OpenRaiser/Intern-Atlas huggingface dataset:
Two-Layer Stacked Intelligent Metasurfaces: Balancing Performance and Complexity
Venue: arXiv cs.IT 2026
Year: 2026

Stacked intelligent metasurfaces (SIMs) have emerged as a powerful paradigm for wave-domain signal processing, enabling fine-grained control over electromagnetic (EM) propagation in next-generation wireless systems. However, conventional multi-layer SIMs often suffer from excessive structural complexity, high computational overhead, and significant power attenuation across layers, limiting their performance. In this paper, we first characterize SIMs from the perspectives of functionality, application, and layer configuration, revealing the inherent trade-offs between signal processing flexibility and power efficiency. Then, two representative 2-layer architectures, the meta-fiber-connected SIM (MF-SIM) and the flexible intelligent layered metasurface (FILM), are introduced, each advocating a distinct 2-layer SIM design philosophy. Moreover, we identify several open challenges in topology optimization for MF-SIM, shape control for FILM, and hybrid 2-layer architectures. Finally, case studies considering 2-layer MF-SIM and FILM assisted point-to-point multiple-input multiple-output (MIMO) and multi-user communication systems validate that properly designed 2-layer SIMs can significantly reduce power loss and optimization burden while maintaining good signal processing performance, offering a promising pathway toward practical SIM-enabled 6G systems.
RandMark: On Random Watermarking of Visual Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Being trained on large and diverse datasets, visual foundation models (VFMs) can be fine-tuned to achieve remarkable performance and efficiency in various downstream computer vision tasks. The high computational cost of data collection and training makes these models valuable assets, which motivates some VFM owners to distribute them alongside a license to protect their intellectual property rights. In this paper, we propose an approach to ownership verification of visual foundation models that leverages a small encoder-decoder network to embed digital watermarks into an internal representation of a hold-out set of input images. The method is based on random watermark embedding, which makes the watermark statistics detectable in functional copies of the watermarked model. Both theoretically and experimentally, we demonstrate that the proposed method yields a low probability of false detection for non-watermarked models and a low probability of false misdetection for watermarked models.
WalkGPT: Grounded Vision-Language Conversation with Depth-Aware Segmentation for Pedestrian Navigation
Venue: arXiv cs.CV 2026
Year: 2026

Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can describe visual content, their lack of explicit grounding leads to object hallucinations and unreliable depth reasoning, limiting their usefulness for accessibility guidance. We introduce WalkGPT, a pixel-grounded LVLM for the new task of Grounded Navigation Guide, unifying language reasoning and segmentation within a single architecture for depth-aware accessibility guidance. Given a pedestrian-view image and a navigation query, WalkGPT generates a conversational response with segmentation masks that delineate accessible and harmful features, along with relative depth estimation. The model incorporates a Multi-Scale Query Projector (MSQP) that shapes the final image tokens by aggregating them along text tokens across spatial hierarchies, and a Calibrated Text Projector (CTP), guided by a proposed Region Alignment Loss, that maps language embeddings into segmentation-aware representations. These components enable fine-grained grounding and depth inference without user-provided cues or anchor points, allowing the model to generate complete and realistic navigation guidance. We also introduce PAVE, a large-scale benchmark of 41k pedestrian-view images paired with accessibility-aware questions and depth-grounded answers. Experiments show that WalkGPT achieves strong grounded reasoning and segmentation performance. The source code and dataset are available on the \href{https://sites.google.com/view/walkgpt-26/home}{project website}.
FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Model
Venue: arXiv cs.RO 2026
Year: 2026

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing this tightly coupled visuomotor interplay. While recent vision-language-action models attempt to incorporate future guidance, they struggle with this joint modeling. Existing explicit methods divert capacity to task-irrelevant visual details, whereas implicit methods relying on sparse frame pairs disrupt temporal continuity. By heavily relying on visual reconstruction, these methods become visually dominated, entangling static scene context with dynamic action intent. We argue that effective joint visuomotor predictive modeling requires both temporal continuity and visually-conditioned supervision decoupling. To this end, we propose FutureVLA, featuring a novel Joint Visuomotor Predictive Architecture. FutureVLA is designed to extract joint visuomotor embeddings by first decoupling visual and motor information, and then jointly encoding generalized physical priors. Specifically, in the pretraining stage, we leverage heterogeneous manipulation datasets and introduce a Joint Visuomotor Gating mechanism to structurally separate visual state preservation from temporal action modeling. It allows the motor stream to focus on continuous physical dynamics while explicitly querying visual tokens for environmental constraints, yielding highly generalizable joint visuomotor embeddings. Subsequently, in the post-training stage, we employ a latent embeddings alignment strategy, enabling diverse downstream VLA models to internalize these temporal priors without modifying their inference architectures. Extensive experiments demonstrate that FutureVLA consistently improves VLA frameworks.
CUPID: A Plug-in Framework for Joint Aleatoric and Epistemic Uncertainty Estimation with a Single Model
Venue: arXiv cs.LG 2026
Year: 2026

Accurate estimation of uncertainty in deep learning is critical for deploying models in high-stakes domains such as medical diagnosis and autonomous decision-making, where overconfident predictions can lead to harmful outcomes. In practice, understanding the reason behind a model's uncertainty and the type of uncertainty it represents can support risk-aware decisions, enhance user trust, and guide additional data collection. However, many existing methods only address a single type of uncertainty or require modifications and retraining of the base model, making them difficult to adopt in real-world systems. We introduce CUPID (Comprehensive Uncertainty Plug-in estImation moDel), a general-purpose module that jointly estimates aleatoric and epistemic uncertainty without modifying or retraining the base model. CUPID can be flexibly inserted into any layer of a pretrained network. It models aleatoric uncertainty through a learned Bayesian identity mapping and captures epistemic uncertainty by analyzing the model's internal responses to structured perturbations. We evaluate CUPID across a range of tasks, including classification, regression, and out-of-distribution detection. The results show that it consistently delivers competitive performance while offering layer-wise insights into the origins of uncertainty. By making uncertainty estimation modular, interpretable, and model-agnostic, CUPID supports more transparent and trustworthy AI. Related code and data are available at https://github.com/a-Fomalhaut-a/CUPID.
Event-based Photometric Stereo via Rotating Illumination and Per-Pixel Learning
Venue: arXiv cs.CV 2026
Year: 2026

Photometric stereo is a technique for estimating surface normals using images captured under varying illumination. However, conventional frame-based photometric stereo methods are limited in real-world applications due to their reliance on controlled lighting, and susceptibility to ambient illumination. To address these limitations, we propose an event-based photometric stereo system that leverages an event camera, which is effective in scenarios with continuously varying scene radiance and high dynamic range conditions. Our setup employs a single light source moving along a predefined circular trajectory, eliminating the need for multiple synchronized light sources and enabling a more compact and scalable design. We further introduce a lightweight per-pixel multi-layer neural network that directly predicts surface normals from event signals generated by intensity changes as the light source rotates, without system calibration. Experimental results on benchmark datasets and real-world data collected with our data acquisition system demonstrate the effectiveness of our method, achieving a 7.12\% reduction in mean angular error compared to existing event-based photometric stereo methods. In addition, our method demonstrates robustness in regions with sparse event activity, strong ambient illumination, and scenes affected by specularities.
A PUF-Based Approach for Copy Protection of Intellectual Property in Neural Network Models
Venue: arXiv cs.CR 2026
Year: 2026

More and more companies' Intellectual Property (IP) is being integrated into Neural Network (NN) models. This IP has considerable value for companies and, therefore, requires adequate protection. For example, an attacker might replicate a production machines' hardware and subsequently simply copy associated software and NN models onto the cloned hardware. To make copying NN models onto cloned hardware infeasible, we present an approach to bind NN models - and thus also the IP contained within them - to their underlying hardware. For this purpose, we link an NN model's weights, which are crucial for its operation, to unique and unclonable hardware properties by leveraging Physically Unclonable Functions (PUFs). By doing so, sufficient accuracy can only be achieved using the target hardware to restore the original weights, rendering proper execution of the NN model on cloned hardware impossible. We demonstrate that our approach accomplishes the desired degradation of accuracy on various NN models and outline possible future improvements.
Prioritizing Gradient Sign Over Modulus: An Importance-Aware Framework for Wireless Federated Learning
Venue: arXiv cs.LG 2026
Year: 2026

Wireless federated learning (FL) facilitates collaborative training of artificial intelligence (AI) models to support ubiquitous intelligent applications at the wireless edge. However, the inherent constraints of limited wireless resources inevitably lead to unreliable communication, which poses a significant challenge to wireless FL. To overcome this challenge, we propose Sign-Prioritized FL (SP-FL), a novel framework that improves wireless FL by prioritizing the transmission of important gradient information through uneven resource allocation. Specifically, recognizing the importance of descent direction in model updating, we transmit gradient signs in individual packets and allow their reuse for gradient descent if the remaining gradient modulus cannot be correctly recovered. To further improve the reliability of transmission of important information, we formulate a hierarchical resource allocation problem based on the importance disparity at both the packet and device levels, optimizing bandwidth allocation across multiple devices and power allocation between sign and modulus packets. To make the problem tractable, the one-step convergence behavior of SP-FL, which characterizes data importance at both levels in an explicit form, is analyzed. We then propose an alternating optimization algorithm to solve this problem using the Newton-Raphson method and successive convex approximation (SCA). Simulation results confirm the superiority of SP-FL, especially in resource-constrained scenarios, demonstrating up to 9.96\% higher testing accuracy on the CIFAR-10 dataset compared to existing methods.
PolGS++: Physically-Guided Polarimetric Gaussian Splatting for Fast Reflective Surface Reconstruction
Venue: arXiv cs.CV 2026
Year: 2026

Accurate reconstruction of reflective surfaces remains a fundamental challenge in computer vision, with broad applications in real-time virtual reality and digital content creation. Although 3D Gaussian Splatting (3DGS) enables efficient novel-view rendering with explicit representations, its performance on reflective surfaces still lags behind implicit neural methods, especially in recovering fine geometry and surface normals. To address this gap, we propose PolGS++, a physically-guided polarimetric Gaussian Splatting framework for fast reflective surface reconstruction. Specifically, we integrate a polarized BRDF (pBRDF) model into 3DGS to explicitly decouple diffuse and specular components, providing physically grounded reflectance modeling and stronger geometric cues for reflective surface recovery. Furthermore, we introduce a depth-guided visibility mask acquisition mechanism that enables angle-of-polarization (AoP)-based tangent-space consistency constraints in Gaussian Splatting without costly ray-tracing intersections. This physically guided design improves reconstruction quality and efficiency, requiring only about 10 minutes of training. Extensive experiments on both synthetic and real-world datasets validate the effectiveness of our method.
Spatially conditioned dynamics between population and built form
Venue: arXiv cs.CY 2026
Year: 2026

Understanding the relationship between population and the built environment is essential for addresing socio-spatial inequalities. While researchers have long theorized these dynamics, empirical analyses remain limited. This study develops a scalable, spatially explicit framework to quantify the relationship between population and the built environment at the scale of local census tracts in Czechia. The approach integrates a fine-grained classification of the built environment with a comprehensive set of socio-demographic indicators. The methodology is structured to capture the overall strength and spatial variability of the relationship between the population and the built environment, in order to identify how built form and spatial distribution can reinforce or limit socio-spatial differentiation, using geographically weighted classification models. The results of the study show that population characteristics exhibit linear, spatially conditioned relationships with built form, emphasizing that spatial heterogeneity must be accounted for when assessing these relationships. The analysis of the relationship strength also reveals that some built form types are more socially selective than others, underscoring the importance of built form in reproducing social-spatial inequalities.
MAD: Memory Allocation meets Software Diversity
Venue: arXiv cs.CR 2026
Year: 2026

Vulnerabilities emanating from DRAM errors pose a vexing problem that remains, as of yet, unsolved and elusive but cannot be ignored. Prior defenses focused on specific details of early RowHammer attacks and fail to generalize with the generalizations of recent RowHammer attacks. Even worse, it is presently not clear that techniques from prior defenses will be able to cope with these generalizations or if an entirely new approach is required. Although still work-in-progress, we have identified a new approach that combines memory allocation with principles underlying software diversity and shows promising early results. At first glance, software diversity seems to be an unlikely contender, since it faces seemingly insurmountable obstacles, primarily the lack of sufficient entropy in memory subsystems. Our system - called MAD, short for memory allocation diversity - leverages two novel, complementary spatial diversification techniques to overcome this entropy obstacle. Entropy aside, MAD offers ease-of-implementation, negligible performance impact, and is both hardware and software agnostic. From a security perspective, MAD's goal is to deter RowHammer attacks by delaying them to the maximum extent possible. Such a delay opens the door for a variety of additional responses, e.g., proactive rebooting, or complementary in-depth analysis of ongoing attacks that would be too slow for an always-on defense.
$V_{0.5}$: Generalist Value Model as a Prior for Sparse RL Rollouts
Venue: arXiv cs.LG 2026
Year: 2026

In Reinforcement Learning with Verifiable Rewards (RLVR), constructing a robust advantage baseline is critical for policy gradients, effectively guiding the policy model to reinforce desired behaviors. Recent research has introduced Generalist Value Models (such as $V_0$), which achieve pre-trained value estimation by explicitly encoding model capabilities in-context, eliminating the need to synchronously update the value model alongside the policy model. In this paper, we propose $V_{0.5}$, which adaptively fuses the baseline predicted by such value model (acting as a prior) with the empirical mean derived from sparse rollouts. This constructs a robust baseline that balances computational efficiency with extremely low variance. Specifically, we introduce a real-time statistical testing and dynamic budget allocation. This balances the high variance caused by sparse sampling against the systematic bias (or hallucinations) inherent in the value model's prior. By constructing a hypothesis test to evaluate the prior's reliability in real-time, the system dynamically allocates additional rollout budget on demand. This mechanism minimizes the baseline estimator's Mean Squared Error (MSE), guaranteeing stable policy gradients, even under extreme sparsity with a group size of 4. Extensive evaluations across six mathematical reasoning benchmarks demonstrate that $V_{0.5}$ significantly outperforms GRPO and DAPO, achieving faster convergence and over some 10% performance improvement.
GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments
Venue: arXiv cs.RO 2026
Year: 2026

Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scale under simplifying assumptions (grids, homogeneous agents) or offer higher fidelity with less comparable instrumentation. We present GRACE, a unified 2D simulator+benchmark that instantiates the same task at multiple abstraction levels (grid, roadmap, continuous) via explicit, reproducible operators and a common evaluation protocol. Our empirical results on public maps and representative planners enable commensurate comparisons on a shared instance set. Furthermore, we quantify the expected representation-fidelity trade-offs (MRMP solves instances at higher fidelity but lower speed, while grid/roadmap planners scale farther). By consolidating representation, execution, and evaluation, GRACE thereby aims to make cross-representation studies more comparable and provides a means to advance multi-robot planning research and its translation to practice.
Bilevel Layer-Positioning LoRA for Real Image Dehazing
Venue: arXiv cs.CV 2026
Year: 2026

Learning-based real image dehazing methods have achieved notable progress, yet they still face adaptation challenges in diverse real haze scenes. These challenges mainly stem from the lack of effective unsupervised mechanisms for unlabeled data and the heavy cost of full model fine-tuning. To address these challenges, we propose the haze-to-clear text-directed loss that leverages CLIP's cross-modal capabilities to reformulate real image dehazing as a semantic alignment problem in latent space, thereby providing explicit unsupervised cross-modal guidance in the absence of reference images. Furthermore, we introduce the Bilevel Layer-positioning LoRA (BiLaLoRA) strategy, which learns both the LoRA parameters and automatically search the injection layers, enabling targeted adaptation of critical network layers. Extensive experiments demonstrate our superiority against state-of-the-art methods on multiple real-world dehazing benchmarks. The code is publicly available at https://github.com/YanZhang-zy/BiLaLoRA.
SNPgen: Phenotype-Supervised Genotype Representation and Synthetic Data Generation via Latent Diffusion
Venue: arXiv cs.LG 2026
Year: 2026

Polygenic risk scores and other genomic analyses require large individual-level genotype datasets, yet strict data access restrictions impede sharing. Synthetic genotype generation offers a privacy-preserving alternative, but most existing methods operate unconditionally, producing samples without phenotype alignment, or rely on unsupervised compression, creating a gap between statistical fidelity and downstream task utility. We present SNPgen, a two-stage conditional latent diffusion framework for generating phenotype-supervised synthetic genotypes. SNPgen combines GWAS-guided variant selection (1,024-2,048 trait-associated SNPs) with a variational autoencoder for genotype compression and a latent diffusion model conditioned on binary disease labels via classifier-free guidance. Evaluated on 458,724 UK Biobank individuals across four complex diseases (coronary artery disease, breast cancer, type 1 and type 2 diabetes), models trained on synthetic data matched real-data predictive performance in a train-on-synthetic, test-on-real protocol, approaching genome-wide PRS methods that use $2$-$6\times$ more variants. Privacy analysis confirmed zero identical matches, near-random membership inference (AUC $\approx 0.50$), preserved linkage disequilibrium structure, and high allele frequency correlation ($r \geq 0.95$) with source data. A controlled simulation with known causal effects verified faithful recovery of the imposed genetic association structure.
Dynamics-Predictive Sampling for Active RL Finetuning of Large Reasoning Models
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement learning (RL) finetuning has become a key technique for enhancing the reasoning abilities of large language models (LLMs). However, its effectiveness critically depends on the selection of training data. Recent advances underscore the importance of online prompt selection methods, which typically concentrate training on partially solved or moderately challenging examples under the current policy, thereby yielding more effective model updates. While significantly accelerating RL finetuning in terms of training steps, they also incur substantial computational overhead by requiring extensive LLM rollouts over large candidate batches to identify informative samples, an expense that can outweigh the finetuning process itself. To address this challenge, this work proposes Dynamics-Predictive Sampling (DPS), which online predicts and selects informative prompts by inferring their learning dynamics prior to costly rollouts. Specifically, we introduce a new perspective by modeling each prompt's solving progress during RL finetuning as a dynamical system, where the extent of solving is represented as the state and the transition is characterized by a hidden Markov model. Using historical rollout reward signals, we perform online Bayesian inference to estimate evolving state distributions, and the inference outcome provides a predictive prior for efficient prompt selection without rollout-intensive filtering. Empirical results across diverse reasoning tasks, including mathematics, planning, and visual geometry, demonstrate that DPS substantially reduces redundant rollouts, accelerates the training process, and achieves superior reasoning performance.