including pretraining, fine-tuning, Retrieval-Augmented Generation (RAG), and prompt engineering, along with key reasoning capabilities such as Chain-of-Thought (CoT) and In-Context Learning (ICL). We then examine LLM-assisted UAV communications and operations, covering navigation, mission planning, swarm control, safety, autonomy, and network management. After that, the survey further discusses Multimodal LLMs (MLLMs) for human-swarm interaction, perception-driven navigation, and collaborative control. Finally, we address ethical considerations, including bias, transparency, accountability, and Human-in-the-Loop (HITL) strategies, and outline future research directions. Overall, this work positions LLM-assisted UAVs as a foundation for intelligent and adaptive aerial systems.
Fore-Mamba3D: Mamba-based Foreground-Enhanced Encoding for 3D Object Detection
Venue: arXiv cs.CV 2026
Year: 2026

Linear modeling methods like Mamba have been merged as the effective backbone for the 3D object detection task. However, previous Mamba-based methods utilize the bidirectional encoding for the whole non-empty voxel sequence, which contains abundant useless background information in the scenes. Though directly encoding foreground voxels appears to be a plausible solution, it tends to degrade detection performance. We attribute this to the response attenuation and restricted context representation in the linear modeling for fore-only sequences. To address this problem, we propose a novel backbone, termed Fore-Mamba3D, to focus on the foreground enhancement by modifying Mamba-based encoder. The foreground voxels are first sampled according to the predicted scores. Considering the response attenuation existing in the interaction of foreground voxels across different instances, we design a regional-to-global slide window (RGSW) to propagate the information from regional split to the entire sequence. Furthermore, a semantic-assisted and state spatial fusion module (SASFMamba) is proposed to enrich contextual representation by enhancing semantic and geometric awareness within the Mamba model. Our method emphasizes foreground-only encoding and alleviates the distance-based and causal dependencies in the linear autoregression model. The superior performance across various benchmarks demonstrates the effectiveness of Fore-Mamba3D in the 3D object detection task.
CIBER: A Comprehensive Benchmark for Security Evaluation of Code Interpreter Agents
Venue: arXiv cs.CR 2026
Year: 2026

LLM-based code interpreter agents are increasingly deployed in critical workflows, yet their robustness against risks introduced by their code execution capabilities remains underexplored. Existing benchmarks are limited to static datasets or simulated environments, failing to capture the security risks arising from dynamic code execution, tool interactions, and multi-turn context. To bridge this gap, we introduce CIBER, an automated benchmark that combines dynamic attack generation, isolated secure sandboxing, and state-aware evaluation to systematically assess the vulnerability of code interpreter agents against four major types of adversarial attacks: Direct/Indirect Prompt Injection, Memory Poisoning, and Prompt-based Backdoor. We evaluate six foundation models across two representative code interpreter agents (OpenInterpreter and OpenCodeInterpreter), incorporating a controlled study of identical models. Our results reveal that Interpreter Architecture and Model Alignment Set the Security Baseline. Structural integration enables aligned specialized models to outperform generic SOTA models. Conversely, high intelligence paradoxically increases susceptibility to complex adversarial prompts due to stronger instruction adherence. Furthermore, we identify a "Natural Language Disguise" Phenomenon, where natural language functions as a significantly more effective input modality than explicit code snippets (+14.1% ASR), thereby bypassing syntax-based defenses. Finally, we expose an alarming Security Polarization, where agents exhibit robust defenses against explicit threats yet fail catastrophically against implicit semantic hazards, highlighting a fundamental blind spot in current pattern-matching protection approaches.
Hardware-Friendly Randomization: Enabling Random-Access and Minimal Wiring in FHE Accelerators with Low Total Cost
Venue: arXiv cs.CR 2026
Year: 2026

The Ring-Learning With Errors (RLWE) problem forms the backbone of highly efficient Fully Homomorphic Encryption (FHE) schemes. A significant component of the RLWE public key and ciphertext of the form $(b,a)$ is the uniformly random polynomial $a \in R_q$ . While essential for security, the communication overhead of transmitting $a$ from client to server, and inputting it into a hardware accelerator, can be substantial, especially for FHE accelerators aiming at high acceleration factors. A known technique in reducing this overhead generates $a$ from a small seed on the client side via a deterministic process, transmits only the seed, and generates $a$ on-the-fly within the accelerator. Challenges in the hardware implementation of an accelerator include wiring (density and power), compute area, compute power as well as flexibility in scheduling of on-the-fly generation instructions. This extended abstract proposes a concrete scheme and parameters wherein these practical challenges are addressed. We detail the benefits of our approach, which maintains the reduction in communication latency and memory footprint, while allowing parallel generation of uniformly distributed samples, relaxed wiring requirements, unrestricted randomaccess to RNS limbs, and results in an extremely low overhead on the client side (i.e. less than 3%) during the key generation process. The proposed scheme eliminates the need for thick metal layers for randomness distribution and prevents the power consumption of the PRNG subsystem from scaling prohibitively with the acceleration factor, potentially saving tens of Watts per accelerator chip in high-throughput configurations.
The Sample Complexity of Replicable Realizable PAC Learning
Venue: arXiv cs.LG 2026
Year: 2026

In this paper, we consider the problem of replicable realizable PAC learning. We construct a particularly hard learning problem and show a sample complexity lower bound with a close to $(\log|H|)^{3/2}$ dependence on the size of the hypothesis class $H$. Our proof uses several novel techniques and works by defining a particular Cayley graph associated with $H$ and analyzing a suitable random walk on this graph by examining the spectral properties of its adjacency matrix. Furthermore, we show an almost matching upper bound for the lower bound instance, meaning if a stronger lower bound exists, one would have to consider a different instance of the problem.
Traffic-Aware Configuration of OPC UA PubSub in Industrial Automation Networks
Venue: arXiv cs.NI 2026
Year: 2026

Interoperability across industrial automation systems is a cornerstone of Industry 4.0. To address this need, the OPC Unified Architecture (OPC UA) Publish-Subscribe (PubSub) model offers a promising mechanism for enabling efficient communication among heterogeneous devices. PubSub facilitates resource sharing and communication configuration between devices, but it lacks clear guidelines for mapping diverse industrial traffic types to appropriate PubSub configurations. This gap can lead to misconfigurations that degrade network performance and compromise real-time requirements. This paper proposes a set of guidelines for mapping industrial traffic types, based on their timing and quality-of-service specifications, to OPC UA PubSub configurations. The goal is to ensure predictable communication and support real-time performance in industrial networks. The proposed guidelines are evaluated through an industrial use case that demonstrates the impact of incorrect configuration on latency and throughput. The results underline the importance of traffic-aware PubSub configuration for achieving interoperability in Industry 4.0 systems.
Towards Understanding Views on Combining Videos and Gamification in Software Engineering Training
Venue: arXiv cs.SE 2026
Year: 2026

Watching training videos passively leads to superficial learning. Adding gamification can increase engagement. We study how software engineering students and industry practitioners view gamifying video-based training. We conducted a survey with students and professionals. Students and professionals share similar perceptions toward video-based training in general and support combining gamification and video-based training. Our findings can inform the design of gamified training solutions for software engineers.
KGHaluBench: A Knowledge Graph-Based Hallucination Benchmark for Evaluating the Breadth and Depth of LLM Knowledge
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) possess a remarkable capacity to generate persuasive and intelligible language. However, coherence does not equate to truthfulness, as the responses often contain subtle hallucinations. Existing benchmarks are limited by static and narrow questions, leading to limited coverage and misleading evaluations. We present KGHaluBench, a Knowledge Graph-based hallucination benchmark that assesses LLMs across the breadth and depth of their knowledge, providing a fairer and more comprehensive insight into LLM truthfulness. Our framework utilises the KG to dynamically construct challenging, multifaceted questions, whose difficulty is then statistically estimated to address popularity bias. Our automated verification pipeline detects abstentions and verifies the LLM's response at both conceptual and correctness levels to identify different types of hallucinations. We evaluate 25 frontier models, using novel accuracy and hallucination metrics. The results provide a more interpretable insight into the knowledge factors that cause hallucinations across different model sizes. KGHaluBench is publicly available to support future developments in hallucination mitigation.
Denoising Particle Filters: Learning State Estimation with Single-Step Objectives
Venue: arXiv cs.RO 2026
Year: 2026

Learning-based methods commonly treat state estimation in robotics as a sequence modeling problem. While this paradigm can be effective at maximizing end-to-end performance, models are often difficult to interpret and expensive to train, since training requires unrolling sequences of predictions in time. As an alternative to end-to-end trained state estimation, we propose a novel particle filtering algorithm in which models are trained from individual state transitions, fully exploiting the Markov property in robotic systems. In this framework, measurement models are learned implicitly by minimizing a denoising score matching objective. At inference, the learned denoiser is used alongside a (learned) dynamics model to approximately solve the Bayesian filtering equation at each time step, effectively guiding predicted states toward the data manifold informed by measurements. We evaluate the proposed method on challenging robotic state estimation tasks in simulation, demonstrating competitive performance compared to tuned end-to-end trained baselines. Importantly, our method offers the desirable composability of classical filtering algorithms, allowing prior information and external sensor models to be incorporated without retraining.
BayesFusion-SDF: Probabilistic Signed Distance Fusion with View Planning on CPU
Venue: arXiv cs.CV 2026
Year: 2026

Key part of robotics, augmented reality, and digital inspection is dense 3D reconstruction from depth observations. Traditional volumetric fusion techniques, including truncated signed distance functions (TSDF), enable efficient and deterministic geometry reconstruction; however, they depend on heuristic weighting and fail to transparently convey uncertainty in a systematic way. Recent neural implicit methods, on the other hand, get very high fidelity but usually need a lot of GPU power for optimization and aren't very easy to understand for making decisions later on. This work presents BayesFusion-SDF, a CPU-centric probabilistic signed distance fusion framework that conceptualizes geometry as a sparse Gaussian random field with a defined posterior distribution over voxel distances. First, a rough TSDF reconstruction is used to create an adaptive narrow-band domain. Then, depth observations are combined using a heteroscedastic Bayesian formulation that is solved using sparse linear algebra and preconditioned conjugate gradients. Randomized diagonal estimators are a quick way to get an idea of posterior uncertainty. This makes it possible to extract surfaces and plan the next best view while taking into account uncertainty. Tests on a controlled ablation scene and a CO3D object sequence show that the new method is more accurate geometrically than TSDF baselines and gives useful estimates of uncertainty for active sensing. The proposed formulation provides a clear and easy-to-use alternative to GPU-heavy neural reconstruction methods while still being able to be understood in a probabilistic way and acting in a predictable way. GitHub: https://mazumdarsoumya.github.io/BayesFusionSDF
Git Takes Two: Split-View Awareness for Collaborative Learning of Distributed Workflows in Git
Venue: arXiv cs.HC 2026
Year: 2026

Git is widely used for collaborative software development, but it can be challenging for newcomers. While most learning tools focus on individual workflows, Git is inherently collaborative. We present GitAcademy, a browser-based learning platform that embeds a full Git environment with a split-view collaborative mode: learners work on their own local repositories connected to a shared remote repository, while simultaneously seeing their partner's actions mirrored in real time. This design is not intended for everyday software development, but rather as a training simulator to build awareness of distributed states, coordination, and collaborative troubleshooting. In a within-subjects study with 13 pairs of learners, we found that the split-view interface enhanced social presence, supported peer teaching, and was consistently preferred over a single-view baseline, even though performance gains were mixed. We further discuss how split-view awareness can serve as a training-only scaffold for collaborative learning of Git and other distributed technical systems.
Pixels Don't Lie (But Your Detector Might): Bootstrapping MLLM-as-a-Judge for Trustworthy Deepfake Detection and Reasoning Supervision
Venue: arXiv cs.CV 2026
Year: 2026

Deepfake detection models often generate natural-language explanations, yet their reasoning is frequently ungrounded in visual evidence, limiting reliability. Existing evaluations measure classification accuracy but overlook reasoning fidelity. We propose DeepfakeJudge, a framework for scalable reasoning supervision and evaluation, that integrates an out-of-distribution benchmark containing recent generative and editing forgeries, a human-annotated subset with visual reasoning labels, and a suite of evaluation models, that specialize in evaluating reasoning rationales without the need for explicit ground truth reasoning rationales. The Judge is optimized through a bootstrapped generator-evaluator process that scales human feedback into structured reasoning supervision and supports both pointwise and pairwise evaluation. On the proposed meta-evaluation benchmark, our reasoning-bootstrapped model achieves an accuracy of 96.2\%, outperforming \texttt{30x} larger baselines. The reasoning judge attains very high correlation with human ratings and 98.9\% percent pairwise agreement on the human-annotated meta-evaluation subset. These results establish reasoning fidelity as a quantifiable dimension of deepfake detection and demonstrate scalable supervision for interpretable deepfake reasoning. Our user study shows that participants preferred the reasonings generated by our framework 70\% of the time, in terms of faithfulness, groundedness, and usefulness, compared to those produced by other models and datasets. All of our datasets, models, and codebase are \href{https://github.com/KjAeRsTuIsK/DeepfakeJudge}{open-sourced}.
Generative 6D Pose Estimation via Conditional Flow Matching
Venue: arXiv cs.CV 2026
Year: 2026

Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in $\mathrm{SE}(3)$ or estimate it indirectly via local feature matching. The former struggle with object symmetries, while the latter fail in the absence of distinctive local features. To overcome these limitations, we propose a novel formulation of 6D pose estimation as a conditional flow matching problem in $\mathbb{R}^3$. We introduce Flose, a generative method that infers object poses via a denoising process conditioned on local features. While prior approaches based on conditional flow matching perform denoising solely based on geometric guidance, Flose integrates appearance-based semantic features to mitigate ambiguities caused by object symmetries. We further incorporate RANSAC-based registration to handle outliers. We validate Flose on five datasets from the established BOP benchmark. Flose outperforms prior methods with an average improvement of +4.5 Average Recall. Project Website : https://tev-fbk.github.io/Flose/
A Risk-Aware UAV-Edge Service Framework for Wildfire Monitoring and Emergency Response
Venue: arXiv cs.DC 2026
Year: 2026

Wildfire monitoring demands timely data collection and processing for early detection and rapid response. UAV-assisted edge computing is a promising approach, but jointly minimizing end-to-end service response time while satisfying energy, revisit time, and capacity constraints remains challenging. We propose an integrated framework that co-optimizes UAV route planning, fleet sizing, and edge service provisioning for wildfire monitoring. The framework combines fire-history-weighted clustering to prioritize high-risk areas, Quality of Service (QoS)-aware edge assignment balancing proximity and computational load, 2-opt route optimization with adaptive fleet sizing, and a dynamic emergency rerouting mechanism. The key insight is that these subproblems are interdependent: clustering decisions simultaneously shape patrol efficiency and edge workloads, while capacity constraints feed back into feasible configurations. Experiments show that the proposed framework reduces average response time by 70.6--84.2%, energy consumption by 73.8--88.4%, and fleet size by 26.7--42.1% compared to GA, PSO, and greedy baselines. The emergency mechanism responds within 233 seconds, well under the 300-second deadline, with negligible impact on normal operations.