OpenRaiser/Intern-Atlas huggingface dataset:
Analyzing the Impact of Simulation Fidelity on the Evaluation of Autonomous Driving Motion Control
Venue: arXiv cs.RO 2026
Year: 2026

Simulation is crucial in the development of autonomous driving software. In particular, assessing control algorithms requires an accurate vehicle dynamics simulation. However, recent publications use models with varying levels of detail. This disparity makes it difficult to compare individual control algorithms. Therefore, this paper aims to investigate the influence of the fidelity of vehicle dynamics modeling on the closed-loop behavior of trajectory-following controllers. For this purpose, we introduce a comprehensive Autoware-compatible vehicle model. By simplifying this, we derive models with varying fidelity. Evaluating over 550 simulation runs allows us to quantify each model's approximation quality compared to real-world data. Furthermore, we investigate whether the influence of model simplifications changes with varying margins to the acceleration limit of the vehicle. From this, we deduce to which degree a vehicle model can be simplified to evaluate control algorithms depending on the specific application. The real-world data used to validate the simulation environment originate from the Indy Autonomous Challenge race at the Autodromo Nazionale di Monza in June 2023. They show the fastest fully autonomous lap of TUM Autonomous Motorsport, with vehicle speeds reaching 267 kph and lateral accelerations of up to 15 mps2.
Deepfake Synthesis vs. Detection: An Uneven Contest
Venue: arXiv cs.CV 2026
Year: 2026

The rapid advancement of deepfake technology has significantly elevated the realism and accessibility of synthetic media. Emerging techniques, such as diffusion-based models and Neural Radiance Fields (NeRF), alongside enhancements in traditional Generative Adversarial Networks (GANs), have contributed to the sophisticated generation of deepfake videos. Concurrently, deepfake detection methods have seen notable progress, driven by innovations in Transformer architectures, contrastive learning, and other machine learning approaches. In this study, we conduct a comprehensive empirical analysis of state-of-the-art deepfake detection techniques, including human evaluation experiments against cutting-edge synthesis methods. Our findings highlight a concerning trend: many state-of-the-art detection models exhibit markedly poor performance when challenged with deepfakes produced by modern synthesis techniques, including poor performance by human participants against the best quality deepfakes. Through extensive experimentation, we provide evidence that underscores the urgent need for continued refinement of detection models to keep pace with the evolving capabilities of deepfake generation technologies. This research emphasizes the critical gap between current detection methodologies and the sophistication of new generation techniques, calling for intensified efforts in this crucial area of study.
Learning to Alleviate Familiarity Bias in Video Recommendation
Venue: arXiv cs.IR 2026
Year: 2026

Modern video recommendation systems aim to optimize user engagement and platform objectives, yet often face structural exposure imbalances caused by behavioral biases. In this work, we focus on the post-ranking stage and present LAFB (Learning to Alleviate Familiarity Bias), a lightweight and model-agnostic framework designed to mitigate familiarity bias in recommendation outputs. LAFB models user-content familiarity using discrete and continuous interaction features, and estimates personalized debiasing factors to adjust user rating prediction scores, thereby reducing the dominance of familiar content in the final ranking. We conduct large-scale offline evaluations and online A/B testing in a real-world recommendation system, under a unified serving stack that also compares LAFB with deployable popularity-oriented remedies. Results show that LAFB increases novel watch-time share and improves exposure for emerging creators and overall content diversity, while maintaining stable overall watch time and short-term satisfaction. LAFB has already been launched in the post-ranking stage of YouTube's recommendation system, demonstrating its effectiveness in real-world applications.
The Judge Who Never Admits: Hidden Shortcuts in LLM-based Evaluation
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) are increasingly used as automatic judges to evaluate system outputs in tasks such as reasoning, question answering, and creative writing. A faithful judge should base its verdicts solely on content quality, remain invariant to irrelevant context, and transparently reflect the factors driving its decisions. We test this ideal via controlled cue perturbations-synthetic metadata labels injected into evaluation prompts-for six judge models: GPT-4o, Gemini-2.0-Flash, Gemma-3-27B, Qwen3-235B, Claude-3-Haiku, and Llama3-70B. Experiments span two complementary datasets with distinct evaluation regimes: ELI5 (factual QA) and LitBench (open-ended creative writing). We study six cue families: source, temporal, age, gender, ethnicity, and educational status. Beyond measuring verdict shift rates (VSR), we introduce cue acknowledgment rate (CAR) to quantify whether judges explicitly reference the injected cues in their natural-language rationales. Across cues with strong behavioral effects-e.g., provenance hierarchies (Expert > Human > LLM > Unknown), recency preferences (New > Old), and educational-status favoritism-CAR is typically at or near zero, indicating that shortcut reliance is largely unreported even when it drives decisions. Crucially, CAR is also dataset-dependent: explicit cue recognition is more likely to surface in the factual ELI5 setting for some models and cues, but often collapses in the open-ended LitBench regime, where large verdict shifts can persist despite zero acknowledgment. The combination of substantial verdict sensitivity and limited cue acknowledgment reveals an explanation gap in LLM-as-judge pipelines, raising concerns about reliability of model-based evaluation in both research and deployment.
Agent Skills: A Data-Driven Analysis of Claude Skills for Extending Large Language Model Functionality
Venue: arXiv cs.SE 2026
Year: 2026

Agent skills extend large language model (LLM) agents with reusable, program-like modules that define triggering conditions, procedural logic, and tool interactions. As these skills proliferate in public marketplaces, it is unclear what types are available, how users adopt them, and what risks they pose. To answer these questions, we conduct a large-scale, data-driven analysis of 40,285 publicly listed skills from a major marketplace. Our results show that skill publication tends to occur in short bursts that track shifts in community attention. We also find that skill content is highly concentrated in software engineering workflows, while information retrieval and content creation account for a substantial share of adoption. Beyond content trends, we uncover a pronounced supply-demand imbalance across categories, and we show that most skills remain within typical prompt budgets despite a heavy-tailed length distribution. Finally, we observe strong ecosystem homogeneity, with widespread intent-level redundancy, and we identify non-trivial safety risks, including skills that enable state-changing or system-level actions. Overall, our findings provide a quantitative snapshot of agent skills as an emerging infrastructure layer for agents and inform future work on skill reuse, standardization, and safety-aware design.
A Unified Density Operator View of Flow Control and Merging
Venue: arXiv cs.LG 2026
Year: 2026

Recent progress in large-scale flow and diffusion models raised two fundamental algorithmic challenges: (i) control-based reward adaptation of pre-trained flows, and (ii) integration of multiple models, i.e., flow merging. While current approaches address them separately, we introduce a unifying probability-space framework that subsumes both as limit cases, and enables reward-guided flow merging, allowing principled, task-aware combination of multiple pre-trained flows (e.g., merging priors while maximizing drug-discovery utilities). Our formulation renders possible to express a rich family of operators over generative models densities, including intersection (e.g., to enforce safety), union (e.g., to compose diverse models), interpolation (e.g., for discovery), their reward-guided counterparts, as well as complex logical expressions via generative circuits. Next, we introduce Reward-Guided Flow Merging (RFM), a mirror-descent scheme that reduces reward-guided flow merging to a sequence of standard fine-tuning problems. Then, we provide first-of-their-kind theoretical guarantees for reward-guided and pure flow merging via RFM. Ultimately, we showcase the capabilities of the proposed method on illustrative settings providing visually interpretable insights, and apply our method to high-dimensional de-novo molecular design and low-energy conformer generation.
PhysDrape: Learning Explicit Forces and Collision Constraints for Physically Realistic Garment Draping
Venue: arXiv cs.CV 2026
Year: 2026

Deep learning-based garment draping has emerged as a promising alternative to traditional Physics-Based Simulation (PBS), yet robust collision handling remains a critical bottleneck. Most existing methods enforce physical validity through soft penalties, creating an intrinsic trade-off between geometric feasibility and physical plausibility: penalizing collisions often distorts mesh structure, while preserving shape leads to interpenetration. To resolve this conflict, we present PhysDrape, a hybrid neural-physical solver for physically realistic garment draping driven by explicit forces and constraints. Unlike soft-constrained frameworks, PhysDrape integrates neural inference with explicit geometric solvers in a fully differentiable pipeline. Specifically, we propose a Physics-Informed Graph Neural Network conditioned on a physics-enriched graph -- encoding material parameters and body proximity -- to predict residual displacements. Crucially, we integrate a differentiable two-stage solver: first, a learnable Force Solver iteratively resolves unbalanced forces derived from the Saint Venant-Kirchhoff (StVK) model to ensure quasi-static equilibrium; second, a Differentiable Projection strictly enforces collision constraints against the body surface. This differentiable design guarantees physical validity through explicit constraints, while enabling end-to-end learning to optimize the network for physically consistent predictions. Extensive experiments demonstrate that PhysDrape achieves state-of-the-art performance, ensuring negligible interpenetration with significantly lower strain energy compared to existing baselines, achieving superior physical fidelity and robustness in real-time.
CyberExplorer: Benchmarking LLM Offensive Security Capabilities in a Real-World Attacking Simulation Environment
Venue: arXiv cs.CR 2026
Year: 2026

Real-world offensive security operations are inherently open-ended: attackers explore unknown attack surfaces, revise hypotheses under uncertainty, and operate without guaranteed success. Existing LLM-based offensive agent evaluations rely on closed-world settings with predefined goals and binary success criteria. To address this gap, we introduce CyberExplorer, an evaluation suite with two core components: (1) an open-environment benchmark built on a virtual machine hosting 40 vulnerable web services derived from real-world CTF challenges, where agents autonomously perform reconnaissance, target selection, and exploitation without prior knowledge of vulnerability locations; and (2) a reactive multi-agent framework supporting dynamic exploration without predefined plans. CyberExplorer enables fine-grained evaluation beyond flag recovery, capturing interaction dynamics, coordination behavior, failure modes, and vulnerability discovery signals-bridging the gap between benchmarks and realistic multi-target attack scenarios.
FlashVID: Efficient Video Large Language Models via Training-free Tree-based Spatiotemporal Token Merging
Venue: arXiv cs.CV 2026
Year: 2026

Although Video Large Language Models (VLLMs) have shown remarkable capabilities in video understanding, they are required to process high volumes of visual tokens, causing significant computational inefficiency. Existing VLLMs acceleration frameworks usually compress spatial and temporal redundancy independently, which overlooks the spatiotemporal relationships, thereby leading to suboptimal spatiotemporal compression. The highly correlated visual features are likely to change in spatial position, scale, orientation, and other attributes over time due to the dynamic nature of video. Building on this insight, we introduce FlashVID, a training-free inference acceleration framework for VLLMs. Specifically, FlashVID utilizes Attention and Diversity-based Token Selection (ADTS) to select the most representative tokens for basic video representation, then applies Tree-based Spatiotemporal Token Merging (TSTM) for fine-grained spatiotemporal redundancy elimination. Extensive experiments conducted on three representative VLLMs across five video understanding benchmarks demonstrate the effectiveness and generalization of our method. Notably, by retaining only 10% of visual tokens, FlashVID preserves 99.1% of the performance of LLaVA-OneVision. Consequently, FlashVID can serve as a training-free and plug-and-play module for extending long video frames, which enables a 10x increase in video frame input to Qwen2.5-VL, resulting in a relative improvement of 8.6% within the same computational budget. Code is available at https://github.com/Fanziyang-v/FlashVID.
MIND: Benchmarking Memory Consistency and Action Control in World Models
Venue: arXiv cs.CV 2026
Year: 2026

World models aim to understand, remember, and predict dynamic visual environments, yet a unified benchmark for evaluating their fundamental abilities remains lacking. To address this gap, we introduce MIND, the first open-domain closed-loop revisited benchmark for evaluating Memory consIstency and action coNtrol in worlD models. MIND contains 250 high-quality videos at 1080p and 24 FPS, including 100 (first-person) + 100 (third-person) video clips under a shared action space and 25 + 25 clips across varied action spaces covering eight diverse scenes. We design an efficient evaluation framework to measure two core abilities: memory consistency and action control, capturing temporal stability and contextual coherence across viewpoints. Furthermore, we design various action spaces, including different character movement speeds and camera rotation angles, to evaluate the action generalization capability across different action spaces under shared scenes. To facilitate future performance benchmarking on MIND, we introduce MIND-World, a novel interactive Video-to-World baseline. Extensive experiments demonstrate the completeness of MIND and reveal key challenges in current world models, including the difficulty of maintaining long-term memory consistency and generalizing across action spaces. Code: https://github.com/CSU-JPG/MIND.
Free(): Learning to Forget in Malloc-Only Reasoning Models
Venue: arXiv cs.AI 2026
Year: 2026

Reasoning models enhance problem-solving by scaling test-time compute, yet they face a critical paradox: excessive thinking tokens often degrade performance rather than improve it. We attribute this to a fundamental architectural flaw: standard LLMs operate as "malloc-only" engines, continuously accumulating valid and redundant steps alike without a mechanism to prune obsolete information. To break this cycle, we propose Free()LM, a model that introduces an intrinsic self-forgetting capability via the Free-Module, a plug-and-play LoRA adapter. By iteratively switching between reasoning and cleaning modes, Free()LM dynamically identifies and prunes useless context chunks, maintaining a compact and noise-free state. Extensive experiments show that Free()LM provides consistent improvements across all model scales (8B to 685B). It achieves a 3.3% average improvement over top-tier reasoning baselines, even establishing a new SOTA on IMOanswerBench using DeepSeek V3.2-Speciale. Most notably, in long-horizon tasks where the standard Qwen3-235B-A22B model suffers a total collapse (0% accuracy), Free()LM restores performance to 50%. Our findings suggest that sustainable intelligence requires the freedom to forget as much as the power to think.
Beyond Raw Detection Scores: Markov-Informed Calibration for Boosting Machine-Generated Text Detection
Venue: arXiv cs.CL 2026
Year: 2026

While machine-generated texts (MGTs) offer great convenience, they also pose risks such as disinformation and phishing, highlighting the need for reliable detection. Metric-based methods, which extract statistically distinguishable features of MGTs, are often more practical than complex model-based methods that are prone to overfitting. Given their diverse designs, we first place representative metric-based methods within a unified framework, enabling a clear assessment of their advantages and limitations. Our analysis identifies a core challenge across these methods: the token-level detection score is easily biased by the inherent randomness of the MGTs generation process. To address this, we theoretically and empirically reveal two relationships of context detection scores that may aid calibration: Neighbor Similarity and Initial Instability. We then propose a Markov-informed score calibration strategy that models these relationships using Markov random fields, and implements it as a lightweight component via a mean-field approximation, allowing our method to be seamlessly integrated into existing detectors. Extensive experiments in various real-world scenarios, such as cross-LLM and paraphrasing attacks, demonstrate significant gains over baselines with negligible computational overhead. The code is available at https://github.com/tmlr-group/MRF_Calibration.
TAAM:Inductive Graph-Class Incremental Learning with Task-Aware Adaptive Modulation
Venue: arXiv cs.LG 2026
Year: 2026

Graph Continual Learning (GCL) aims to solve the challenges of streaming graph data. However, current methods often depend on replay-based strategies, which raise concerns like memory limits and privacy issues, while also struggling to resolve the stability-plasticity dilemma. In this paper, we suggest that lightweight, task-specific modules can effectively guide the reasoning process of a fixed GNN backbone. Based on this idea, we propose Task-Aware Adaptive Modulation (TAAM). The key component of TAAM is its lightweight Neural Synapse Modulators (NSMs). For each new task, a dedicated NSM is trained and then frozen, acting as an "expert module." These modules perform detailed, node-attentive adaptive modulation on the computational flow of a shared GNN backbone. This setup ensures that new knowledge is kept within compact, task-specific modules, naturally preventing catastrophic forgetting without using any data replay. Additionally, to address the important challenge of unknown task IDs in real-world scenarios, we propose and theoretically prove a novel method named Anchored Multi-hop Propagation (AMP). Notably, we find that existing GCL benchmarks have flaws that can cause data leakage and biased evaluations. Therefore, we conduct all experiments in a more rigorous inductive learning scenario. Extensive experiments show that TAAM comprehensively outperforms state-of-the-art methods across eight datasets. Code and Datasets are available at: https://github.com/1iuJT/TAAM_AAMAS2026.
Implicit Strategic Optimization: Rethinking Long-Horizon Decision-Making in Adversarial Poker Environments
Venue: arXiv cs.LG 2026
Year: 2026

Training large language model (LLM) agents for adversarial games is often driven by episodic objectives such as win rate. In long-horizon settings, however, payoffs are shaped by latent strategic externalities that evolve over time, so myopic optimization and variation-based regret analyses can become vacuous even when the dynamics are predictable. To solve this problem, we introduce Implicit Strategic Optimization (ISO), a prediction-aware framework in which each agent forecasts the current strategic context and uses it to update its policy online. ISO combines a Strategic Reward Model (SRM) that estimates the long-run strategic value of actions with iso-grpo, a context-conditioned optimistic learning rule. We prove sublinear contextual regret and equilibrium convergence guarantees whose dominant terms scale with the number of context mispredictions; when prediction errors are bounded, our bounds recover the static-game rates obtained when strategic externalities are known. Experiments in 6-player No-Limit Texas Hold'em and competitive Pokemon show consistent improvements in long-term return over strong LLM and RL baselines, and graceful degradation under controlled prediction noise.
TDGNet: Hallucination Detection in Diffusion Language Models via Temporal Dynamic Graphs
Venue: arXiv cs.CL 2026
Year: 2026

Diffusion language models (D-LLMs) offer parallel denoising and bidirectional context, but hallucination detection for D-LLMs remains underexplored. Prior detectors developed for auto-regressive LLMs typically rely on single-pass cues and do not directly transfer to diffusion generation, where factuality evidence is distributed across the denoising trajectory and may appear, drift, or be self-corrected over time. We introduce TDGNet, a temporal dynamic graph framework that formulates hallucination detection as learning over evolving token-level attention graphs. At each denoising step, we sparsify the attention graph and update per-token memories via message passing, then apply temporal attention to aggregate trajectory-wide evidence for final prediction. Experiments on LLaDA-8B and Dream-7B across QA benchmarks show consistent AUROC improvements over output-based, latent-based, and static-graph baselines, with single-pass inference and modest overhead. These results highlight the importance of temporal reasoning on attention graphs for robust hallucination detection in diffusion language models.
Epigraph-Guided Flow Matching for Safe and Performant Offline Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Offline reinforcement learning (RL) provides a compelling paradigm for training autonomous systems without the risks of online exploration, particularly in safety-critical domains. However, jointly achieving strong safety and performance from fixed datasets remains challenging. Existing safe offline RL methods often rely on soft constraints that allow violations, introduce excessive conservatism, or struggle to balance safety, reward optimization, and adherence to the data distribution. To address this, we propose Epigraph-Guided Flow Matching (EpiFlow), a framework that formulates safe offline RL as a state-constrained optimal control problem to co-optimize safety and performance. We learn a feasibility value function derived from an epigraph reformulation of the optimal control problem, thereby avoiding the decoupled objectives or post-hoc filtering common in prior work. Policies are synthesized by reweighting the behavior distribution based on this epigraph value function and fitting a generative policy via flow matching, enabling efficient, distribution-consistent sampling. Across various safety-critical tasks, including Safety-Gymnasium benchmarks, EpiFlow achieves competitive returns with near-zero empirical safety violations, demonstrating the effectiveness of epigraph-guided policy synthesis.