OpenRaiser/Intern-Atlas huggingface dataset:
OpenVO: Open-World Visual Odometry with Temporal Dynamics Awareness
Venue: arXiv cs.CV 2026
Year: 2026

We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying observation rates and uncalibrated cameras, enabling robust trajectory dataset construction from rare driving events recorded in dashcam. Existing VO methods are trained on fixed observation frequency (e.g., 10Hz or 12Hz), completely overlooking temporal dynamics information. Many prior methods also require calibrated cameras with known intrinsic parameters. Consequently, their performance degrades when (1) deployed under unseen observation frequencies or (2) applied to uncalibrated cameras. These significantly limit their generalizability to many downstream tasks, such as extracting trajectories from dashcam footage. To address these challenges, OpenVO (1) explicitly encodes temporal dynamics information within a two-frame pose regression framework and (2) leverages 3D geometric priors derived from foundation models. We validate our method on three major autonomous-driving benchmarks - KITTI, nuScenes, and Argoverse 2 - achieving more than 20 performance improvement over state-of-the-art approaches. Under varying observation rate settings, our method is significantly more robust, achieving 46%-92% lower errors across all metrics. These results demonstrate the versatility of OpenVO for real-world 3D reconstruction and diverse downstream applications.
Uncovering Context Reliance in Unstructured Knowledge Editing
Venue: arXiv cs.CL 2026
Year: 2026

Editing Large language models (LLMs) with real-world, unstructured knowledge is essential for correcting and updating their internal parametric knowledge. In this work, we revisit the fundamental next-token prediction (NTP) as a candidate paradigm for unstructured editing. We identify Context Reliance as a critical failure mode of NTP-based approaches, where knowledge acquired from edited text becomes highly dependent on its preceding context, leading to recall failures when that context is absent during inference. This hypothesis is supported by our empirical validation that prepending context during inference recovers knowledge recall. We further theoretically demonstrate that Context Reliance is an inherent consequence of gradient-based optimization, which tends to bind acquired knowledge to a specific aggregated contextual representation. To address this, we propose a simple yet effective COntext-INdependent editing framework (COIN), encouraging model to focus on knowledge within local scope rather than memorizing contextual patterns. Evaluations show that COIN reduces Context Reliance by 45.2% and outperforms strong baselines by 23.6% in editing success rate, highlighting the vital role of mitigating Context Reliance for robust editing.
To Slide or Not to Slide: Exploring Techniques for Comparing Immersive Videos
Venue: arXiv cs.HC 2026
Year: 2026

Immersive videos (IVs) provide 360° environments that create a strong sense of presence and spatial exploration. Unlike traditional videos, IVs distribute information across multiple directions, making comparison cognitively demanding and highly dependent on interaction techniques. With the growing adoption of IVs, effective comparison techniques have become an essential yet underexplored area of research. Inspired by the "sliding" concept in 2D media comparison, we integrate two established comparison strategies from the literature--toggle and side-by-side--to support IV comparison with greater flexibility. For an in-depth understanding of different strategies, we adapt and implement five IV comparison techniques across VR and 2D environments: SlideInVR, ToggleInVR, SlideIn2D, ToggleIn2D, and SideBySideIn2D. We then conduct a user study (N=20) to examine how these techniques shape users' perceptions, strategies, and workflows. Our findings provide empirical insights into the strengths and limitations of each technique, underscoring the need to switch between comparison approaches across scenarios. Notably, participants consistently rate SlideInVR and SlideIn2D as the most flexible and favorite methods for IV comparison.
Defining Explainable AI for Requirements Analysis
Venue: arXiv cs.AI 2026
Year: 2026

Explainable Artificial Intelligence (XAI) has become popular in the last few years. The Artificial Intelligence (AI) community in general, and the Machine Learning (ML) community in particular, is coming to the realisation that in many applications, for AI to be trusted, it must not only demonstrate good performance in its decisionmaking, but it also must explain these decisions and convince us that it is making the decisions for the right reasons. However, different applications have different requirements on the information required of the underlying AI system in order to convince us that it is worthy of our trust. How do we define these requirements? In this paper, we present three dimensions for categorising the explanatory requirements of different applications. These are Source, Depth and Scope. We focus on the problem of matching up the explanatory requirements of different applications with the capabilities of underlying ML techniques to provide them. We deliberately avoid including aspects of explanation that are already well-covered by the existing literature and we focus our discussion on ML although the principles apply to AI more broadly.
Design, Locomotion, and Control of Amphibious Robots: Recent Advances
Venue: arXiv cs.RO 2026
Year: 2026

Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control integration. This review highlights recent progress in these areas, examining movement strategies, material-based actuators, and control systems for autonomy and adaptability. Challenges and opportunities are outlined to guide future research toward more efficient, resilient, and multifunctional amphibious robots.
CREM: Compression-Driven Representation Enhancement for Multimodal Retrieval and Comprehension
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal Large Language Models (MLLMs) have shown remarkable success in comprehension tasks such as visual description and visual question answering. However, their direct application to embedding-based tasks like retrieval remains challenging due to the discrepancy between output formats and optimization objectives. Previous approaches often employ contrastive fine-tuning to adapt MLLMs for retrieval, but at the cost of losing their generative capabilities. We argue that both generative and embedding tasks fundamentally rely on shared cognitive mechanisms, specifically cross-modal representation alignment and contextual comprehension. To this end, we propose CREM (Compression-driven Representation Enhanced Model), with a unified framework that enhances multimodal representations for retrieval while preserving generative ability. Specifically, we introduce a compression-based prompt design with learnable chorus tokens to aggregate multimodal semantics and a compression-driven training strategy that integrates contrastive and generative objectives through compression-aware attention. Extensive experiments demonstrate that CREM achieves state-of-the-art retrieval performance on MMEB while maintaining strong generative performance on multiple comprehension benchmarks. Our findings highlight that generative supervision can further improve the representational quality of MLLMs under the proposed compression-driven paradigm.
Robust Predictive Uncertainty and Double Descent in Contaminated Bayesian Random Features
Venue: arXiv cs.LG 2026
Year: 2026

We propose a robust Bayesian formulation of random feature (RF) regression that accounts explicitly for prior and likelihood misspecification via Huber-style contamination sets. Starting from the classical equivalence between ridge-regularized RF training and Bayesian inference with Gaussian priors and likelihoods, we replace the single prior and likelihood with $ε$- and $η$-contaminated credal sets, respectively, and perform inference using pessimistic generalized Bayesian updating. We derive explicit and tractable bounds for the resulting lower and upper posterior predictive densities. These bounds show that, when contamination is moderate, prior and likelihood ambiguity effectively acts as a direct contamination of the posterior predictive distribution, yielding uncertainty envelopes around the classical Gaussian predictive. We introduce an Imprecise Highest Density Region (IHDR) for robust predictive uncertainty quantification and show that it admits an efficient outer approximation via an adjusted Gaussian credible interval. We further obtain predictive variance bounds (under a mild truncation approximation for the upper bound) and prove that they preserve the leading-order proportional-growth asymptotics known for RF models. Together, these results establish a robustness theory for Bayesian random features: predictive uncertainty remains computationally tractable, inherits the classical double-descent phase structure, and is improved by explicit worst-case guarantees under bounded prior and likelihood misspecification.
Mapping Networks
Venue: arXiv cs.CV 2026
Year: 2026

The escalating parameter counts in modern deep learning models pose a fundamental challenge to efficient training and resolution of overfitting. We address this by introducing the \emph{Mapping Networks} which replace the high dimensional weight space by a compact, trainable latent vector based on the hypothesis that the trained parameters of large networks reside on smooth, low-dimensional manifolds. Henceforth, the Mapping Theorem enforced by a dedicated Mapping Loss, shows the existence of a mapping from this latent space to the target weight space both theoretically and in practice. Mapping Networks significantly reduce overfitting and achieve comparable to better performance than target network across complex vision and sequence tasks, including Image Classification, Deepfake Detection etc, with $\mathbf{99.5\%}$, i.e., around $500\times$ reduction in trainable parameters.
CaReFlow: Cyclic Adaptive Rectified Flow for Multimodal Fusion
Venue: arXiv cs.CV 2026
Year: 2026

Modality gap significantly restricts the effectiveness of multimodal fusion. Previous methods often use techniques such as diffusion models and adversarial learning to reduce the modality gap, but they typically focus on one-to-one alignment without exposing the data points of the source modality to the global distribution information of the target modality. To this end, leveraging the characteristic of rectified flow that can map one distribution to another via a straight trajectory, we extend rectified flow for modality distribution mapping. Specifically, we leverage the `one-to-many mapping' strategy in rectified flow that allows each data point of the source modality to observe the overall target distribution. This also alleviates the issue of insufficient paired data within each sample, enabling a more robust distribution transformation. Moreover, to achieve more accurate distribution mapping and address the ambiguous flow directions in one-to-many mapping, we design `adaptive relaxed alignment', enforcing stricter alignment for modality pairs belonging to the same sample, while applying relaxed mapping for pairs not belonging to the same sample or category. Additionally, to prevent information loss during distribution mapping, we introduce `cyclic rectified flow' to ensure the transferred features can be translated back to the original features, allowing multimodal representations to learn sufficient modality-specific information. After distribution alignment, our approach achieves very competitive results on multiple tasks of multimodal affective computing even with a simple fusion method, and visualizations verify that it can effectively reduce the modality gap.
Incremental Learning of Sparse Attention Patterns in Transformers
Venue: arXiv cs.LG 2026
Year: 2026

This paper introduces a high-order Markov chain task to investigate how transformers learn to integrate information from multiple past positions with varying statistical significance. We demonstrate that transformers learn this task incrementally: each stage is defined by the acquisition of specific information through sparse attention patterns. Notably, we identify a shift in learning dynamics from competitive, where heads converge on the most statistically dominant pattern, to cooperative, where heads specialize in distinct patterns. We model these dynamics using simplified differential equations that characterize the trajectory and prove stage-wise convergence results. Our analysis reveals that transformers ascend a complexity ladder by passing through simpler, misspecified hypothesis classes before reaching the full model class. We further show that early stopping acts as an implicit regularizer, biasing the model toward these simpler classes. These results provide a theoretical foundation for the emergence of staged learning and complex behaviors in transformers, offering insights into generalization for natural language processing and algorithmic reasoning.
Adaptive Problem Generation via Symbolic Representations
Venue: arXiv cs.LG 2026
Year: 2026

We present a method for generating training data for reinforcement learning with verifiable rewards to improve small open-weights language models on mathematical tasks. Existing data generation approaches rely on open-loop pipelines and fixed modifications that do not adapt to the model's capabilities. Furthermore, they typically operate directly on word problems, limiting control over problem structure. To address this, we perform modifications in a symbolic problem space, representing each problem as a set of symbolic variables and constraints (e.g., via algebraic frameworks such as SymPy or SMT formulations). This representation enables precise control over problem structure, automatic generation of ground-truth solutions, and decouples mathematical reasoning from linguistic realization. We also show that this results in more diverse generations. To adapt the problem difficulty to the model, we introduce a closed-loop framework that learns modification strategies through prompt optimization in symbolic space. Experimental results demonstrate that both adaptive problem generation and symbolic representation modifications contribute to improving the model's math solving ability.
An efficient recursive decomposition algorithm for undirected graphs
Venue: arXiv cs.DS 2026
Year: 2026

The decomposition of undirected graphs simplifies complex problems by breaking them into solvable subgraphs, following the philosophy of divide and conquer. This paper investigates the relationship between atom decomposition and the maximum cardinality search (MCS) ordering in general undirected graphs. Specifically, we prove that applying a convex extension to the node numbered $1$ and its neighborhood in an MCS ordering yields an atom in the graph. Furthermore, based on the MCS ordering, we introduce a recursive algorithm for decomposing an undirected graph into its atoms. This approach closely aligns with the results of chordal graph decomposition. As a result, minimal triangulation of the graph is no longer required, and the identification of clique minimal separators is avoided. In the experimental section, we combine the proposed decomposition algorithm with two existing convex expansion methods. The results show that both combinations significantly outperform the existing algorithms in terms of efficiency.
Prompt Tuning for CLIP on the Pretrained Manifold
Venue: arXiv cs.CV 2026
Year: 2026

Prompt tuning introduces learnable prompt vectors that adapt pretrained vision-language models to downstream tasks in a parameter-efficient manner. However, under limited supervision, prompt tuning alters pretrained representations and drives downstream features away from the pretrained manifold toward directions that are unfavorable for transfer. This drift degrades generalization. To address this limitation, we propose ManiPT, a framework that performs prompt tuning on the pretrained manifold. ManiPT introduces cosine consistency constraints in both the text and image modalities to confine the learned representations within the pretrained geometric neighborhood. Furthermore, we introduce a structural bias that enforces incremental corrections, guiding the adaptation along transferable directions to mitigate reliance on shortcut learning. From a theoretical perspective, ManiPT alleviates overfitting tendencies under limited data. Our experiments cover four downstream settings: unseen-class generalization, few-shot classification, cross-dataset transfer, and domain generalization. Across these settings, ManiPT achieves higher average performance than baseline methods. Notably, ManiPT provides an explicit perspective on how prompt tuning overfits under limited supervision.
pHNSW: PCA-Based Filtering to Accelerate HNSW Approximate Nearest Neighbor Search
Venue: arXiv cs.AR 2026
Year: 2026

Hierarchical Navigable Small World (HNSW) has demonstrated impressive accuracy and low latency for high-dimensional nearest neighbor searches. However, its high computational demands and irregular, large-volume data access patterns present significant challenges to search efficiency. To address these challenges, we introduce pHNSW, an algorithm-hardware co-optimized solution that accelerates HNSW through Principal Component Analysis (PCA) filtering. On the algorithm side, we apply PCA filtering to reduce the dimensionality of the dataset, thereby lowering the volume of neighbor access and decreasing the computational load for distance calculations. On the hardware side, we design the pHNSW processor with custom instructions to optimize search throughput and energy efficiency. In the experiments, we synthesized the pHNSW processor RTL design with a 65nm technology node and evaluated it using DDR4 and HBM1.0 DRAM standards. The results show that pHNSW boosts Queries per Second (QPS) by 14.47x-21.37x on a CPU and 5.37x-8.46x on a GPU, while reducing energy consumption by up to 57.4% compared to standard HNSW implementation.
Alternating Bi-Objective Optimization for Explainable Neuro-Fuzzy Systems
Venue: arXiv cs.LG 2026
Year: 2026

Fuzzy systems show strong potential in explainable AI due to their rule-based architecture and linguistic variables. Existing approaches navigate the accuracy-explainability trade-off either through evolutionary multi-objective optimization (MOO), which is computationally expensive, or gradient-based scalarization, which cannot recover non-convex Pareto regions. We propose X-ANFIS, an alternating bi-objective gradient-based optimization scheme for explainable adaptive neuro-fuzzy inference systems. Cauchy membership functions are used for stable training under semantically controlled initializations, and a differentiable explainability objective is introduced and decoupled from the performance objective through alternating gradient passes. Validated in approximately 5,000 experiments on nine UCI regression datasets, X-ANFIS consistently achieves target distinguishability while maintaining competitive predictive accuracy, recovering solutions beyond the convex hull of the MOO Pareto front.
DGPO: RL-Steered Graph Diffusion for Neural Architecture Generation
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement learning fine-tuning has proven effective for steering generative diffusion models toward desired properties in image and molecular domains. Graph diffusion models have similarly been applied to combinatorial structure generation, including neural architecture search (NAS). However, neural architectures are directed acyclic graphs (DAGs) where edge direction encodes functional semantics such as data flow-information that existing graph diffusion methods, designed for undirected structures, discard. We propose Directed Graph Policy Optimization (DGPO), which extends reinforcement learning fine-tuning of discrete graph diffusion models to DAGs via topological node ordering and positional encoding. Validated on NAS-Bench-101 and NAS-Bench-201, DGPO matches the benchmark optimum on all three NAS-Bench-201 tasks (91.61%, 73.49%, 46.77%). The central finding is that the model learns transferable structural priors: pretrained on only 7% of the search space, it generates near-oracle architectures after fine-tuning, within 0.32 percentage points of the full-data model and extrapolating 7.3 percentage points beyond its training ceiling. Bidirectional control experiments confirm genuine reward-driven steering, with inverse optimization reaching near random-chance accuracy (9.5%). These results demonstrate that reinforcement learning-steered discrete diffusion, once extended to handle directionality, provides a controllable generative framework for directed combinatorial structures.
Spectral bias in physics-informed and operator learning: Analysis and mitigation guidelines
Venue: arXiv cs.LG 2026
Year: 2026

Solving partial differential equations (PDEs) by neural networks as well as Kolmogorov-Arnold Networks (KANs), including physics-informed neural networks (PINNs), physics-informed KANs (PIKANs), and neural operators, are known to exhibit spectral bias, whereby low-frequency components of the solution are learned significantly faster than high-frequency modes. While spectral bias is often treated as an intrinsic representational limitation of neural architectures, its interaction with optimization dynamics and physics-based loss formulations remains poorly understood. In this work, we provide a systematic investigation of spectral bias in physics-informed and operator learning frameworks, with emphasis on the coupled roles of network architecture, activation functions, loss design, and optimization strategy. We quantify spectral bias through frequency-resolved error metrics, Barron-norm diagnostics, and higher-order statistical moments, enabling a unified analysis across elliptic, hyperbolic, and dispersive PDEs. Through diverse benchmark problems, including the Korteweg-de Vries, wave and steady-state diffusion-reaction equations, turbulent flow reconstruction, and earthquake dynamics, we demonstrate that spectral bias is not simply representational but fundamentally dynamical. In particular, second-order optimization methods substantially alter the spectral learning order, enabling earlier and more accurate recovery of high-frequency modes for all PDE types. For neural operators, we further show that spectral bias is dependent on the neural operator architecture and can also be effectively mitigated through spectral-aware loss formulations without increasing the inference cost.