OpenRaiser/Intern-Atlas huggingface dataset:
ICON: Intent-Context Coupling for Efficient Multi-Turn Jailbreak Attack
Venue: arXiv cs.CR 2026
Year: 2026

Multi-turn jailbreak attacks have emerged as a critical threat to Large Language Models (LLMs), bypassing safety mechanisms by progressively constructing adversarial contexts from scratch and incrementally refining prompts. However, existing methods suffer from the inefficiency of incremental context construction that requires step-by-step LLM interaction, and often stagnate in suboptimal regions due to surface-level optimization. In this paper, we characterize the Intent-Context Coupling phenomenon, revealing that LLM safety constraints are significantly relaxed when a malicious intent is coupled with a semantically congruent context pattern. Driven by this insight, we propose ICON, an automated multi-turn jailbreak framework that efficiently constructs an authoritative-style context via prior-guided semantic routing. Specifically, ICON first routes the malicious intent to a congruent context pattern (e.g., Scientific Research) and instantiates it into an attack prompt sequence. This sequence progressively builds the authoritative-style context and ultimately elicits prohibited content. In addition, ICON incorporates a Hierarchical Optimization Strategy that combines local prompt refinement with global context switching, preventing the attack from stagnating in ineffective contexts. Experimental results across eight SOTA LLMs demonstrate the effectiveness of ICON, achieving a state-of-the-art average Attack Success Rate (ASR) of 97.1\%. Code is available at https://github.com/xwlin-roy/ICON.
On Approximate Nash Equilibria in Mean Field Games
Venue: arXiv cs.GT 2026
Year: 2026

In the context of large population symmetric games, approximate Nash equilibria are introduced through equilibrium solutions of the corresponding mean field game in the sense that the individual gain from optimal unilateral deviation under such strategies converges to zero in the large population size asymptotic. We show that these strategies satisfy an $Ł^\infty$ notion of approximate Nash equilibrium which guarantees that the individual gain from optimal unilateral deviation is small uniformly among players and uniformly on their initial characteristics. We establish these results in the context of static models and in the dynamic continuous time setting, and we cover situations where the agents' criteria depend on the conditional law of the controlled state process.
Noninvasive Intracranial Pressure Estimation Using Subspace System Identification and Bespoke Machine Learning Algorithms: A Learning-to-Rank Approach
Venue: arXiv cs.LG 2026
Year: 2026

Accurate noninvasive estimation of intracranial pressure (ICP) remains a major challenge in critical care. We developed a bespoke machine learning algorithm that integrates system identification and ranking-constrained optimization to estimate mean ICP from noninvasive signals. A machine learning framework was proposed to obtain accurate mean ICP values using arbitrary noninvasive signals. The subspace system identification algorithm is employed to identify cerebral hemodynamics models for ICP simulation using arterial blood pressure (ABP), cerebral blood velocity (CBv), and R-wave to R-wave interval (R-R interval) signals in a comprehensive database. A mapping function to describe the relationship between the features of noninvasive signals and the estimation errors is learned using innovative ranking constraints through convex optimization. Patients across multiple clinical settings were randomly split into testing and training datasets for performance evaluation of the mapping function. The results indicate that about 31.88% of testing entries achieved estimation errors within 2 mmHg and 34.07% of testing entries between 2 mmHg and 6 mmHg from the nonlinear mapping with constraints. Our results demonstrate the feasibility of the proposed noninvasive ICP estimation approach. Further validation and technical refinement are required before clinical deployment, but this work lays the foundation for safe and broadly accessible ICP monitoring in patients with acute brain injury and related conditions.
Infusion of Blockchain to Establish Trustworthiness in AI Supported Software Evolution: A Systematic Literature Review
Venue: arXiv cs.SE 2026
Year: 2026

Context: Blockchain and AI are increasingly explored to enhance trustworthiness in software engineering (SE), particularly in supporting software evolution tasks. Method: We conducted a systematic literature review (SLR) using a predefined protocol with clear eligibility criteria to ensure transparency, reproducibility, and minimized bias, synthesizing research on blockchain-enabled trust in AI-driven SE tools and processes. Results: Most studies focus on integrating AI in SE, with only 31% explicitly addressing trustworthiness. Our review highlights six recent studies exploring blockchain-based approaches to reinforce reliability, transparency, and accountability in AI-assisted SE tasks. Conclusion: Blockchain enhances trust by ensuring data immutability, model transparency, and lifecycle accountability, including federated learning with blockchain consensus and private data verification. However, inconsistent definitions of trust and limited real-world testing remain major challenges. Future work must develop measurable, reproducible trust frameworks to enable reliable, secure, and compliant AI-driven SE ecosystems, including applications involving large language models.
The Epistemic Planning Domain Definition Language: Official Guideline
Venue: arXiv cs.AI 2026
Year: 2026

Epistemic planning extends (multi-agent) automated planning by making agents' knowledge and beliefs first-class aspects of the planning formalism. One of the most well-known frameworks for epistemic planning is Dynamic Epistemic Logic (DEL), which offers an rich and natural semantics for modelling problems in this setting. The high expressive power provided by DEL make DEL-based epistemic planning a challenging problem to tackle both theoretically, and in practical implementations. As a result, existing epistemic planners often target different DEL fragments, and typically rely on ad hoc languages to represent benchmarks, and sometimes no language at all. This fragmentation hampers comparison, reuse, and systematic benchmark development. We address these issues by introducing the Epistemic Planning Domain Definition Language (EPDDL). EPDDL provides a unique PDDL-like representation that captures the entire DEL semantics, enabling uniform specification of epistemic planning tasks. Our main contributions are: 1. A formal development of abstract event models, a novel representation for epistemic actions used to define the semantics of our language; 2. A formal specification of EPDDL's syntax and semantics grounded in DEL with abstract event models. Through examples of representative benchmarks, we illustrate how EPDDL facilitates interoperability, reproducible evaluation, and future advances in epistemic planning.
Low performing pixel correction in computed tomography with unrolled network and synthetic data training
Venue: arXiv cs.CV 2026
Year: 2026

Low performance pixels (LPP) in Computed Tomography (CT) detectors would lead to ring and streak artifacts in the reconstructed images, making them clinically unusable. In recent years, several solutions have been proposed to correct LPP artifacts, either in the image domain or in the sinogram domain using supervised deep learning methods. However, these methods require dedicated datasets for training, which are expensive to collect. Moreover, existing approaches focus solely either on image-space or sinogram-space correction, ignoring the intrinsic correlations from the forward operation of the CT geometry. In this work, we propose an unrolled dual-domain method based on synthetic data to correct LPP artifacts. Specifically, the intrinsic correlations of LPP between the sinogram and image domains are leveraged through synthetic data generated from natural images, enabling the trained model to correct artifacts without requiring any real-world clinical data. In experiments simulating 1-2% detectors defect near the isocenter, the proposed method outperformed the state-of-the-art approaches by a large margin. The results indicate that our solution can correct LPP artifacts without the cost of data collection for model training, and it is adaptable to different scanner settings for software-based applications.
Bayesian-LoRA: Probabilistic Low-Rank Adaptation of Large Language Models
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models usually put more emphasis on accuracy and therefore, will guess even when not certain about the prediction, which is especially severe when fine-tuned on small datasets due to the inherent tendency toward miscalibration. In this work, we introduce Bayesian-LoRA, which reformulates the deterministic LoRA update as a probabilistic low-rank representation inspired by Sparse Gaussian Processes. We identify a structural isomorphism between LoRA's factorization and Kronecker-factored SGP posteriors, and show that LoRA emerges as a limiting case when posterior uncertainty collapses. We conduct extensive experiments on various LLM architectures across commonsense reasoning benchmarks. With only approximately 0.42M additional parameters and ${\approx}1.2{\times}$ training cost relative to standard LoRA, Bayesian-LoRA significantly improves calibration across models up to 30B, achieving up to 84% ECE reduction and 76% NLL reduction while maintaining competitive accuracy for both in-distribution and out-of-distribution (OoD) evaluations.
Track-centric Iterative Learning for Global Trajectory Optimization in Autonomous Racing
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking such a trajectory in the real world hardly assures global optimality due to uncertain dynamics. Yet, existing work mostly focuses on dynamics learning at the tracking level, without updating the trajectory itself to account for the learned dynamics. To address these challenges, we propose a track-centric approach that directly learns and optimizes the full-horizon trajectory. We first represent trajectories through a track-agnostic parametric space in light of the wavelet transform. This space is then efficiently explored using Bayesian optimization, where the lap time of each candidate is evaluated by running simulations with the learned dynamics. This optimization is embedded in an iterative learning framework, where the optimized trajectory is deployed to collect real-world data for updating the dynamics, progressively refining the trajectory over the iterations. The effectiveness of the proposed framework is validated through simulations and real-world experiments, demonstrating lap time improvement of up to 20.7% over a nominal baseline and consistently outperforming state-of-the-art methods.
"Unlimited Realm of Exploration and Experimentation": Methods and Motivations of AI-Generated Sexual Content Creators
Venue: arXiv cs.CY 2026
Year: 2026

AI-generated media is radically changing the way content is both consumed and produced on the internet, and in no place is this potentially more visible than in sexual content. AI-generated sexual content (AIG-SC) is increasingly enabled by an ecosystem of individual AI developers, specialized third-party applications, and foundation model providers. AIG-SC raises a number of concerns from old debates about the line between pornography and obscenity, to newer debates about fair use and labor displacement (in this case, of sex workers), and spurred new regulations to curb the spread of non-consensual intimate imagery (NCII) created using the same technology used to create AIG-SC. However, despite the growing prevalence of AIG-SC, little is known about its creators, their motivations, and what types of content they produce. To inform effective governance in this space, we perform an in-depth study to understand what AIG-SC creators make, along with how and why they make it. Interviews of 28 AIG-SC creators, ranging from hobbyists to entrepreneurs to those who moderate communities of hundreds of thousands of other creators, reveal a wide spectrum of motivations, including sexual exploration, creative expression, technical experimentation, and in a handful of cases, the creation of NCII.
Log2Motion: Biomechanical Motion Synthesis from Touch Logs
Venue: arXiv cs.HC 2026
Year: 2026

Touch data from mobile devices are collected at scale but reveal little about the interactions that produce them. While biomechanical simulations can illuminate motor control processes, they have not yet been developed for touch interactions. To close this gap, we propose a novel computational problem: synthesizing plausible motion directly from logs. Our key insight is a reinforcement learning-driven musculoskeletal forward simulation that generates biomechanically plausible motion sequences consistent with events recorded in touch logs. We achieve this by integrating a software emulator into a physics simulator, allowing biomechanical models to manipulate real applications in real-time. Log2Motion produces rich syntheses of user movements from touch logs, including estimates of motion, speed, accuracy, and effort. We assess the plausibility of generated movements by comparing against human data from a motion capture study and prior findings, and demonstrate Log2Motion in a large-scale dataset. Biomechanical motion synthesis provides a new way to understand log data, illuminating the ergonomics and motor control underlying touch interactions.
QUARK: Robust Retrieval under Non-Faithful Queries via Query-Anchored Aggregation
Venue: arXiv cs.AI 2026
Year: 2026

User queries in real-world retrieval are often non-faithful (noisy, incomplete, or distorted), causing retrievers to fail when key semantics are missing. We formalize this as retrieval under recall noise, where the observed query is drawn from a noisy recall process of a latent target item. To address this, we propose QUARK, a simple yet effective training-free framework for robust retrieval under non-faithful queries. QUARK explicitly models query uncertainty through recovery hypotheses, i.e., multiple plausible interpretations of the latent intent given the observed query, and introduces query-anchored aggregation to combine their signals robustly. The original query serves as a semantic anchor, while recovery hypotheses provide controlled auxiliary evidence, preventing semantic drift and hypothesis hijacking. This design enables QUARK to improve recall and ranking quality without sacrificing robustness, even when some hypotheses are noisy or uninformative. Across controlled simulations and BEIR benchmarks (FIQA, SciFact, NFCorpus) with both sparse and dense retrievers, QUARK improves Recall, MRR, and nDCG over the base retriever. Ablations show QUARK is robust to the number of recovery hypotheses and that anchored aggregation outperforms unanchored max/mean/median pooling. These results demonstrate that modeling query uncertainty through recovery hypotheses, coupled with principled anchored aggregation, is essential for robust retrieval under non-faithful queries.
Privatization of Synthetic Gaze: Attenuating State Signatures in Diffusion-Generated Eye Movements
Venue: arXiv cs.HC 2026
Year: 2026

The recent success of deep learning (DL) has enabled the generation of high-quality synthetic gaze data. However, such data also raises privacy concerns because gaze sequences can encode subjects' internal states, like fatigue, emotional load, or stress. Ideally, synthetic gaze should preserve the signal quality of real recordings and remove or attenuate state-related, privacy-sensitive attributes. Many recent DL-based generative models focus on replicating real gaze trajectories and do not explicitly consider subjective reports or the privatization of internal states. However, in this work, we consider a recent diffusion-based gaze synthesis approach and examine correlations between synthetic gaze features and subjective reports (e.g., fatigue and related self-reported states). Our result shows that these correlations are trivial, which suggests the generative approach suppresses state-related features. Moreover, synthetic gaze preserves necessary signal characteristics similar to those of real data, which supports its use for privacy-preserving gaze-based applications.
Snowball: A Scalable All-to-All Ising Machine with Dual-Mode Markov Chain Monte Carlo Spin Selection and Asynchronous Spin Updates for Fast Combinatorial Optimization
Venue: arXiv cs.LG 2026
Year: 2026

Ising machines have emerged as accelerators for combinatorial optimization. To enable practical deployment, this work aims to reduce time-to-solution by addressing three challenges: (1) hardware topology, (2) spin selection and update algorithms, and (3) scalable coupling-coefficient precision. Restricted topologies require minor embedding; naive parallel updates can oscillate or stall; and limited precision can preclude feasible mappings or degrade solution quality. This work presents Snowball, a digital, scalable, all-to-all coupled Ising machine that integrates dual-mode Markov chain Monte Carlo spin selection with asynchronous spin updates to promote convergence and reduce time-to-solution. The digital architecture supports wide, configurable coupling precision, unlike many analog realizations at high bit widths. A prototype on an AMD Alveo U250 accelerator card achieves an 8$\times$ reduction in time-to-solution relative to a state-of-the-art Ising machine on the same benchmark instance.
Signal from Structure: Exploiting Submodular Upper Bounds in Generative Flow Networks
Venue: arXiv cs.LG 2026
Year: 2026

Generative Flow Networks (GFlowNets; GFNs) are a class of generative models that learn to sample compositional objects proportionally to their a priori unknown value, their reward. We focus on the case where the reward has a specified, actionable structure, namely that it is submodular. We show submodularity can be harnessed to retrieve upper bounds on the reward of compositional objects that have not yet been observed. We provide in-depth analyses of the probability of such bounds occurring, as well as how many unobserved compositional objects can be covered by a bound. Following the Optimism in the Face of Uncertainty principle, we then introduce SUBo-GFN, which uses the submodular upper bounds to train a GFN. We show that SUBo-GFN generates orders of magnitude more training data than classical GFNs for the same number of queries to the reward function. We demonstrate the effectiveness of SUBo-GFN in terms of distribution matching and high-quality candidate generation on synthetic and real-world submodular tasks.
Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Venue: arXiv cs.RO 2026
Year: 2026

Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this article, we share insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain and communicating over an ad hoc network. We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments. Additionally, we introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements. This dataset aims to support future research on communication-constrained, decentralized multirobot operations.
Textual Equilibrium Propagation for Deep Compound AI Systems
Venue: arXiv cs.LG 2026
Year: 2026

Large language models (LLMs) are increasingly deployed as part of compound AI systems that coordinate multiple modules (e.g., retrievers, tools, verifiers) over long-horizon workflows. Recent approaches that propagate textual feedback globally (e.g., TextGrad) make it feasible to optimize such pipelines, but we find that performance degrades as system depth grows. In particular, long-horizon agentic workflows exhibit two depth-scaling failure modes: 1) exploding textual gradient, where textual feedback grows exponentially with depth, leading to prohibitively long message and amplifies evaluation biases; and 2) vanishing textual gradient, where limited long-context ability causes models overemphasize partial feedback and compression of lengthy feedback causes downstream messages to lose specificity gradually as they propagate many hops upstream. To mitigate these issues, we introduce Textual Equilibrium Propagation (TEP), a local learning principle inspired by Equilibrium Propagation in energy-based models. TEP includes two phases: 1) a free phase where a local LLM critics iteratively refine prompts until reaching equilibrium (no further improvements are suggested); and 2) a nudged phase which applies proximal prompt edits with bounded modification intensity, using task-level objectives that propagate via forward signaling rather than backward feedback chains. This design supports local prompt optimization followed by controlled adaptation toward global goals without the computational burden and signal degradation of global textual backpropagation. Across long-horizon QA benchmarks and multi-agent tool-use dataset, TEP consistently improves accuracy and efficiency over global propagation methods such as TextGrad. The gains grows with depth, while preserving the practicality of black-box LLM components in deep compound AI system.
Position-invariant Fine-tuning of Speech Enhancement Models with Self-supervised Speech Representations
Venue: arXiv cs.CL 2026
Year: 2026

Integrating front-end speech enhancement (SE) models with self-supervised learning (SSL)-based speech models is effective for downstream tasks in noisy conditions. SE models are commonly fine-tuned using SSL representations with mean squared error (MSE) loss between enhanced and clean speech. However, MSE is prone to exploiting positional embeddings in SSL models, allowing the objective to be minimised through positional correlations instead of content-related information. This work frames the problem as a general limitation of self-supervised representation fine-tuning and investigates it through representation-guided SE. Two strategies are considered: (1) zero-padding, previously explored in SSL pre-training but here examined in the fine-tuning setting, and (2) speed perturbations with a soft-DTW loss. Experiments show that the soft-DTW-based approach achieves faster convergence and improved downstream performance, underscoring the importance of position-invariant fine-tuning in SSL-based speech modelling.
MapPFN: Learning Causal Perturbation Maps in Context
Venue: arXiv cs.LG 2026
Year: 2026

Planning effective interventions in biological systems requires treatment-effect models that adapt to unseen biological contexts by identifying their specific underlying mechanisms. Yet single-cell perturbation datasets span only a handful of biological contexts, and existing methods cannot leverage new interventional evidence at inference time to adapt beyond their training data. To meta-learn a perturbation effect estimator, we present MapPFN, a prior-data fitted network (PFN) pretrained on synthetic data generated from a prior over causal perturbations. Given a set of experiments, MapPFN uses in-context learning to predict post-perturbation distributions, without gradient-based optimization. Despite being pretrained on in silico gene knockouts alone, MapPFN identifies differentially expressed genes, matching the performance of models trained on real single-cell data. Our code and data are available at https://github.com/marvinsxtr/MapPFN.