OpenRaiser/Intern-Atlas huggingface dataset:
Do Mixed-Vendor Multi-Agent LLMs Improve Clinical Diagnosis?
Venue: arXiv cs.CL 2026
Year: 2026

Multi-agent large language model (LLM) systems have emerged as a promising approach for clinical diagnosis, leveraging collaboration among agents to refine medical reasoning. However, most existing frameworks rely on single-vendor teams (e.g., multiple agents from the same model family), which risk correlated failure modes that reinforce shared biases rather than correcting them. We investigate the impact of vendor diversity by comparing Single-LLM, Single-Vendor, and Mixed-Vendor Multi-Agent Conversation (MAC) frameworks. Using three doctor agents instantiated with o4-mini, Gemini-2.5-Pro, and Claude-4.5-Sonnet, we evaluate performance on RareBench and DiagnosisArena. Mixed-vendor configurations consistently outperform single-vendor counterparts, achieving state-of-the-art recall and accuracy. Overlap analysis reveals the underlying mechanism: mixed-vendor teams pool complementary inductive biases, surfacing correct diagnoses that individual models or homogeneous teams collectively miss. These results highlight vendor diversity as a key design principle for robust clinical diagnostic systems.
FedEMA-Distill: Exponential Moving Average Guided Knowledge Distillation for Robust Federated Learning
Venue: arXiv cs.LG 2026
Year: 2026

Federated learning (FL) often degrades when clients hold heterogeneous non-Independent and Identically Distributed (non-IID) data and when some clients behave adversarially, leading to client drift, slow convergence, and high communication overhead. This paper proposes FedEMA-Distill, a server-side procedure that combines an exponential moving average (EMA) of the global model with ensemble knowledge distillation from client-uploaded prediction logits evaluated on a small public proxy dataset. Clients run standard local training, upload only compressed logits, and may use different model architectures, so no changes are required to client-side software while still supporting model heterogeneity across devices. Experiments on CIFAR-10, CIFAR-100, FEMNIST, and AG News under Dirichlet-0.1 label skew show that FedEMA-Distill improves top-1 accuracy by several percentage points (up to +5% on CIFAR-10 and +6% on CIFAR-100) over representative baselines, reaches a given target accuracy in 30-35% fewer communication rounds, and reduces per-round client uplink payloads to 0.09-0.46 MB, i.e., roughly an order of magnitude less than transmitting full model weights. Using coordinate-wise median or trimmed-mean aggregation of logits at the server further stabilizes training in the presence of up to 10-20% Byzantine clients and yields well-calibrated predictions under attack. These results indicate that coupling temporal smoothing with logits-only aggregation provides a communication-efficient and attack-resilient FL pipeline that is deployment-friendly and compatible with secure aggregation and differential privacy, since only aggregated or obfuscated model outputs are exchanged.
Delta-Crosscoder: Robust Crosscoder Model Diffing in Narrow Fine-Tuning Regimes
Venue: arXiv cs.LG 2026
Year: 2026

Model diffing methods aim to identify how fine-tuning changes a model's internal representations. Crosscoders approach this by learning shared dictionaries of interpretable latent directions between base and fine-tuned models. However, existing formulations struggle with narrow fine-tuning, where behavioral changes are localized and asymmetric. We introduce Delta-Crosscoder, which combines BatchTopK sparsity with a delta-based loss prioritizing directions that change between models, plus an implicit contrastive signal from paired activations on matched inputs. Evaluated across 10 model organisms, including synthetic false facts, emergent misalignment, subliminal learning, and taboo word guessing (Gemma, LLaMA, Qwen; 1B-9B parameters), Delta-Crosscoder reliably isolates latent directions causally responsible for fine-tuned behaviors and enables effective mitigation, outperforming SAE-based baselines, while matching the Non-SAE-based. Our results demonstrate that crosscoders remain a powerful tool for model diffing.
SkillNet: Create, Evaluate, and Connect AI Skills
Venue: arXiv cs.AI 2026
Year: 2026

Current AI agents can flexibly invoke tools and execute complex tasks, yet their long-term advancement is hindered by the lack of systematic accumulation and transfer of skills. Without a unified mechanism for skill consolidation, agents frequently ``reinvent the wheel'', rediscovering solutions in isolated contexts without leveraging prior strategies. To overcome this limitation, we introduce SkillNet, an open infrastructure designed to create, evaluate, and organize AI skills at scale. SkillNet structures skills within a unified ontology that supports creating skills from heterogeneous sources, establishing rich relational connections, and performing multi-dimensional evaluation across Safety, Completeness, Executability, Maintainability, and Cost-awareness. Our infrastructure integrates a repository of over 200,000 skills, an interactive platform, and a versatile Python toolkit. Experimental evaluations on ALFWorld, WebShop, and ScienceWorld demonstrate that SkillNet significantly enhances agent performance, improving average rewards by 40% and reducing execution steps by 30% across multiple backbone models. By formalizing skills as evolving, composable assets, SkillNet provides a robust foundation for agents to move from transient experience to durable mastery.
An Explainable Ensemble Framework for Alzheimer's Disease Prediction Using Structured Clinical and Cognitive Data
Venue: arXiv cs.LG 2026
Year: 2026

Early and accurate detection of Alzheimer's disease (AD) remains a major challenge in medical diagnosis due to its subtle onset and progressive nature. This research introduces an explainable ensemble learning Framework designed to classify individuals as Alzheimer's or Non-Alzheimer's using structured clinical, lifestyle, metabolic, and lifestyle features. The workflow incorporates rigorous preprocessing, advanced feature engineering, SMOTE-Tomek hybrid class balancing, and optimized modeling using five ensemble algorithms-Random Forest, XGBoost, LightGBM, CatBoost, and Extra Trees-alongside a deep artificial neural network. Model selection was performed using stratified validation to prevent leakage, and the best-performing model was evaluated on a fully unseen test set. Ensemble methods achieved superior performance over deep learning, with XGBoost, Random Forest, and Soft Voting showing the strongest accuracy, sensitivity, and F1-score profiles. Explainability techniques, including SHAP and feature importance analysis, highlighted MMSE, Functional Assessment Age, and several engineered interaction features as the most influential determinants. The results demonstrate that the proposed framework provides a reliable and transparent approach to Alzheimer's disease prediction, offering strong potential for clinical decision support applications.
On Emergences of Non-Classical Statistical Characteristics in Classical Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

Inspired by measurement incompatibility and Bell-family inequalities in quantum mechanics, we propose the Non-Classical Network (NCnet), a simple classical neural architecture that stably exhibits non-classical statistical behaviors under typical and interpretable experimental setups. We find non-classicality, measured by the $S$ statistic of CHSH inequality, arises from gradient competitions of hidden-layer neurons shared by multi-tasks. Remarkably, even without physical links supporting explicit communication, one task head can implicitly sense the training task of other task heads via local loss oscillations, leading to non-local correlations in their training outcomes. Specifically, in the low-resource regime, the value of $S$ increases gradually with increasing resources and approaches toward its classical upper-bound 2, which implies that underfitting is alleviated with resources increase. As the model nears the critical scale required for adequate performance, $S$ may temporarily exceed 2. As resources continue to grow, $S$ then asymptotically decays down to and fluctuates around 2. Empirically, when model capacity is insufficient, $S$ is positively correlated with generalization performance, and the regime where $S$ first approaches $2$ often corresponding to good generalization. Overall, our results suggest that non-classical statistics can provide a novel perspective for understanding internal interactions and training dynamics of deep networks.
Discovering mathematical concepts through a multi-agent system
Venue: arXiv cs.AI 2026
Year: 2026

Mathematical concepts emerge through an interplay of processes, including experimentation, efforts at proof, and counterexamples. In this paper, we present a new multi-agent model for computational mathematical discovery based on this observation. Our system, conceived with research in mind, poses its own conjectures and then attempts to prove them, making decisions informed by this feedback and an evolving data distribution. Inspired by the history of Euler's conjecture for polyhedra and an open challenge in the literature, we benchmark with the task of autonomously recovering the concept of homology from polyhedral data and knowledge of linear algebra. Our system completes this learning problem. Most importantly, the experiments are ablations, statistically testing the value of the complete dynamic and controlling for experimental setup. They support our main claim: that the optimisation of the right combination of local processes can lead to surprisingly well-aligned notions of mathematical interestingness.
Invariant Causal Routing for Governing Social Norms in Online Market Economies
Venue: arXiv cs.LG 2026
Year: 2026

Social norms are stable behavioral patterns that emerge endogenously within economic systems through repeated interactions among agents. In online market economies, such norms -- like fair exposure, sustained participation, and balanced reinvestment -- are critical for long-term stability. We aim to understand the causal mechanisms driving these emergent norms and to design principled interventions that can steer them toward desired outcomes. This is challenging because norms arise from countless micro-level interactions that aggregate into macro-level regularities, making causal attribution and policy transferability difficult. To address this, we propose \textbf{Invariant Causal Routing (ICR)}, a causal governance framework that identifies policy-norm relations stable across heterogeneous environments. ICR integrates counterfactual reasoning with invariant causal discovery to separate genuine causal effects from spurious correlations and to construct interpretable, auditable policy rules that remain effective under distribution shift. In heterogeneous agent simulations calibrated with real data, ICR yields more stable norms, smaller generalization gaps, and more concise rules than correlation or coverage baselines, demonstrating that causal invariance offers a principled and interpretable foundation for governance.
Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators
Venue: arXiv cs.RO 2026
Year: 2026

The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT) are widely used, planning in the manipulator's joint space presents significant challenges due to non-invertible forward kinematics. A single task-space end-effector pose can correspond to multiple configuration-space states, creating a multi-arm bandit problem for the planner. In complex environments, simply choosing the wrong joint space goal can result in suboptimal trajectories or even failure to find a viable plan. To address this planning problem, we propose Many-RRT*: an extension of RRT*-Connect that plans to multiple goals in parallel. By generating multiple IK solutions and growing independent trees from these goal configurations simultaneously alongside a single start tree, Many-RRT* ensures that computational effort is not wasted on suboptimal IK solutions. This approach maintains robust convergence and asymptotic optimality. Experimental evaluations across robot morphologies and diverse obstacle environments demonstrate that Many-RRT* provides higher quality trajectories (44.5% lower cost in the same runtime) with a significantly higher success rate (100% vs. the next best of 1.6%) than previous RRT iterations without compromising on runtime performance.
Fusion and Grouping Strategies in Deep Learning for Local Climate Zone Classification of Multimodal Remote Sensing Data
Venue: arXiv cs.CV 2026
Year: 2026

Local Climate Zones (LCZs) give a zoning map to study urban structures and land use and analyze the impact of urbanization on local climate. Multimodal remote sensing enables LCZ classification, for which data fusion is significant for improving accuracy owing to the data complexity. However, there is a gap in a comprehensive analysis of the fusion mechanisms used in their deep learning (DL) classifier architectures. This study analyzes different fusion strategies in the multi-class LCZ classification models for multimodal data and grouping strategies based on inherent data characteristics. The different models involving Convolutional Neural Networks (CNNs) include: (i) baseline hybrid fusion (FM1), (ii) with self- and cross-attention mechanisms (FM2), (iii) with the multi-scale Gaussian filtered images (FM3), and (iv) weighted decision-level fusion (FM4). Ablation experiments are conducted to study the pixel-, feature-, and decision-level fusion effects in the model performance. Grouping strategies include band grouping (BG) within the data modalities and label merging (LM) in the ground truth. Our analysis is exclusively done on the So2Sat LCZ42 dataset, which consists of Synthetic Aperture Radar (SAR) and Multispectral Imaging (MSI) image pairs. Our results show that FM1 consistently outperforms simple fusion methods. FM1 with BG and LM is found to be the most effective approach among all fusion strategies, giving an overall accuracy of 76.6\%. Importantly, our study highlights the effect of these strategies in improving prediction accuracy for the underrepresented classes. Our code and processed datasets are available at https://github.com/GVCL/LCZC-MultiModalHybridFusion
Risk-Aware Reinforcement Learning for Mobile Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

For robots to successfully transition from lab settings to everyday environments, they must begin to reason about the risks associated with their actions and make informed, risk-aware decisions. This is particularly true for robots performing mobile manipulation tasks, which involve both interacting with and navigating within dynamic, unstructured spaces. However, existing whole-body controllers for mobile manipulators typically lack explicit mechanisms for risk-sensitive decision-making under uncertainty. To our knowledge, we are the first to (i) learn risk-aware visuomotor policies for mobile manipulation conditioned on egocentric depth observations with runtime-adjustable risk sensitivity, and (ii) show risk-aware behaviours can be transferred through Imitation Learning (IL) to a visuomotor policy conditioned on egocentric depth observations. Our method achieves this by first training a privileged teacher policy using Distributional Reinforcement Learning (DRL), with a risk-neutral distributional critic. Distortion risk-metrics are then applied to the critic's predicted return distribution to calculate risk-adjusted advantage estimates used in policy updates to achieve a range of risk-aware behaviours. We then distil teacher policies with IL to obtain risk-aware student policies conditioned on egocentric depth observations. We perform extensive evaluations demonstrating that our trained visuomotor policies exhibit risk-aware behaviour (specifically achieving better worst-case performance) while performing reactive whole-body motions in unmapped environments, leveraging live depth observations for perception.
Towards automated data analysis: A guided framework for LLM-based risk estimation
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) are increasingly integrated into critical decision-making pipelines, a trend that raises the demand for robust and automated data analysis. Current approaches to dataset risk analysis are limited to manual auditing methods which involve time-consuming and complex tasks, whereas fully automated analysis based on Artificial Intelligence (AI) suffers from hallucinations and issues stemming from AI alignment. To this end, this work proposes a framework for dataset risk estimation that integrates Generative AI under human guidance and supervision, aiming to set the foundations for a future automated risk analysis paradigm. Our approach utilizes LLMs to identify semantic and structural properties in database schemata, subsequently propose clustering techniques, generate the code for them and finally interpret the produced results. The human supervisor guides the model on the desired analysis and ensures process integrity and alignment with the task's objectives. A proof of concept is presented to demonstrate the feasibility of the framework's utility in producing meaningful results in risk assessment tasks.
When Agents Persuade: Propaganda Generation and Mitigation in LLMs
Venue: arXiv cs.AI 2026
Year: 2026

Despite their wide-ranging benefits, LLM-based agents deployed in open environments can be exploited to produce manipulative material. In this study, we task LLMs with propaganda objectives and analyze their outputs using two domain-specific models: one that classifies text as propaganda or non-propaganda, and another that detects rhetorical techniques of propaganda (e.g., loaded language, appeals to fear, flag-waving, name-calling). Our findings show that, when prompted, LLMs exhibit propagandistic behaviors and use a variety of rhetorical techniques in doing so. We also explore mitigation via Supervised Fine-Tuning (SFT), Direct Preference Optimization (DPO), and ORPO (Odds Ratio Preference Optimization). We find that fine-tuning significantly reduces their tendency to generate such content, with ORPO proving most effective.
GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planning
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We introduce a local navigation model that leverages pre-planned global paths, allowing robots to adhere to optimal routes while dynamically adjusting to environmental changes. The models robustness is enhanced through the introduction of noise during training, resulting in superior performance in complex, dynamic environments. Our approach is evaluated against established baselines, including NH-ORCA, DRL-NAV, and GA3C-CADRL, across various structurally diverse simulated scenarios. The results demonstrate that our model achieves consistently higher success rates, lower collision rates, and more efficient navigation, particularly in challenging scenarios where baseline models struggle. This work offers an advancement in multi-robot navigation, with implications for robust performance in complex, dynamic environments with varying degrees of complexity, such as those encountered in logistics, where adaptability is essential for accommodating unforeseen obstacles and unpredictable changes.
Hypercube drawings with no long plane paths
Venue: arXiv cs.CG 2026
Year: 2026

We study the existence of plane substructures in drawings of the $d$-dimensional hypercube graph $Q_d$. We construct drawings of $Q_d$ which contain no plane subgraph with more than $2d-2$ edges, no plane path with more than $2d-3$ edges, and no plane matching of size more than $2d-4$. On the other hand, we prove that every rectilinear drawing of $Q_d$ with vertices in convex position contains a plane path of length $d$ (if $d$ is odd) or $d-1$ (if $d$ is even). We also prove that if a graph $G$ is a plane subgraph of every drawing of $Q_d$ for a sufficiently large $d$, then $G$ is necessarily a forest of caterpillars. Lastly, we give a short proof of a generalization of a result by Alpert et al. [Cong. Numerantium, 2009] on the maximum rectilinear crossing number of $Q_d$.
Python Bindings for a Large C++ Robotics Library: The Case of OMPL
Venue: arXiv cs.RO 2026
Year: 2026

Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration with simulation and learning frameworks in robotics research. Yet, generating bindings for large codebases is a tedious process that creates a heavy burden for a small group of maintainers. In this work, we investigate the use of Large Language Models (LLMs) to assist in generating nanobind wrappers, with human experts kept in the loop. Our workflow mirrors the structure of the C++ codebase, scaffolds empty wrapper files, and employs LLMs to fill in binding definitions. Experts then review and refine the generated code to ensure correctness, compatibility, and performance. Through a case study on a large C++ motion planning library, we document common failure modes, including mismanaging shared pointers, overloads, and trampolines, and show how in-context examples and careful prompt design improve reliability. Experiments demonstrate that the resulting bindings achieve runtime performance comparable to legacy solutions. Beyond this case study, our results provide general lessons for applying LLMs to binding generation in large-scale C++ projects.
Decoding the Pulse of Reasoning VLMs in Multi-Image Understanding Tasks
Venue: arXiv cs.CV 2026
Year: 2026

Multi-image reasoning remains a significant challenge for vision-language models (VLMs). We investigate a previously overlooked phenomenon: during chain-of-thought (CoT) generation, the text-to-image (T2I) attention of reasoning VLMs exhibits diffuse "pulses": sporadic and unfocused attention patterns that fail to concentrate on task-relevant images. We further reveal a systematic positional bias in attention allocation across images. Motivated by these observations, we propose PulseFocus, a training-free, inference-time method that structures CoT reasoning into interleaved plan/focus blocks with soft attention gating. By forcing the model to explicitly plan which image to examine and then gating decode-time attention to the referenced image, PulseFocus sharpens attention focus and yields consistent improvements on multi-image benchmarks like BLINK benchmark (+3.7%) and MuirBench (+1.07%).