OpenRaiser/Intern-Atlas huggingface dataset:
Computing Betti tables and minimal presentations of zero-dimensional persistent homology
Venue: arXiv cs.CG 2026
Year: 2026

The Betti tables of a multigraded module encode the grades at which there is an algebraic change in the module. Multigraded modules show up in many areas of pure and applied mathematics, and in particular in topological data analysis, where they are known as persistence modules, and where their Betti tables describe the places at which the homology of filtered simplicial complexes changes. Although Betti tables of singly and bigraded modules are already being used in applications of topological data analysis, their computation in the bigraded case (which relies on an algorithm that is cubic in the size of the filtered simplicial complex) is a bottleneck when working with large datasets. We show that, in the special case of zero-dimensional homology (relevant for clustering and graph classification) Betti tables of bigraded modules can be computed in log-linear time. We also consider the problem of computing minimal presentations, and show that minimal presentations of zero-dimensional persistent homology can be computed in quadratic time, regardless of the grading poset.
Return Augmented Decision Transformer for Off-Dynamics Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

We study offline off-dynamics reinforcement learning (RL) to utilize data from an easily accessible source domain to enhance policy learning in a target domain with limited data. Our approach centers on return-conditioned supervised learning (RCSL), particularly focusing on Decision Transformer (DT) type frameworks, which can predict actions conditioned on desired return guidance and complete trajectory history. Previous works address the dynamics shift problem by augmenting the reward in the trajectory from the source domain to match the optimal trajectory in the target domain. However, this strategy can not be directly applicable in RCSL owing to (1) the unique form of the RCSL policy class, which explicitly depends on the return, and (2) the absence of a straightforward representation of the optimal trajectory distribution. We propose the Return Augmented (REAG) method for DT type frameworks, where we augment the return in the source domain by aligning its distribution with that in the target domain. We provide the theoretical analysis demonstrating that the RCSL policy learned from REAG achieves the same level of suboptimality as would be obtained without a dynamics shift. We introduce two practical implementations REAG$_\text{Dara}^{*}$ and REAG$_\text{MV}^{*}$ respectively. Thorough experiments on D4RL datasets and various DT-type baselines demonstrate that our methods consistently enhance the performance of DT type frameworks in off-dynamics RL.
$π_0$: A Vision-Language-Action Flow Model for General Robot Control
Venue: arXiv cs.LG 2026
Year: 2026

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the level of generality required for effective real-world systems faces major obstacles in terms of data, generalization, and robustness. In this paper, we discuss how generalist robot policies (i.e., robot foundation models) can address these challenges, and how we can design effective generalist robot policies for complex and highly dexterous tasks. We propose a novel flow matching architecture built on top of a pre-trained vision-language model (VLM) to inherit Internet-scale semantic knowledge. We then discuss how this model can be trained on a large and diverse dataset from multiple dexterous robot platforms, including single-arm robots, dual-arm robots, and mobile manipulators. We evaluate our model in terms of its ability to perform tasks in zero shot after pre-training, follow language instructions from people and from a high-level VLM policy, and its ability to acquire new skills via fine-tuning. Our results cover a wide variety of tasks, such as laundry folding, table cleaning, and assembling boxes.
Public goods games on any population structure
Venue: arXiv cs.GT 2026
Year: 2026

Understanding the emergence of cooperation in social networks has advanced through pairwise interactions, but the corresponding theory for group-based public goods games (PGGs) remains less explored. Here, we provide theoretical conditions under which cooperation thrives in PGGs on arbitrary population structures, which are accurate under weak selection. We find that a class of networks that would otherwise fail to produce cooperation, such as star graphs, are particularly conducive to cooperation in PGGs. More generally, PGGs can support cooperation on almost all networks, which is robust across all kinds of model details. This fundamental advantage of PGGs derives from self-reciprocity realized by group separations and from clustering through second-order interactions. We also apply PGGs to empirical networks, which shows that PGGs could be a promising interaction mode for the emergence of cooperation in real-world systems.
Does GenAI Make Usability Testing Obsolete?
Venue: arXiv cs.SE 2026
Year: 2026

Ensuring usability is crucial for the success of mobile apps. Usability issues can compromise user experience and negatively impact the perceived app quality. This paper presents UX-LLM, a novel tool powered by a Large Vision-Language Model that predicts usability issues in iOS apps. To evaluate the performance of UX-LLM, we predicted usability issues in two open-source apps of a medium complexity and asked two usability experts to assess the predictions. We also performed traditional usability testing and expert review for both apps and compared the results to those of UX-LLM. UX-LLM demonstrated precision ranging from 0.61 and 0.66 and recall between 0.35 and 0.38, indicating its ability to identify valid usability issues, yet failing to capture the majority of issues. Finally, we conducted a focus group with an app development team of a capstone project developing a transit app for visually impaired persons. The focus group expressed positive perceptions of UX-LLM as it identified unknown usability issues in their app. However, they also raised concerns about its integration into the development workflow, suggesting potential improvements. Our results show that UX-LLM cannot fully replace traditional usability evaluation methods but serves as a valuable supplement particularly for small teams with limited resources, to identify issues in less common user paths, due to its ability to inspect the source code.
Exploiting Unlabeled Data with Multiple Expert Teachers for Open Vocabulary Aerial Object Detection and Its Orientation Adaptation
Venue: arXiv cs.CV 2026
Year: 2026

In recent years, aerial object detection has been increasingly pivotal in various earth observation applications. However, current algorithms are limited to detecting a set of pre-defined object categories, demanding sufficient annotated training samples, and fail to detect novel object categories. In this paper, we put forth a novel formulation of the aerial object detection problem, namely open-vocabulary aerial object detection (OVAD), which can detect objects beyond training categories without costly collecting new labeled data. We propose CastDet, a CLIP-activated student-teacher detection framework that serves as the first OVAD detector specifically designed for the challenging aerial scenario, where objects often exhibit weak appearance features and arbitrary orientations. Our framework integrates a robust localization teacher along with several box selection strategies to generate high-quality proposals for novel objects. Additionally, the RemoteCLIP model is adopted as an omniscient teacher, which provides rich knowledge to enhance classification capabilities for novel categories. A dynamic label queue is devised to maintain high-quality pseudo-labels during training. By doing so, the proposed CastDet boosts not only novel object proposals but also classification. Furthermore, we extend our approach from horizontal OVAD to oriented OVAD with tailored algorithm designs to effectively manage bounding box representation and pseudo-label generation. Extensive experiments for both tasks on multiple existing aerial object detection datasets demonstrate the effectiveness of our approach. The code is available at https://github.com/VisionXLab/CastDet.
Striking a Balance: Evaluating How Aggregations of Multiple Forecasts Impact Judgment Under Uncertainty
Venue: arXiv cs.HC 2026
Year: 2026

Decision-makers consult multiple forecasts to account for uncertainties when forming judgments about future events. While prior works have compared unaggregated and highly-aggregated designs for displaying multiple forecasts (e.g., Multiple Forecast Visualizations versus confidence interval plots), it remains unclear how partial aggregation impacts judgment. To investigate the effect of partial aggregation, we curated three designs that partially aggregate multiple forecasts. Through two large-scale studies (Experiment 1 n = 695 and Experiment 2 n = 389) across 14 judgment-related metrics, we observed that one design (Horizon Sampled MFV) significantly enhanced participants' ability to predict future trends, thereby reducing their surprise when confronted with the actual outcomes. Grounded in empirical evidence, we provide insights into how to design visualizations for multiple forecasts to communicate uncertainty more effectively. Specifically, since no approach excels in all metrics, we advise choosing different designs based on communication goals and prior knowledge of forecasts.
Eulerian orientations and Hadamard codes: A novel connection via counting
Venue: arXiv cs.CC 2026
Year: 2026

We discover a novel connection between two classical mathematical notions, Eulerian orientations and Hadamard codes by studying the counting problem of Eulerian orientations (\#EO) with local constraint functions imposed on vertices. We present two special classes of constraint functions and a chain reaction algorithm, and show that the \#EO problem defined by each class alone is polynomial-time solvable by the algorithm. These tractable classes of functions are defined inductively, and quite remarkably the base level of these classes is characterized perfectly by the well-known Hadamard code. Thus, we establish a novel connection between counting Eulerian orientations and coding theory. We also prove a \#P-hardness result for the \#EO problem when constraint functions from the two tractable classes appear together.
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
Venue: arXiv cs.RO 2026
Year: 2026

Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body deformations of the silicone gel. However, accurately inferring shear and normal force distributions from these gel deformations has yet to be fully addressed. In this work, we propose a machine learning approach using a U-net architecture to predict force distributions directly from the sensor's raw images. Our model, trained on force distributions inferred from \ac{fea}, demonstrates promising accuracy in predicting normal and shear force distributions for the commercially available GelSight Mini sensor. It also shows potential for generalization across indenters, sensors of the same type, and for enabling real-time application. The codebase, dataset and models are open-sourced and available at https://feats-ai.github.io .
Quantifying Aleatoric Uncertainty of the Treatment Effect: A Novel Orthogonal Learner
Venue: arXiv cs.LG 2026
Year: 2026

Estimating causal quantities from observational data is crucial for understanding the safety and effectiveness of medical treatments. However, to make reliable inferences, medical practitioners require not only estimating averaged causal quantities, such as the conditional average treatment effect, but also understanding the randomness of the treatment effect as a random variable. This randomness is referred to as aleatoric uncertainty and is necessary for understanding the probability of benefit from treatment or quantiles of the treatment effect. Yet, the aleatoric uncertainty of the treatment effect has received surprisingly little attention in the causal machine learning community. To fill this gap, we aim to quantify the aleatoric uncertainty of the treatment effect at the covariate-conditional level, namely, the conditional distribution of the treatment effect (CDTE). Unlike average causal quantities, the CDTE is not point identifiable without strong additional assumptions. As a remedy, we employ partial identification to obtain sharp bounds on the CDTE and thereby quantify the aleatoric uncertainty of the treatment effect. We then develop a novel, orthogonal learner for the bounds on the CDTE, which we call AU-learner. We further show that our AU-learner has several strengths in that it satisfies Neyman-orthogonality and, thus, quasi-oracle efficiency. Finally, we propose a fully-parametric deep learning instantiation of our AU-learner.
Zero-Shot Temporal Resolution Domain Adaptation for Spiking Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

Spiking Neural Networks (SNNs) are biologically-inspired deep neural networks that efficiently extract temporal information while offering promising gains in terms of energy efficiency and latency when deployed on neuromorphic devices. SNN parameters are sensitive to temporal resolution, leading to significant performance drops when the temporal resolution of target data during deployment is not the same as that of the source data used for training, especially when fine-tuning with the target data is not possible during deployment. To address this challenge, we propose three novel domain adaptation methods for adapting neuron parameters to account for the change in time resolution without re-training on target time resolution. The proposed methods are based on a mapping between neuron dynamics in SNNs and State Space Models (SSMs) and are applicable to general neuron models. We evaluate the proposed methods under spatio-temporal data tasks, namely the audio keyword spotting datasets SHD and MSWC, and the neuromorphic image NMINST dataset. Our methods provide an alternative to-and in most cases significantly outperform-the existing reference method that consists of scaling only the time constant. Notably, when the temporal resolution of the target data is double that of the source data, applying one of our proposed methods instead of the benchmark achieves classification accuracy of 89.5% instead of 53.0% on SHD, 93.6% instead of 38.8% on MSWC and 98.5% instead of 97.2% aon NMNIST. Moreover, our results show that high accuracy on high temporal resolution data can be obtained by time-efficient training on lower temporal resolution data.
Quantization Meets Projection: A Happy Marriage for Approximate k-Nearest Neighbor Search
Venue: arXiv cs.DB 2026
Year: 2026

Approximate $k$-nearest neighbor (AKNN) search is a fundamental problem with wide applications. To reduce memory and accelerate search, vector quantization is widely adopted. However, existing quantization methods either rely on codebooks -- whose query speed is limited by costly table lookups -- or adopt dimension-wise quantization, which maps each vector dimension to a small quantized code for fast search. The latter, however, suffers from a fixed compression ratio because the quantized code length is inherently tied to the original dimensionality. To overcome these limitations, we propose MRQ, a new approach that integrates projection with quantization. The key insight is that, after projection, high-dimensional vectors tend to concentrate most of their information in the leading dimensions. MRQ exploits this property by quantizing only the information-dense projected subspace -- whose size is fully user-tunable -- thereby decoupling the quantized code length from the original dimensionality. The remaining tail dimensions are captured using lightweight statistical summaries. By doing so, MRQ boosts the query efficiency of existing quantization methods while achieving arbitrary compression ratios enabled by the projection step. Extensive experiments show that MRQ substantially outperforms the state-of-the-art method, achieving up to 3x faster search with only one-third the quantization bits for comparable accuracy.
On Resolving Non-Preemptivity in Multitask Scheduling: An Optimal Algorithm in Deterministic and Stochastic Worlds
Venue: arXiv cs.NI 2026
Year: 2026

The efficient scheduling of multi-task jobs across multiprocessor systems has become increasingly critical with the rapid expansion of computational systems. This challenge, known as Multiprocessor Multitask Scheduling (MPMS), is essential for optimizing the performance and scalability of applications in fields such as cloud computing and deep learning. In this paper, we study the MPMS problem under both deterministic and stochastic models, where each job is composed of multiple tasks and can only be completed when all its tasks are finished. We introduce $\mathsf{NP}$-$\mathsf{SRPT}$, a non-preemptive variant of the SRPT algorithm, designed to accommodate scenarios with non-preemptive tasks. Our algorithm achieves a competitive ratio of $\ln α+ β+ 1$ for minimizing response time, where $α$ represents the ratio of the largest to the smallest job workload, and $β$ captures the ratio of the largest non-preemptive task workload to the smallest job workload. We further establish that this competitive ratio is order-optimal when the number of processors is fixed. For the stochastic $\mathsf{M}$/$\mathsf{G}$/$\mathsf{N}$ system, we prove that $\mathsf{NP}$-$\mathsf{SRPT}$ achieves asymptotically optimal mean response time as the traffic intensity approaches $1$, assuming task size distribution with finite support. Moreover, the asymptotic optimality extends to infinite task size distributions under mild probabilistic assumptions, including the standard $\mathsf{M}$/$\mathsf{M}$/$\mathsf{N}$ model. Finally, we extend the analysis to the setting of unknown job sizes, proving that non-preemptive adaptations of the $\mathsf{M\text{-}Gittins}$ and $\mathsf{M\text{-}SERPT}$ policies achieve asymptotic optimality and near-optimality, respectively, for a broad class of job size distributions. Experimental results validate the effectiveness of $\mathsf{NP}$-$\mathsf{SRPT}$.
Causal Explanations for Image Classifiers
Venue: arXiv cs.AI 2026
Year: 2026

Existing algorithms for explaining the output of image classifiers use different definitions of explanations and a variety of techniques to find them. However, none of the existing tools use a principled approach based on formal definitions of cause and explanation. In this paper we present a novel black-box approach to computing explanations grounded in the theory of actual causality. We prove relevant theoretical results and present an algorithm for computing approximate explanations based on these definitions. We prove termination of our algorithm and discuss its complexity and the amount of approximation compared to the precise definition. We implemented the framework in a tool ReX and we present experimental results and a comparison with state-of-the-art tools. We demonstrate that ReX is the most efficient black-box tool and produces the smallest explanations, in addition to outperforming other black-box tools on standard quality measures.
Towards a Fairer Non-negative Matrix Factorization
Venue: arXiv cs.LG 2026
Year: 2026

There has been a recent critical need to study fairness and bias in machine learning (ML) algorithms. Since there is clearly no one-size-fits-all solution to fairness, ML methods should be developed alongside bias mitigation strategies that are practical and approachable to the practitioner. Motivated by recent work on ``fair" PCA, here we consider the more challenging method of non-negative matrix factorization (NMF) as both a showcasing example and a method that is important in its own right for both topic modeling tasks and feature extraction for other ML tasks. We demonstrate that a modification of the objective function, by using a min-max formulation, may \textit{sometimes} be able to offer an improvement in fairness for groups in the population. We derive two methods for the objective minimization, a multiplicative update rule as well as an alternating minimization scheme, and discuss implementation practicalities. We include a suite of synthetic and real experiments that show how the method may improve fairness while also highlighting the important fact that this may sometime increase error for some individuals and fairness is not a rigid definition and method choice should strongly depend on the application at hand.
"Should I Give Up Now?" Investigating LLM Pitfalls in Software Engineering
Venue: arXiv cs.SE 2026
Year: 2026

Software engineers are increasingly incorporating AI assistants into their workflows to enhance productivity and alleviate cognitive load. However, experiences with large language models (LLMs) such as ChatGPT vary widely. While some engineers find them useful, others deem them counterproductive due to inaccuracies in their responses. Researchers have also observed that ChatGPT often provides incorrect information. Given these limitations, it is crucial to determine how to effectively integrate LLMs into software engineering (SE) workflow. Analyzing data from 26 participants in a complex web development task, we identified nine failure types categorized into incorrect or incomplete responses, cognitive overload, and context loss. Users attempted to mitigate these issues through scaffolding, prompt clarification, and debugging. However, 17 participants ultimately chose to abandon ChatGPT due to persistent failures. Our quantitative analysis revealed that unhelpful responses increased the likelihood of abandonment by a factor of 11, while each additional prompt reduced abandonment probability by 17%. This study advances the understanding of human-AI interaction in SE tasks and outlines directions for future research and tooling support.
Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces an extension to the arbitration graph framework designed to enhance the safety and robustness of autonomous systems in complex, dynamic environments. Building on the flexibility and scalability of arbitration graphs, the proposed method incorporates a verification step and structured fallback layers in the decision-making process. This ensures that only verified and safe commands are executed while enabling graceful degradation in the presence of unexpected faults or bugs. The approach is demonstrated using a Pac-Man simulation and further validated in the context of autonomous driving, where it shows significant reductions in accident risk and improvements in overall system safety. The bottom-up design of arbitration graphs allows for an incremental integration of new behavior components. The extension presented in this work enables the integration of experimental or immature behavior components while maintaining system safety by clearly and precisely defining the conditions under which behaviors are considered safe. The proposed method is implemented as a ready to use header-only C++ library, published under the MIT License. Together with the Pac-Man demo, it is available at github.com/KIT-MRT/arbitration_graphs.