OpenRaiser/Intern-Atlas huggingface dataset:
Enhancing Capstone Program Workflow: A Case Study on a Platform for Managing Academic-Industry Projects
Venue: arXiv cs.CY 2026
Year: 2026

Capstone projects are widely adopted by universities around the world as a culminating assessment in bachelor's degree programs. These projects typically involve student teams tackling complex, real-world problems proposed by external stakeholders, such as companies, NGOs, or research centers. Although they offer valuable hands-on experience, managing Capstone projects can be challenging due to their multiple stages and demands. The process typically begins by identifying students' interests, followed by sourcing and selecting potential projects from external organizations. After presenting these options to students, groups must be formed based on various criteria, including academic ranking, GPA, previous experience, and individual skill sets. In this paper, we detail a web-based tool designed to streamline the management of Capstone projects at Insper, with an emphasis on project sourcing and group formation. We also discuss the technological solutions and the challenges encountered throughout development and deployment. Furthermore, we present usage data from recent years, offering insights that may prove valuable for institutions or teams developing similar tools in the future.
Enormous Fluid Antenna Systems (E-FAS)--Part II: Channel Estimation
Venue: arXiv cs.IT 2026
Year: 2026

Enormous fluid antenna systems (E-FAS) have recently emerged as a new wireless architecture in which intelligent metasurfaces act as guided electromagnetic interfaces, enabling surface-wave (SW) propagation with much lower attenuation and more control than conventional space-wave transmission. While prior work has reported substantial power gains under perfect channel state information (CSI), the impact of practical channel acquisition on E-FAS performance remains largely unexplored. This paper presents the first comprehensive analysis of E-FAS-assisted downlink transmission under pilot-based channel estimation. We develop an estimation framework for the equivalent end-to-end channel and derive closed-form expressions for the statistics of the minimum mean-square-error (MMSE) channel estimate and its estimation error. Building on these results, we analyze both single-user and multiuser operation while explicitly accounting for the training overhead. For the single-user case, we characterize the outage probability and achievable rate with imperfect CSI, and reveal an inherent signal-to-noise ratio (SNR) saturation phenomenon caused by residual self-interference. For the multiuser case, we study zero-forcing (ZF) precoding based on imperfect channel estimates and show that the system becomes interference-limited in the high SNR regime because of residual inter-user interference. Furthermore, we quantify the trade-off between spatial multiplexing gains and pilot overhead when the number of users increases. Analytical findings are validated via Monte Carlo simulations and benchmarked against least-squares (LS) estimation and conventional non-E-FAS transmission. The results reveal that despite CSI imperfections and training costs, E-FAS retains substantial performance advantages and provides robustness enabled by its amplified large-scale channel gain.
Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
Venue: arXiv cs.RO 2026
Year: 2026

Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered environments, often exhibiting prohibitive computational cost, poor robustness, and restricted generality when scaling to multiple interacting objects. We propose a unified optimization-based formulation for real-to-sim scene estimation that jointly recovers the shapes and poses of multiple rigid objects under physical constraints. Our method is built on two key technical innovations. First, we leverage the recently introduced shape-differentiable contact model, whose global differentiability permits joint optimization over object geometry and pose while modeling inter-object contacts. Second, we exploit the structured sparsity of the augmented Lagrangian Hessian to derive an efficient linear system solver whose computational cost scales favorably with scene complexity. Building on this formulation, we develop an end-to-end real-to-sim scene estimation pipeline that integrates learning-based object initialization, physics-constrained joint shape-pose optimization, and differentiable texture refinement. Experiments on cluttered scenes with up to 5 objects and 22 convex hulls demonstrate that our approach robustly reconstructs physically valid, simulation-ready object shapes and poses.
Benchmarking Early Deterioration Prediction Across Hospital-Rich and MCI-Like Emergency Triage Under Constrained Sensing
Venue: arXiv cs.CY 2026
Year: 2026

Emergency triage decisions are made under severe information constraints, yet most data-driven deterioration models are evaluated using signals unavailable during initial assessment. We present a leakage-aware benchmarking framework for early deterioration prediction that evaluates model performance under realistic, time-limited sensing conditions. Using a patient-deduplicated cohort derived from MIMIC-IV-ED, we compare hospital-rich triage with a vitals-only, MCI-like setting, restricting inputs to information available within the first hour of presentation. Across multiple modeling approaches, predictive performance declines only modestly when limited to vitals, indicating that early physiological measurements retain substantial clinical signal. Structured ablation and interpretability analyses identify respiratory and oxygenation measures as the most influential contributors to early risk stratification, with models exhibiting stable, graceful degradation as sensing is reduced. This work provides a clinically grounded benchmark to support the evaluation and design of deployable triage decision-support systems in resource-constrained settings.
OTPrune: Distribution-Aligned Visual Token Pruning via Optimal Transport
Venue: arXiv cs.CV 2026
Year: 2026

Multi-modal large language models (MLLMs) achieve strong visual-language reasoning but suffer from high inference cost due to redundant visual tokens. Recent work explores visual token pruning to accelerate inference, while existing pruning methods overlook the underlying distributional structure of visual representations. We propose OTPrune, a training-free framework that formulates pruning as distribution alignment via optimal transport (OT). By minimizing the 2-Wasserstein distance between the full and pruned token distributions, OTPrune preserves both local diversity and global representativeness while reducing inference cost. Moreover, we derive a tractable submodular objective that enables efficient optimization, and theoretically prove its monotonicity and submodularity, providing a principled foundation for stable and efficient pruning. We further provide a comprehensive analysis that explains how distributional alignment contributes to stable and semantically faithful pruning. Comprehensive experiments on wider benchmarks demonstrate that OTPrune achieves superior performance-efficiency tradeoffs compared to state-of-the-art methods. The code is available at https://github.com/xiwenc1/OTPrune.
Mitigating "Epistemic Debt" in Generative AI-Scaffolded Novice Programming using Metacognitive Scripts
Venue: arXiv cs.SE 2026
Year: 2026

The democratization of Large Language Models (LLMs) has given rise to ``Vibe Coding," a workflow where novice programmers prioritize semantic intent over syntactic implementation. While this lowers barriers to entry, we hypothesize that without pedagogical guardrails, it is fundamentally misaligned with cognitive skill acquisition. Drawing on the distinction between Cognitive Offloading and Cognitive Outsourcing, we argue that unrestricted AI encourages novices to outsource the Intrinsic Cognitive Load required for schema formation, rather than merely offloading Extraneous Load. This accumulation of ``Epistemic Debt" creates ``Fragile Experts" whose high functional utility masks critically low corrective competence. To quantify and mitigate this debt, we conducted a between-subjects experiment (N=78) using a custom Cursor IDE plugin backed by Claude 3.5 Sonnet. Participants represented "AI-Native" learners across three conditions: Manual (Control), Unrestricted AI (Outsourcing), and Scaffolded AI (Offloading). The Scaffolded condition utilized a novel ``Explanation Gate," leveraging a real-time LLM-as-a-Judge framework to enforce a ``Teach-Back" protocol before generated code could be integrated. Results reveal a ``Collapse of Competence": while Unrestricted AI users matched the productivity of the Scaffolded group (p < .001 vs. Manual), they suffered a 77% failure rate in a subsequent AI-Blackout maintenance task, compared to only 39% in the Scaffolded group. Qualitative analysis suggests that successful vibe coders naturally engage in self-scaffolding, treating the AI as a consultant rather than a contractor. We discuss the implications for the maintainability of AI-generated software and propose that future learning systems must enforce Metacognitive Friction to prevent the mass production of unmaintainable code.
FACTO: Function-space Adaptive Constrained Trajectory Optimization for Robotic Manipulators
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces Function-space Adaptive Constrained Trajectory Optimization (FACTO), a new trajectory optimization algorithm for both single- and multi-arm manipulators. Trajectory representations are parameterized as linear combinations of orthogonal basis functions, and optimization is performed directly in the coefficient space. The constrained problem formulation consists of both an objective functional and a finite-dimensional objective defined over truncated coefficients. To address nonlinearity, FACTO uses a Gauss-Newton approximation with exponential moving averaging, yielding a smoothed quadratic subproblem. Trajectory-wide constraints are addressed using coefficient-space mappings, and an adaptive constrained update using the Levenberg-Marquardt algorithm is performed in the null space of active constraints. Comparisons with optimization-based planners (CHOMP, TrajOpt, GPMP2) and sampling-based planners (RRT-Connect, RRT*, PRM) show the improved solution quality and feasibility, especially in constrained single- and multi-arm scenarios. The experimental evaluation of FACTO on Franka robots verifies the feasibility of deployment.
De-rendering, Reasoning, and Repairing Charts with Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Data visualizations are central to scientific communication, journalism, and everyday decision-making, yet they are frequently prone to errors that can distort interpretation or mislead audiences. Rule-based visualization linters can flag violations, but they miss context and do not suggest meaningful design changes. Directly querying general-purpose LLMs about visualization quality is unreliable: lacking training to follow visualization design principles, they often produce inconsistent or incorrect feedback. In this work, we introduce a framework that combines chart de-rendering, automated analysis, and iterative improvement to deliver actionable, interpretable feedback on visualization design. Our system reconstructs the structure of a chart from an image, identifies design flaws using vision-language reasoning, and proposes concrete modifications supported by established principles in visualization research. Users can selectively apply these improvements and re-render updated figures, creating a feedback loop that promotes both higher-quality visualizations and the development of visualization literacy. In our evaluation on 1,000 charts from the Chart2Code benchmark, the system generated 10,452 design recommendations, which clustered into 10 coherent categories (e.g., axis formatting, color accessibility, legend consistency). These results highlight the promise of LLM-driven recommendation systems for delivering structured, principle-based feedback on visualization design, opening the door to more intelligent and accessible authoring tools.
Discrete Diffusion with Sample-Efficient Estimators for Conditionals
Venue: arXiv cs.LG 2026
Year: 2026

We study a discrete denoising diffusion framework that integrates a sample-efficient estimator of single-site conditionals with round-robin noising and denoising dynamics for generative modeling over discrete state spaces. Rather than approximating a discrete analog of a score function, our formulation treats single-site conditional probabilities as the fundamental objects that parameterize the reverse diffusion process. We employ a sample-efficient method known as Neural Interaction Screening Estimator (NeurISE) to estimate these conditionals in the diffusion dynamics. Controlled experiments on synthetic Ising models, MNIST, and scientific data sets produced by a D-Wave quantum annealer, synthetic Potts model and one-dimensional quantum systems demonstrate the proposed approach. On the binary data sets, these experiments demonstrate that the proposed approach outperforms popular existing methods including ratio-based approaches, achieving improved performance in total variation, cross-correlations, and kernel density estimation metrics.
Learning Physical Principles from Interaction: Self-Evolving Planning via Test-Time Memory
Venue: arXiv cs.RO 2026
Year: 2026

Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction and stability in general terms; however, they often cannot predict how a specific ball will roll on a particular surface or which stone will provide a stable foundation without direct experience. We present PhysMem, a memory framework that enables VLM robot planners to learn physical principles from interaction at test time, without updating model parameters. The system records experiences, generates candidate hypotheses, and verifies them through targeted interaction before promoting validated knowledge to guide future decisions. A central design choice is verification before application: the system tests hypotheses against new observations rather than applying retrieved experience directly, reducing rigid reliance on prior experience when physical conditions change. We evaluate PhysMem on three real-world manipulation tasks and simulation benchmarks across four VLM backbones. On a controlled brick insertion task, principled abstraction achieves 76% success compared to 23% for direct experience retrieval, and real-world experiments show consistent improvement over 30-minute deployment sessions.
An artificial intelligence framework for end-to-end rare disease phenotyping from clinical notes using large language models
Venue: arXiv cs.AI 2026
Year: 2026

Phenotyping is fundamental to rare disease diagnosis, but manual curation of structured phenotypes from clinical notes is labor-intensive and difficult to scale. Existing artificial intelligence approaches typically optimize individual components of phenotyping but do not operationalize the full clinical workflow of extracting features from clinical text, standardizing them to Human Phenotype Ontology (HPO) terms, and prioritizing diagnostically informative HPO terms. We developed RARE-PHENIX, an end-to-end AI framework for rare disease phenotyping that integrates large language model-based phenotype extraction, ontology-grounded standardization to HPO terms, and supervised ranking of diagnostically informative phenotypes. We trained RARE-PHENIX using data from 2,671 patients across 11 Undiagnosed Diseases Network clinical sites, and externally validated it on 16,357 real-world clinical notes from Vanderbilt University Medical Center. Using clinician-curated HPO terms as the gold standard, RARE-PHENIX consistently outperformed a state-of-the-art deep learning baseline (PhenoBERT) across ontology-based similarity and precision-recall-F1 metrics in end-to-end evaluation (i.e., ontology-based similarity of 0.70 vs. 0.58). Ablation analyses demonstrated performance improvements with the addition of each module in RARE-PHENIX (extraction, standardization, and prioritization), supporting the value of modeling the full clinical phenotyping workflow. By modeling phenotyping as a clinically aligned workflow rather than a single extraction task, RARE-PHENIX provides structured, ranked phenotypes that are more concordant with clinician curation and has the potential to support human-in-the-loop rare disease diagnosis in real-world settings.
Energy-Based Injury Protection Database: Including Shearing Contact Thresholds for Hand and Finger Using Porcine Surrogates
Venue: arXiv cs.RO 2026
Year: 2026

While robotics research continues to propose strategies for collision avoidance in human-robot interaction, the reality of constrained environments and future humanoid systems makes contact inevitable. To mitigate injury risks, energy-constraining control approaches are commonly used, often relying on safety thresholds derived from blunt impact data in EN ISO 10218-2:2025. However, this dataset does not extend to edged or pointed collisions. Without scalable, clinically grounded datasets covering diverse contact scenarios, safety validation remains limited. Previous studies have laid the groundwork by assessing surrogate-based velocity and mass limits across various geometries, focusing on perpendicular impacts. This study expands those datasets by including shearing contact scenarios in unconstrained collisions, revealing that collision angle significantly affects injury outcomes. Notably, unconstrained shearing contacts result in fewer injuries than perpendicular ones. By reevaluating all prior porcine surrogate data, we establish energy thresholds across geometries and contact types, forming the first energy-based Injury Protection Database. This enables the development of meaningful energy-limiting controllers that ensure safety across a wide range of realistic collision events.
How communicatively optimal are exact numeral systems? Once more on lexicon size and morphosyntactic complexity
Venue: arXiv cs.CL 2026
Year: 2026

Recent research argues that exact recursive numeral systems optimize communicative efficiency by balancing a tradeoff between the size of the numeral lexicon and the average morphosyntactic complexity (roughly length in morphemes) of numeral terms. We argue that previous studies have not characterized the data in a fashion that accounts for the degree of complexity languages display. Using data from 52 genetically diverse languages and an annotation scheme distinguishing between predictable and unpredictable allomorphy (formal variation), we show that many of the world's languages are decisively less efficient than one would expect. We discuss the implications of our findings for the study of numeral systems and linguistic evolution more generally.
Case-Aware LLM-as-a-Judge Evaluation for Enterprise-Scale RAG Systems
Venue: arXiv cs.CL 2026
Year: 2026

Enterprise Retrieval-Augmented Generation (RAG) assistants operate in multi-turn, case-based workflows such as technical support and IT operations, where evaluation must reflect operational constraints, structured identifiers (e.g., error codes, versions), and resolution workflows. Existing RAG evaluation frameworks are primarily designed for benchmark-style or single-turn settings and often fail to capture enterprise-specific failure modes such as case misidentification, workflow misalignment, and partial resolution across turns. We present a case-aware LLM-as-a-Judge evaluation framework for enterprise multi-turn RAG systems. The framework evaluates each turn using eight operationally grounded metrics that separate retrieval quality, grounding fidelity, answer utility, precision integrity, and case/workflow alignment. A severity-aware scoring protocol reduces score inflation and improves diagnostic clarity across heterogeneous enterprise cases. The system uses deterministic prompting with strict JSON outputs, enabling scalable batch evaluation, regression testing, and production monitoring. Through a comparative study of two instruction-tuned models across short and long workflows, we show that generic proxy metrics provide ambiguous signals, while the proposed framework exposes enterprise-critical tradeoffs that are actionable for system improvement.
MedCLIPSeg: Probabilistic Vision-Language Adaptation for Data-Efficient and Generalizable Medical Image Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Medical image segmentation remains challenging due to limited annotations for training, ambiguous anatomical features, and domain shifts. While vision-language models such as CLIP offer strong cross-modal representations, their potential for dense, text-guided medical image segmentation remains underexplored. We present MedCLIPSeg, a novel framework that adapts CLIP for robust, data-efficient, and uncertainty-aware medical image segmentation. Our approach leverages patch-level CLIP embeddings through probabilistic cross-modal attention, enabling bidirectional interaction between image and text tokens and explicit modeling of predictive uncertainty. Together with a soft patch-level contrastive loss that encourages more nuanced semantic learning across diverse textual prompts, MedCLIPSeg effectively improves data efficiency and domain generalizability. Extensive experiments across 16 datasets spanning five imaging modalities and six organs demonstrate that MedCLIPSeg outperforms prior methods in accuracy, efficiency, and robustness, while providing interpretable uncertainty maps that highlight local reliability of segmentation results. This work demonstrates the potential of probabilistic vision-language modeling for text-driven medical image segmentation.
Understanding Human-AI Collaboration in Cybersecurity Competitions
Venue: arXiv cs.CR 2026
Year: 2026

Capture-the-Flag (CTF) competitions are increasingly becoming a testbed for evaluating AI capabilities at solving security tasks, due to the controlled environments and objective success criteria. Existing evaluations have focused on how successful AI is at solving CTF challenges in isolation from human CTF players. As AI usage increases in both academic and industrial settings, it is equally likely that human players may collaborate with AI agents to solve challenges. This possibility exposes a key knowledge gap: how do humans perceive AI CTF assistance; when assistance is provided, how do they collaborate and is it effective with respect to human performance; how do humans assisted by AI compare to the performance of fully autonomous AI agents on the same challenges. We address this gap with the first empirical study of AI assistance in a live, onsite CTF. In a study with 41 participants, we qualitatively study (i) how participants' perception, trust, and expectations shift before versus after hands-on AI use, and (ii) how participants collaborate with an instrumented AI agent. Moreover, we also (iii) benchmark four autonomous AI agents on the same fresh challenge set to compare outcomes with human teams and analyze agent trajectories. We find that, as the competition progresses, teams increasingly delegate larger subtasks to the AI, giving it more agency. Interestingly, CTF challenges solving rates are often constrained not by model's reasoning capabilities, but rather by the human players: ineffective prompting and poor context specification become the primary bottleneck. Remarkably, autonomous agents that self-direct their prompting and tool use bypass this bottleneck and outperform most human teams, coming in second overall in the competition. We conclude with implications for the future design of CTF challenges and for building effective human-in-the-loop AI systems for security.