OpenRaiser/Intern-Atlas huggingface dataset:
Self-Augmented Robot Trajectory: Efficient Imitation Learning via Safe Self-augmentation with Demonstrator-annotated Precision
Venue: arXiv cs.RO 2026
Year: 2026

Imitation learning is a promising paradigm for training robot agents; however, standard approaches typically require substantial data acquisition -- via numerous demonstrations or random exploration -- to ensure reliable performance. Although exploration reduces human effort, it lacks safety guarantees and often results in frequent collisions -- particularly in clearance-limited tasks (e.g., peg-in-hole) -- thereby, necessitating manual environmental resets and imposing additional human burden. This study proposes Self-Augmented Robot Trajectory (SART), a framework that enables policy learning from a single human demonstration, while safely expanding the dataset through autonomous augmentation. SART consists of two stages: (1) human teaching only once, where a single demonstration is provided and precision boundaries -- represented as spheres around key waypoints -- are annotated, followed by one environment reset; (2) robot self-augmentation, where the robot generates diverse, collision-free trajectories within these boundaries and reconnects to the original demonstration. This design improves the data collection efficiency by minimizing human effort while ensuring safety. Extensive evaluations in simulation and real-world manipulation tasks show that SART achieves substantially higher success rates than policies trained solely on human-collected demonstrations. Video results available at https://sites.google.com/view/sart-il .
The Siren Song of LLMs: How Users Perceive and Respond to Dark Patterns in Large Language Models
Venue: arXiv cs.HC 2026
Year: 2026

Large language models can influence users through conversation, creating new forms of dark patterns that differ from traditional UX dark patterns. We define LLM dark patterns as manipulative or deceptive behaviors enacted in dialogue. Drawing on prior work and AI incident reports, we outline a diverse set of categories with real-world examples. Using them, we conducted a scenario-based study where participants (N=34) compared manipulative and neutral LLM responses. Our results reveal that recognition of LLM dark patterns often hinged on conversational cues such as exaggerated agreement, biased framing, or privacy intrusions, but these behaviors were also sometimes normalized as ordinary assistance. Users' perceptions of these dark patterns shaped how they respond to them. Responsibilities for these behaviors were also attributed in different ways, with participants assigning it to companies and developers, the model itself, or to users. We conclude with implications for design, advocacy, and governance to safeguard user autonomy.
Feature Space Topology Control via Hopkins Loss
Venue: arXiv cs.LG 2026
Year: 2026

Feature space topology refers to the organization of samples within the feature space. Modifying this topology can be beneficial in machine learning applications, including dimensionality reduction, generative modeling, transfer learning, and robustness to adversarial attacks. This paper introduces a novel loss function, Hopkins loss, which leverages the Hopkins statistic to enforce a desired feature space topology, which is in contrast to existing topology-related methods that aim to preserve input feature topology. We evaluate the effectiveness of Hopkins loss on speech, text, and image data in two scenarios: classification and dimensionality reduction using nonlinear bottleneck autoencoders. Our experiments show that integrating Hopkins loss into classification or dimensionality reduction has only a small impact on classification performance while providing the benefit of modifying feature topology.
When Are Two RLHF Objectives the Same?
Venue: arXiv cs.LG 2026
Year: 2026

The preference optimization literature contains many proposed objectives, often presented as distinct improvements. We introduce Opal, a canonicalization algorithm that determines whether two preference objectives are algebraically equivalent by producing either a canonical form or a concrete witness of non-equivalence. Applying Opal reveals that many widely used methods optimize the same underlying objective, while others are provably distinct. For example, batch normalization can cause the same response pair to receive different gradients depending on batch composition. We identify a small set of structural mechanisms that give rise to genuinely different objectives; most remaining differences are reparameterizations.
Prompts to Proxies: Emulating Human Preferences via a Compact LLM Ensemble
Venue: arXiv cs.AI 2026
Year: 2026

Large language models are increasingly used as proxies for human subjects in social science research, yet external validity requires that synthetic agents faithfully reflect the preferences of target human populations. We introduce *preference reconstruction theory*, a framework that formalizes preference alignment as a representation learning problem: constructing a functional basis of proxy agents and recovering population preferences through weighted aggregation. We implement this via *Prompts to Proxies* ($\texttt{P2P}$), a modular two-stage system. Stage 1 uses structured prompting with entropy-based adaptive sampling to construct a diverse agent pool spanning the latent preference space. Stage 2 employs L1-regularized regression to select a compact ensemble whose aggregate response distributions align with observed data from the target population. $\texttt{P2P}$ requires no finetuning and no access to sensitive demographic data, incurring only API inference costs. We validate the approach on 14 waves of the American Trends Panel, achieving an average test MSE of 0.014 across diverse topics at approximately 0.8 USD per survey. We additionally test it on the World Values Survey, demonstrating its potential to generalize across locales. When stress-tested against an SFT-aligned baseline, $\texttt{P2P}$ achieves competitive performance using less than 3% of the training data.
MAPGD: Multi-Agent Prompt Gradient Descent for Collaborative Prompt Optimization
Venue: arXiv cs.AI 2026
Year: 2026

Prompt engineering is crucial for fully leveraging large language models (LLMs), yet most existing optimization methods follow a single trajectory, resulting in limited adaptability, gradient conflicts, and high computational overhead. We propose MAPGD (Multi-Agent Prompt Gradient Descent), a novel framework that reconceptualizes prompt optimization as a collaborative process among specialized agents. Each agent focuses on a distinct refinement dimension, such as instruction clarity, example selection, format structure, or stylistic adaptation, and their contributions are coordinated through semantic gradient embedding, conflict detection, and fusion. To further enhance robustness and stability, MAPGD introduces two new mechanisms: Hypersphere Constrained Gradient Clustering (HCGC), which enforces angular margin constraints for compact and well-separated clusters, and Channel Adaptive Agent Weighting (CAAW), which dynamically reweights agent contributions based on validation performance. Experiments on classification and reasoning benchmarks show that MAPGD consistently surpasses single-agent and random baselines in both accuracy and efficiency. Ablation studies confirm the effectiveness of gradient fusion, agent specialization, and conflict resolution. Together, these components establish MAPGD as a unified, gradient-based, and interpretable framework for robust prompt optimization with theoretical convergence guarantees.
PersonaX: Multimodal Datasets with LLM-Inferred Behavior Traits
Venue: arXiv cs.LG 2026
Year: 2026

Understanding human behavior traits is central to applications in human-computer interaction, computational social science, and personalized AI systems. Such understanding often requires integrating multiple modalities to capture nuanced patterns and relationships. However, existing resources rarely provide datasets that combine behavioral descriptors with complementary modalities such as facial attributes and biographical information. To address this gap, we present PersonaX, a curated collection of multimodal datasets designed to enable comprehensive analysis of public traits across modalities. PersonaX consists of (1) CelebPersona, featuring 9444 public figures from diverse occupations, and (2) AthlePersona, covering 4181 professional athletes across 7 major sports leagues. Each dataset includes behavioral trait assessments inferred by three high-performing large language models, alongside facial imagery and structured biographical features. We analyze PersonaX at two complementary levels. First, we abstract high-level trait scores from text descriptions and apply five statistical independence tests to examine their relationships with other modalities. Second, we introduce a novel causal representation learning (CRL) framework tailored to multimodal and multi-measurement data, providing theoretical identifiability guarantees. Experiments on both synthetic and real-world data demonstrate the effectiveness of our approach. By unifying structured and unstructured analysis, PersonaX establishes a foundation for studying LLM-inferred behavioral traits in conjunction with visual and biographical attributes, advancing multimodal trait analysis and causal reasoning. The code is available at https://github.com/lokali/PersonaX.
A Software-Only Post-Processor for Indexed Rotary Machining on GRBL-Based CNCs
Venue: arXiv cs.RO 2026
Year: 2026

Affordable desktop CNC routers are common in education, prototyping, and makerspaces, but most lack a rotary axis, limiting fabrication of rotationally symmetric or multi-sided parts. Existing solutions often require hardware retrofits, alternative controllers, or commercial CAM software, raising cost and complexity. This work presents a software-only framework for indexed rotary machining on GRBL-based CNCs. A custom post-processor converts planar toolpaths into discrete rotary steps, executed through a browser-based interface. While not equivalent to continuous 4-axis machining, the method enables practical rotary-axis fabrication using only standard, off-the-shelf mechanics, without firmware modification. By reducing technical and financial barriers, the framework expands access to multi-axis machining in classrooms, makerspaces, and small workshops, supporting hands-on learning and rapid prototyping.
AssemMate: Graph-Based LLM for Robotic Assembly Assistance
Venue: arXiv cs.RO 2026
Year: 2026

Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly process through natural language interaction with humans. Despite some progress, existing methods represent knowledge in the form of natural language text. Due to the long context and redundant content, they struggle to meet the robots' requirements for real-time and precise reasoning. In order to bridge this gap, we present AssemMate, which utilizes the graph\textemdash a concise and accurate form of knowledge representation\textemdash as input. This graph-based LLM enables knowledge graph question answering (KGQA), supporting human-robot interaction and assembly task planning for specific products. Beyond interactive QA, AssemMate also supports sensing stacked scenes and executing grasping to assist with assembly. Specifically, a self-supervised Graph Convolutional Network (GCN) encodes knowledge graph entities and relations into a latent space and aligns them with LLM's representation, enabling the LLM to understand graph information. In addition, a vision-enhanced strategy is employed to address stacked scenes in grasping. Through training and evaluation, AssemMate outperforms existing methods, achieving 6.4\% higher accuracy, 3 times faster inference, and 28 times shorter context length, while demonstrating strong generalization ability on random graphs. And our approach further demonstrates superiority through robotic grasping experiments in both simulated and real-world settings. More details can be found on the project page: https://github.com/cristina304/AssemMate.git
Hetero-EUCLID: Interpretable model discovery for heterogeneous hyperelastic materials using stress-unsupervised learning
Venue: arXiv cs.CE 2026
Year: 2026

We propose a computational framework, Hetero-EUCLID, for segmentation and parameter identification to characterize the full hyperelastic behavior of all constituents of a heterogeneous material. In this work, we leverage the Bayesian-EUCLID (Efficient Unsupervised Constitutive Law Identification and Discovery) framework to efficiently solve the heterogenized formulation through parsimonious model selection using sparsity-promoting priors and Monte Carlo Markov Chain sampling. We utilize experimentally observable 3D surface displacement and boundary-averaged force data generated from Finite Element simulations of non-equi-biaxial tension tests on heterogeneous specimens. The framework broadly consists of two steps -- residual force-based segmentation, and constitutive parameter identification. We validate and demonstrate the ability of the proposed framework to segment the domain, and characterize the constituent materials on various types of thin square heterogeneous domains. We validate of the framework's ability to segment and characterize materials with various levels of displacement noises and non-native mesh discretizations, i.e, using different meshes for the forward FE simulations and the inverse EUCLID problem. This demonstrates Hetero-EUCLID framework's applicability in Digital Image/Volume Correlation-based experimental scenarios. Furthermore, the proposed framework performs successful segmentation and material characterizations based on data from a single experiment, thereby making it viable for rapid, interpretable model discovery in domains such as aerospace and defense composites and for characterization of selective tissue stiffening in medical conditions such as fibroatheroma, atherosclerosis, or cancer.
Synthetic vs. Real Training Data for Visual Navigation
Venue: arXiv cs.RO 2026
Year: 2026

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are evaluated in the real world. However, despite this well-known sim-to-real gap, we demonstrate that simulator-trained policies can match the performance of their real-world-trained counterparts. Central to our approach is a navigation policy architecture that bridges the sim-to-real appearance gap by leveraging pretrained visual representations and runs real-time on robot hardware. Evaluations on a wheeled mobile robot show that the proposed policy, when trained in simulation, outperforms its real-world-trained version by 31 and the prior state-of-the-art methods by 50 points in navigation success rate. Policy generalization is verified by deploying the same model onboard a drone. Our results highlight the importance of diverse image encoder pretraining for sim-to-real generalization, and identify on-policy learning as a key advantage of simulated training over training with real data. Code, model checkpoints and multimedia materials are available at https://lasuomela.github.io/faint/
LASLiN: A Learning-Augmented Peer-to-Peer Network
Venue: arXiv cs.DC 2026
Year: 2026

This paper studies the integration of machine-learned advice in overlay networks in order to adapt their topology to the incoming demand. Such demand-aware systems have recently received much attention, for example in the context of data structures (Fu et al. in ICLR 2025, Zeynali et al. in ICML 2024). We in this paper extend this vision to overlay networks where requests are not to individual keys in a data structure but occur between communication pairs, and where algorithms have to be distributed. In this setting, we present an algorithm that adapts the topology (and the routing paths) of the overlay network to minimize the hop distance travelled by bit, that is, distance times demand. In a distributed manner, each node receives an (untrusted) prediction of the future demand to help him choose its set of neighbors and its forwarding table. This paper focuses on optimizing the well-known skip list networks (SLNs) for their simplicity. We start by introducing continuous skip list networks (C-SLNs) which are a generalization of SLNs specifically designed to tolerate predictive errors. We then present our learning-augmented algorithm, called LASLiN, and prove that its performance is (i) similar to the best possible SLN in case of good predictions ($O(1)$-consistency) and (ii) at most a logarithmic factor away from a standard overlay network in case of arbitrarily wrong predictions ($O(\log^2 n)$-robustness, where $n$ is the number of nodes in the network). Finally, we demonstrate the resilience of LASLiN against predictive errors (ie, its smoothness) using various error types on both synthetic and real demands.
LazyDrag: Enabling Stable Drag-Based Editing on Multi-Modal Diffusion Transformers via Explicit Correspondence
Venue: arXiv cs.CV 2026
Year: 2026

The reliance on implicit point matching via attention has become a core bottleneck in drag-based editing, resulting in a fundamental compromise on weakened inversion strength and costly test-time optimization (TTO). This compromise severely limits the generative capabilities of diffusion models, suppressing high-fidelity inpainting and text-guided creation. In this paper, we introduce LazyDrag, the first drag-based image editing method for Multi-Modal Diffusion Transformers, which directly eliminates the reliance on implicit point matching. In concrete terms, our method generates an explicit correspondence map from user drag inputs as a reliable reference to boost the attention control. This reliable reference opens the potential for a stable full-strength inversion process, which is the first in the drag-based editing task. It obviates the necessity for TTO and unlocks the generative capability of models. Therefore, LazyDrag naturally unifies precise geometric control with text guidance, enabling complex edits that were previously out of reach: opening the mouth of a dog and inpainting its interior, generating new objects like a ``tennis ball'', or for ambiguous drags, making context-aware changes like moving a hand into a pocket. Additionally, LazyDrag supports multi-round workflows with simultaneous move and scale operations. Evaluated on the DragBench, our method outperforms baselines in drag accuracy and perceptual quality, as validated by VIEScore and human evaluation. LazyDrag not only establishes new state-of-the-art performance, but also paves a new way to editing paradigms.
Secure human oversight of AI: Threat modeling in a socio-technical context
Venue: arXiv cs.CR 2026
Year: 2026

Human oversight of AI is promoted as a safeguard against risks such as inaccurate outputs, system malfunctions, or violations of fundamental rights, and is mandated in regulation like the European AI Act. Yet debates on human oversight have largely focused on its effectiveness, while overlooking a critical dimension: the security of human oversight. We argue that human oversight creates a new attack surface within the safety, security, and accountability architecture of AI operations. Drawing on cybersecurity perspectives, we model human oversight as an IT application for the purpose of systematic threat modeling of the human oversight process. Threat modeling allows us to identify security risks within human oversight and points towards possible mitigation strategies. Our contributions are: (1) introducing a security perspective on human oversight, (2) offering researchers and practitioners guidance on how to approach their human oversight applications from a security point of view, and (3) providing a systematic overview of attack vectors and hardening strategies to enable secure human oversight of AI.
Automatic Network Planning with Digital Radio Twin
Venue: arXiv cs.NI 2026
Year: 2026

Network planning seeks to determine base station parameters that maximize coverage and capacity in cellular networks. However, achieving optimal planning remains challenging due to the diversity of deployment scenarios and the significant simulation-to-reality discrepancy. In this paper, we propose \emph{AutoPlan}, a new automatic network planning framework by leveraging digital radio twin (DRT) techniques. We derive the DRT by finetuning the parameters of building materials to reduce the sim-to-real discrepancy based on crowdsource real-world user data. Leveraging the DRT, we design a Bayesian optimization based algorithm to optimize the deployment parameters of base stations efficiently. Using the field measurement from Husker-Net, we extensively evaluate \emph{AutoPlan} under various deployment scenarios, in terms of both coverage and capacity. The evaluation results show that \emph{AutoPlan} flexibly adapts to different scenarios and achieves performance comparable to exhaustive search, while requiring less than 2\% of its computation time.
Interaction Context Often Increases Sycophancy in LLMs
Venue: arXiv cs.HC 2026
Year: 2026

We investigate how the presence and type of interaction context shapes sycophancy in LLMs. While real-world interactions allow models to mirror a user's values, preferences, and self-image, prior work often studies sycophancy in zero-shot settings devoid of context. Using two weeks of interaction context from 38 users, we evaluate two forms of sycophancy: (1) agreement sycophancy -- the tendency of models to produce overly affirmative responses, and (2) perspective sycophancy -- the extent to which models reflect a user's viewpoint. Agreement sycophancy tends to increase with the presence of user context, though model behavior varies based on the context type. User memory profiles are associated with the largest increases in agreement sycophancy (e.g. $+$45\% for Gemini 2.5 Pro), and some models become more sycophantic even with non-user synthetic contexts (e.g. $+$15\% for Llama 4 Scout). Perspective sycophancy increases only when models can accurately infer user viewpoints from interaction context. Overall, context shapes sycophancy in heterogeneous ways, underscoring the need for evaluations grounded in real-world interactions and raising questions for system design around alignment, memory, and personalization.
Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration
Venue: arXiv cs.RO 2026
Year: 2026

Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between IMU and cameras must be calibrated in advance. Most existing calibration methods adopt continuous-time state representation, more specifically the B-spline. Despite these methods achieve precise spatial-temporal calibration, they suffer from high computational cost caused by continuous-time state representation. To this end, we propose a novel and extremely efficient calibration method that unleashes the power of discrete-time state representation. Moreover, the weakness of discrete-time state representation in temporal calibration is tackled in this paper. With the increasing production of drones, cellphones and other visual-inertial platforms, if one million devices need calibration around the world, saving one minute for the calibration of each device means saving 2083 work days in total. To benefit both the research and industry communities, the open-source implementation is released at https://github.com/JunlinSong/DT-VI-Calib.