OpenRaiser/Intern-Atlas huggingface dataset:
Rotated Lights for Consistent and Efficient 2D Gaussians Inverse Rendering
Venue: arXiv cs.CV 2026
Year: 2026

Inverse rendering aims to decompose a scene into its geometry, material properties and light conditions under a certain rendering model. It has wide applications like view synthesis, relighting, and scene editing. In recent years, inverse rendering methods have been inspired by view synthesis approaches like neural radiance fields and Gaussian splatting, which are capable of efficiently decomposing a scene into its geometry and radiance. They then further estimate the material and lighting that lead to the observed scene radiance. However, the latter step is highly ambiguous and prior works suffer from inaccurate color and baked shadows in their albedo estimation albeit their regularization. To this end, we propose RotLight, a simple capturing setup, to address the ambiguity. Compared to a usual capture, RotLight only requires the object to be rotated several times during the process. We show that as few as two rotations is effective in reducing artifacts. To further improve 2DGS-based inverse rendering, we additionally introduce a proxy mesh that not only allows accurate incident light tracing, but also enables a residual constraint and improves global illumination handling. We demonstrate with both synthetic and real world datasets that our method achieves superior albedo estimation while keeping efficient computation.
FusionEdit: Semantic Fusion and Attention Modulation for Training-Free Image Editing
Venue: arXiv cs.CV 2026
Year: 2026

Text-guided image editing aims to modify specific regions according to the target prompt while preserving the identity of the source image. Recent methods exploit explicit binary masks to constrain editing, but hard mask boundaries introduce artifacts and reduce editability. To address these issues, we propose FusionEdit, a training-free image editing framework that achieves precise and controllable edits. First, editing and preserved regions are automatically identified by measuring semantic discrepancies between source and target prompts. To mitigate boundary artifacts, FusionEdit performs distance-aware latent fusion along region boundaries to yield the soft and accurate mask, and employs a total variation loss to enforce smooth transitions, obtaining natural editing results. Second, FusionEdit leverages AdaIN-based modulation within DiT attention layers to perform a statistical attention fusion in the editing region, enhancing editability while preserving global consistency with the source image. Extensive experiments demonstrate that our FusionEdit significantly outperforms state-of-the-art methods. Code is available at \href{https://github.com/Yvan1001/FusionEdit}{https://github.com/Yvan1001/FusionEdit}.
Finite-State Controllers for (Hidden-Model) POMDPs using Deep Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Solving partially observable Markov decision processes (POMDPs) requires computing policies under imperfect state information. Despite recent advances, the scalability of existing POMDP solvers remains limited. Moreover, many settings require a policy that is robust across multiple POMDPs, further aggravating the scalability issue. We propose the Lexpop framework for POMDP solving. Lexpop (1) employs deep reinforcement learning to train a neural policy, represented by a recurrent neural network, and (2) constructs a finite-state controller mimicking the neural policy through efficient extraction methods. Crucially, unlike neural policies, such controllers can be formally evaluated, providing performance guarantees. We extend Lexpop to compute robust policies for hidden-model POMDPs (HM-POMDPs), which describe finite sets of POMDPs. We associate every extracted controller with its worst-case POMDP. Using a set of such POMDPs, we iteratively train a robust neural policy and consequently extract a robust controller. Our experiments show that on problems with large state spaces, Lexpop outperforms state-of-the-art solvers for POMDPs as well as HM-POMDPs.
From Correspondence to Actions: Human-Like Multi-Image Spatial Reasoning in Multi-modal Large Language Models
Venue: arXiv cs.CV 2026
Year: 2026

While multimodal large language models (MLLMs) have made substantial progress in single-image spatial reasoning, multi-image spatial reasoning, which requires integration of information from multiple viewpoints, remains challenging. Cognitive studies suggest that humans address such tasks through two mechanisms: cross-view correspondence, which identifies regions across different views that correspond to the same physical locations, and stepwise viewpoint transformation, which composes relative viewpoint changes sequentially. However, existing studies incorporate these mechanisms only partially and often implicitly, without explicit supervision for both. We propose Human-Aware Training for Cross-view correspondence and viewpoint cHange (HATCH), a training framework with two complementary objectives: (1) Patch-Level Spatial Alignment, which encourages patch representations to align across views for spatially corresponding regions, and (2) Action-then-Answer Reasoning, which requires the model to generate explicit viewpoint transition actions before predicting the final answer. Experiments on three benchmarks demonstrate that HATCH consistently outperforms baselines of comparable size by a clear margin and achieves competitive results against much larger models, while preserving single-image reasoning capabilities.
Welfarist Formulations for Diverse Similarity Search
Venue: arXiv cs.DS 2026
Year: 2026

Nearest Neighbor Search (NNS) is a fundamental problem in data structures with wide-ranging applications, such as web search, recommendation systems, and, more recently, retrieval-augmented generations (RAG). In such recent applications, in addition to the relevance (similarity) of the returned neighbors, diversity among the neighbors is a central requirement. In this paper, we develop principled welfare-based formulations in NNS for realizing diversity across attributes. Our formulations are based on welfare functions -- from mathematical economics -- that satisfy central diversity (fairness) and relevance (economic efficiency) axioms. With a particular focus on Nash social welfare, we note that our welfare-based formulations provide objective functions that adaptively balance relevance and diversity in a query-dependent manner. Notably, such a balance was not present in the prior constraint-based approach, which forced a fixed level of diversity and optimized for relevance. In addition, our formulation provides a parametric way to control the trade-off between relevance and diversity, providing practitioners with flexibility to tailor search results to task-specific requirements. We develop efficient nearest neighbor algorithms with provable guarantees for the welfare-based objectives. Notably, our algorithm can be applied on top of any standard ANN method (i.e., use standard ANN method as a subroutine) to efficiently find neighbors that approximately maximize our welfare-based objectives. Experimental results demonstrate that our approach is practical and substantially improves diversity while maintaining high relevance of the retrieved neighbors.
Align and Adapt: Multimodal Multiview Human Activity Recognition under Arbitrary View Combinations
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal multiview learning seeks to integrate information from diverse sources to enhance task performance. Existing approaches often struggle with flexible view configurations, including arbitrary view combinations, numbers of views, and heterogeneous modalities. Focusing on the context of human activity recognition, we propose AliAd, a model that combines multiview contrastive learning with a mixture-of-experts module to support arbitrary view availability during both training and inference. Instead of trying to reconstruct missing views, an adjusted center contrastive loss is used for self-supervised representation learning and view alignment, mitigating the impact of missing views on multiview fusion. This loss formulation allows for the integration of view weights to account for view quality. Additionally, it reduces computational complexity from $O(V^2)$ to $O(V)$, where $V$ is the number of views. To address residual discrepancies not captured by contrastive learning, we employ a mixture-of-experts module with a specialized load balancing strategy, tasked with adapting to arbitrary view combinations. We highlight the geometric relationship among components in our model and how they combine well in the latent space. AliAd is validated on four datasets encompassing inertial and human pose modalities, with the number of views ranging from three to nine, demonstrating its performance and flexibility.
Taming Scylla: Understanding the multi-headed agentic daemon of the coding seas
Venue: arXiv cs.SE 2026
Year: 2026

LLM-based tools are automating more software development tasks at a rapid pace, but there is no rigorous way to evaluate how different architectural choices -- prompts, skills, tools, multi-agent setups -- materially affect both capability and cost. This paper introduces Scylla, an evaluation framework for benchmarking agentic coding tools through structured ablation studies that uses seven testing tiers (T0-T6) progressively adding complexity to isolate what directly influences results and how. The key metric is Cost-of-Pass (CoP): the expected dollar cost to get one correct solution, which directly quantifies the trade-off between complexity and efficiency. The framework is model-agnostic, designed to work with any CLI tool; this paper demonstrates it with Claude Sonnet 4.5, using multiple LLM judges (Opus 4.5, Sonnet 4.5, Haiku 4.5) from the same vendor for evaluation consensus, where judges score results using direct tests, human-designed LLM-evaluated rubrics, and qualitative assessment. The result is a reproducible framework that quantifies trade-offs between agent complexity and actual outcomes, suggesting that architectural complexity does not always improve quality.
Mind the Gap: Learning Implicit Impedance in Visuomotor Policies via Intent-Execution Mismatch
Venue: arXiv cs.RO 2026
Year: 2026

Teleoperation inherently relies on the human operator acting as a closed-loop controller to actively compensate for hardware imperfections, including latency, mechanical friction, and lack of explicit force feedback. Standard Behavior Cloning (BC), by mimicking the robot's executed trajectory, fundamentally ignores this compensatory mechanism. In this work, we propose a Dual-State Conditioning framework that shifts the learning objective to "Intent Cloning" (master command). We posit that the Intent-Execution Mismatch, the discrepancy between master command and slave response, is not noise, but a critical signal that physically encodes implicit interaction forces and algorithmically reveals the operator's strategy for overcoming system dynamics. By predicting the master intent, our policy learns to generate a "virtual equilibrium point", effectively realizing implicit impedance control. Furthermore, by explicitly conditioning on the history of this mismatch, the model performs implicit system identification, perceiving tracking errors as external forces to close the control loop. To bridge the temporal gap caused by inference latency, we further formulate the policy as a trajectory inpainter to ensure continuous control. We validate our approach on a sensorless, low-cost bi-manual setup. Empirical results across tasks requiring contact-rich manipulation and dynamic tracking reveal a decisive gap: while standard execution-cloning fails due to the inability to overcome contact stiffness and tracking lag, our mismatch-aware approach achieves robust success. This presents a minimalist behavior cloning framework for low-cost hardware, enabling force perception and dynamic compensation without relying on explicit force sensing. Videos are available on the \href{https://xucj98.github.io/mind-the-gap-page/}{project page}.
GaussianCaR: Gaussian Splatting for Efficient Camera-Radar Fusion
Venue: arXiv cs.RO 2026
Year: 2026

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their technical advances, they can benefit from effective and cost-efficient fusion with radar measurements. In this work, we advance fusion methods by repurposing Gaussian Splatting as an efficient universal view transformer that bridges the view disparity gap, mapping both image pixels and radar points into a common Bird's-Eye View (BEV) representation. Our main contribution is GaussianCaR, an end-to-end network for BEV segmentation that, unlike prior BEV fusion methods, leverages Gaussian Splatting to map raw sensor information into latent features for efficient camera-radar fusion. Our architecture combines multi-scale fusion with a transformer decoder to efficiently extract BEV features. Experimental results demonstrate that our approach achieves performance on par with, or even surpassing, the state of the art on BEV segmentation tasks (57.3%, 82.9%, and 50.1% IoU for vehicles, roads, and lane dividers) on the nuScenes dataset, while maintaining a 3.2x faster inference runtime. Code and project page are available online.
MOVA: Towards Scalable and Synchronized Video-Audio Generation
Venue: arXiv cs.CV 2026
Year: 2026

Audio is indispensable for real-world video, yet generation models have largely overlooked audio components. Current approaches to producing audio-visual content often rely on cascaded pipelines, which increase cost, accumulate errors, and degrade overall quality. While systems such as Veo 3 and Sora 2 emphasize the value of simultaneous generation, joint multimodal modeling introduces unique challenges in architecture, data, and training. Moreover, the closed-source nature of existing systems limits progress in the field. In this work, we introduce MOVA (MOSS Video and Audio), an open-source model capable of generating high-quality, synchronized audio-visual content, including realistic lip-synced speech, environment-aware sound effects, and content-aligned music. MOVA employs a Mixture-of-Experts (MoE) architecture, with a total of 32B parameters, of which 18B are active during inference. It supports IT2VA (Image-Text to Video-Audio) generation task. By releasing the model weights and code, we aim to advance research and foster a vibrant community of creators. The released codebase features comprehensive support for efficient inference, LoRA fine-tuning, and prompt enhancement.
A Generic Service-Oriented Function Offloading Framework for Connected Automated Vehicles
Venue: arXiv cs.RO 2026
Year: 2026

Function offloading is a promising solution to address limitations concerning computational capacity and available energy of Connected Automated Vehicles~(CAVs) or other autonomous robots by distributing computational tasks between local and remote computing devices in form of distributed services. This paper presents a generic function offloading framework that can be used to offload an arbitrary set of computational tasks with a focus on autonomous driving. To provide flexibility, the function offloading framework is designed to incorporate different offloading decision making algorithms and quality of service~(QoS) requirements that can be adjusted to different scenarios or the objectives of the CAVs. With a focus on the applicability, we propose an efficient location-based approach, where the decision whether tasks are processed locally or remotely depends on the location of the CAV. We apply the proposed framework on the use case of service-oriented trajectory planning, where we offload the trajectory planning task of CAVs to a Multi-Access Edge Computing~(MEC) server. The evaluation is conducted in both simulation and real-world application. It demonstrates the potential of the function offloading framework to guarantee the QoS for trajectory planning while improving the computational efficiency of the CAVs. Moreover, the simulation results also show the adaptability of the framework to diverse scenarios involving simultaneous offloading requests from multiple CAVs.
Learning the Value Systems of Societies with Preference-based Multi-objective Reinforcement Learning
Venue: arXiv cs.AI 2026
Year: 2026

Value-aware AI should recognise human values and adapt to the value systems (value-based preferences) of different users. This requires operationalization of values, which can be prone to misspecification. The social nature of values demands their representation to adhere to multiple users while value systems are diverse, yet exhibit patterns among groups. In sequential decision making, efforts have been made towards personalization for different goals or values from demonstrations of diverse agents. However, these approaches demand manually designed features or lack value-based interpretability and/or adaptability to diverse user preferences. We propose algorithms for learning models of value alignment and value systems for a society of agents in Markov Decision Processes (MDPs), based on clustering and preference-based multi-objective reinforcement learning (PbMORL). We jointly learn socially-derived value alignment models (groundings) and a set of value systems that concisely represent different groups of users (clusters) in a society. Each cluster consists of a value system representing the value-based preferences of its members and an approximately Pareto-optimal policy that reflects behaviours aligned with this value system. We evaluate our method against a state-of-the-art PbMORL algorithm and baselines on two MDPs with human values.
Rethinking Graph Generalization through the Lens of Sharpness-Aware Minimization
Venue: arXiv cs.LG 2026
Year: 2026

Graph Neural Networks (GNNs) have achieved remarkable success across various graph-based tasks but remain highly sensitive to distribution shifts. In this work, we focus on a prevalent yet under-explored phenomenon in graph generalization, Minimal Shift Flip (MSF),where test samples that slightly deviate from the training distribution are abruptly misclassified. To interpret this phenomenon, we revisit MSF through the lens of Sharpness-Aware Minimization (SAM), which characterizes the local stability and sharpness of the loss landscape while providing a theoretical foundation for modeling generalization error. To quantify loss sharpness, we introduce the concept of Local Robust Radius, measuring the smallest perturbation required to flip a prediction and establishing a theoretical link between local stability and generalization. Building on this perspective, we further observe a continual decrease in the robust radius during training, indicating weakened local stability and an increasingly sharp loss landscape that gives rise to MSF. To jointly solve the MSF phenomenon and the intractability of radius, we develop an energy-based formulation that is theoretically proven to be monotonically correlated with the robust radius, offering a tractable and principled objective for modeling flatness and stability. Building on these insights, we propose an energy-driven generative augmentation framework (E2A) that leverages energy-guided latent perturbations to generate pseudo-OOD samples and enhance model generalization. Extensive experiments across multiple benchmarks demonstrate that E2A consistently improves graph OOD generalization, outperforming state-of-the-art baselines.
Discovering Interpretable Algorithms by Decompiling Transformers to RASP
Venue: arXiv cs.LG 2026
Year: 2026

Recent work has shown that the computations of Transformers can be simulated in the RASP family of programming languages. These findings have enabled improved understanding of the expressive capacity and generalization abilities of Transformers. In particular, Transformers have been suggested to length-generalize exactly on problems that have simple RASP programs. However, it remains open whether trained models actually implement simple interpretable programs. In this paper, we present a general method to extract such programs from trained Transformers. The idea is to faithfully re-parameterize a Transformer as a RASP program and then apply causal interventions to discover a small sufficient sub-program. In experiments on small Transformers trained on algorithmic and formal language tasks, we show that our method often recovers simple and interpretable RASP programs from length-generalizing transformers. Our results provide the most direct evidence so far that Transformers internally implement simple RASP programs.
Understanding Dynamic Compute Allocation in Recurrent Transformers
Venue: arXiv cs.CL 2026
Year: 2026

Token-level adaptive computation seeks to reduce inference cost by allocating more computation to harder tokens and less to easier ones. However, prior work is primarily evaluated on natural-language benchmarks using task-level metrics, where token-level difficulty is unobservable and confounded with architectural factors, making it unclear whether compute allocation truly aligns with underlying complexity. We address this gap through three contributions. First, we introduce a complexity-controlled evaluation paradigm using algorithmic and synthetic language tasks with parameterized difficulty, enabling direct testing of token-level compute allocation. Second, we propose ANIRA, a unified recurrent Transformer framework that supports per-token variable-depth computation while isolating compute allocation decisions from other model factors. Third, we use this framework to conduct a systematic analysis of token-level adaptive computation across alignment with complexity, generalization, and decision timing. Our results show that compute allocation aligned with task complexity can emerge without explicit difficulty supervision, but such alignment does not imply algorithmic generalization: models fail to extrapolate to unseen input sizes despite allocating additional computation. We further find that early compute decisions rely on static structural cues, whereas online halting more closely tracks algorithmic execution state.
Is Reasoning Capability Enough for Safety in Long-Context Language Models?
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) increasingly combine long-context processing with advanced reasoning, enabling them to retrieve and synthesize information distributed across tens of thousands of tokens. A hypothesis is that stronger reasoning capability should improve safety by helping models recognize harmful intent even when it is not stated explicitly. We test this hypothesis in long-context settings where harmful intent is implicit and must be inferred through reasoning, and find that it does not hold. We introduce compositional reasoning attacks, a new threat model in which a harmful query is decomposed into incomplete fragments that scattered throughout a long context. The model is then prompted with a neutral reasoning query that induces retrieval and synthesis, causing the harmful intent to emerge only after composition. Evaluating 14 frontier LLMs on contexts up to 64k tokens, we uncover three findings: (1) models with stronger general reasoning capability are not more robust to compositional reasoning attacks, often assembling the intent yet failing to refuse; (2) safety alignment consistently degrades as context length increases; and (3) inference-time reasoning effort is a key mitigating factor: increasing inference-time compute reduces attack success by over 50 percentage points on GPT-oss-120b model. Together, these results suggest that safety does not automatically scale with reasoning capability, especially under long-context inference.