OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
Venue: arXiv cs.RO 2026
Year: 2026

Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a novel multi-step preview foot placement planning algorithm based on the step-to-step discrete evolution of the Divergent Component of Motion (DCM) of walking robots. Our proposed approach adaptively changes the step duration and the swing foot trajectory for optimal foot placement under constraints, thereby enhancing the long-term stability of the robot and significantly improving its ability to navigate environments with tight constraints on viable footholds. We demonstrate its effectiveness through various simulation scenarios with complex stepping-stone configurations and external perturbations. These tests underscore its improved performance for navigating foothold-restricted terrains, even with external disturbances.
A blockchain-based intelligent recommender system framework for enhancing supply chain resilience
Venue: arXiv cs.CE 2026
Year: 2026

Applying advanced digital technologies such as artificial intelligence (AI), blockchain (BLC), bigdata analytics (BDA) and digital twin (DT)/simulations to enhance supply chain resilience (SCRes) has been widely discussed in light of the global pandemic, regional conflicts, and the technology revolution such as Industry 4.0 and 5.0. Previous studies are limited at the conceptual level as the proactive SCRes measure with a standalone fashion. The intelligent recommendation system (IRS) obtains the capabilities for enhancing SCRes as a reactive digital measure. However, the utilization of the IRS as the SCRes enhancement tool is neglected, investigation on implementing the IRS for the SC disruption response is yet to come. To close these gaps, a data-driven supply chain disruption response IRS baseline framework was proposed by this research as an initial SCRes reactive solution. To guarantee the reliability of the proposed IRS as a stable, secure, and resilient decision support system, blockchain technology is integrated into the baseline architecture. The BLC-IRS framework is demonstrated with user prototype and industrial case to present its executable functions. A system dynamics (SD) simulation model is adopted to validate the BLC-IRS framework, the simulation results indicated that our proposed BLC-IRS can be implemented as an effective a SC disruption response measure. Our developed BLC-IRS contributes an executable SCRes digital solution with synthetic technologies as a reactive SCRes measure, enabled users to mitigate the firm and partial network level disruption in an agile and safe manner.
Topic-Based Watermarks for Large Language Models
Venue: arXiv cs.CR 2026
Year: 2026

The indistinguishability of large language model (LLM) output from human-authored content poses significant challenges, raising concerns about potential misuse of AI-generated text and its influence on future model training. Watermarking algorithms offer a viable solution by embedding detectable signatures into generated text. However, existing watermarking methods often involve trade-offs among attack robustness, generation quality, and additional overhead such as specialized frameworks or complex integrations. We propose a lightweight, topic-guided watermarking scheme for LLMs that partitions the vocabulary into topic-aligned token subsets. Given an input prompt, the scheme selects a relevant topic-specific token list, effectively "green-listing" semantically aligned tokens to embed robust marks while preserving fluency and coherence. Experimental results across multiple LLMs and state-of-the-art benchmarks demonstrate that our method achieves text quality comparable to industry-leading systems and simultaneously improves watermark robustness against paraphrasing and lexical perturbation attacks, with minimal performance overhead. Our approach avoids reliance on additional mechanisms beyond standard text generation pipelines, enabling straightforward adoption and suggesting a practical path toward globally consistent watermarking of AI-generated content.
Watermark-based Attribution of AI-Generated Content
Venue: arXiv cs.CR 2026
Year: 2026

Several companies have deployed watermark-based detection to identify AI-generated content. However, attribution--the ability to trace back to the user of a generative AI (GenAI) service who created a given AI-generated content--remains largely unexplored despite its growing importance. In this work, we aim to bridge this gap by conducting the first systematic study on watermark-based, user-level attribution of AI-generated content. Our key idea is to assign a unique watermark to each user of the GenAI service and embed this watermark into the AI-generated content created by that user. Attribution is then performed by identifying the user whose watermark best matches the one extracted from the given content. This approach, however, faces a key challenge: How should watermarks be selected for users to maximize attribution performance? To address the challenge, we first theoretically derive lower bounds on detection and attribution performance through rigorous probabilistic analysis for any given set of user watermarks. Then, we select watermarks for users to maximize these lower bounds, thereby optimizing detection and attribution performance. Our theoretical and empirical results show that watermark-based attribution inherits both the accuracy and (non-)robustness properties of the underlying watermark. Specifically, attribution remains highly accurate when the watermarked AI-generated content is either not post-processed or subjected to common post-processing such as JPEG compression, as well as black-box adversarial post-processing with limited query budgets.
Protected QR Code-based Anti-counterfeit System for Pharmaceutical Manufacturing
Venue: arXiv cs.CR 2026
Year: 2026

The pharmaceutical manufacturing faces critical challenges due to the global threat of counterfeit drugs. This paper proposes a new approach of protected QR codes to secure unique product information for safeguarding the pharmaceutical supply chain. The proposed solution integrates secure QR code generation and encrypted data transmission to establish a comprehensive anti-counterfeit ecosystem. The protected QR codes encapsulate product information that cannot be identified using traditional QR code scanners which protect the information against replication and tampering. The system is developed with scalability in mind, which can be easily implemented without introducing any additional modification in the traditional supply chain.
A Measurement of Genuine Tor Traces for Realistic Website Fingerprinting
Venue: arXiv cs.CR 2026
Year: 2026

Website fingerprinting (WF) is a dangerous attack on web privacy because it enables an adversary to predict the website a user is visiting, despite the use of encryption, VPNs, or anonymizing networks such as Tor. Previous WF work almost exclusively uses synthetic datasets to evaluate the performance and estimate the feasibility of WF attacks despite evidence that synthetic data misrepresents the real world. In this paper we present GTT23, the first WF dataset of genuine Tor traces, which we obtain through a large-scale measurement of the Tor network and which is intended especially for WF. It represents real Tor user behavior better than any existing WF dataset, is larger than any existing WF dataset by at least an order of magnitude, and will help ground the future study of realistic WF attacks and defenses. In a detailed evaluation, we survey 28 WF datasets published since 2008 and compare their characteristics to those of GTT23. We discover common deficiencies of synthetic datasets that make them inferior to GTT23 for drawing meaningful conclusions about the effectiveness of WF attacks directed at real Tor users. We have made GTT23 available to promote reproducible research and to help inspire new directions for future work.
INMS: Memory Sharing for Large Language Model based Agents
Venue: arXiv cs.CL 2026
Year: 2026

While Large Language Model (LLM) based agents excel at complex tasks, their performance in open-ended scenarios is often constrained by isolated operation and reliance on static databases, missing the dynamic knowledge exchange of human dialogue. To bridge this gap, we propose the INteractive Memory Sharing (INMS) framework, an asynchronous interaction paradigm for multi-agent systems. By integrating real-time memory filtering, storage, and retrieval, INMS establishes a shared conversational memory pool. This enables continuous, dialogue-like memory sharing among agents, promoting collective self-enhancement and dynamically refining the retrieval mediator based on interaction history. Extensive experiments across three datasets demonstrate that INMS significantly improves agent performance by effectively modeling multi-agent interaction and collective knowledge sharing.
One is all you need: Second-order Unification without First-order Variables
Venue: arXiv cs.LO 2026
Year: 2026

We introduce a fragment of second-order unification, referred to as \emph{Second-Order Ground Unification (SOGU)}, with the following properties: (i) only one second-order variable is allowed, and (ii) first-order variables do not occur. We study an equational variant of SOGU where the signature contains \textit{associative} binary function symbols (ASOGU) and show that Hilbert's 10$^{th}$ problem is reducible to ASOGU unifiability, thus proving undecidability. Our reduction provides a new lower bound for the undecidability of second-order unification, as previous results required first-order variable occurrences, multiple second-order variables, and/or equational theories involving \textit{length-reducing} rewrite systems. Furthermore, our reduction holds even in the case when associativity of the binary function symbol is restricted to \emph{power associative}, i.e. f(f(x,x),x)= f(x,f(x,x)), as our construction requires a single constant.
Allocation Mechanisms in Decentralized Exchange Markets with Frictions
Venue: arXiv cs.GT 2026
Year: 2026

The classical theory of efficient allocations of an aggregate endowment in a pure-exchange economy has hitherto primarily focused on the Pareto-efficiency of allocations, under the implicit assumption that transfers between agents are frictionless, and hence costless to the economy. In this paper, we argue that certain transfers cause frictions that result in costs to the economy. We show that these frictional costs are tantamount to a form of subadditivity of the cost of transferring endowments between agents. We suggest an axiomatic study of allocation mechanisms, that is, the mechanisms that transform feasible allocations into other feasible allocations, in the presence of such transfer costs. Among other results, we provide an axiomatic characterization of those allocation mechanisms that admit representations as robust (worst-case) linear allocation mechanisms, as well as those mechanisms that admit representations as worst-case conditional expectations. We call the latter Robust Conditional Mean Allocation mechanisms, and we relate our results to the literature on (decentralized) risk sharing within a pool of agents.
Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty
Venue: arXiv cs.LG 2026
Year: 2026

Uncertainties in transition dynamics pose a critical challenge in reinforcement learning (RL), often resulting in performance degradation of trained policies when deployed on hardware. Many robust RL approaches follow two strategies: enforcing smoothness in actor or actor-critic modules with Lipschitz regularization, or learning robust Bellman operators. However, the first strategy does not investigate the impact of critic-only Lipschitz regularization on policy robustness, while the second lacks comprehensive validation in real-world scenarios. Building on this gap and prior work, we propose PPO-PGDLC, an algorithm based on Proximal Policy Optimization (PPO) that integrates Projected Gradient Descent (PGD) with a Lipschitz-regularized critic (LC). The PGD component calculates the adversarial state within an uncertainty set to approximate the robust Bellman operator, and the Lipschitz-regularized critic further improves the smoothness of learned policies. Experimental results on two classic control tasks and one real-world robotic locomotion task demonstrates that, compared to several baseline algorithms, PPO-PGDLC achieves better performance and predicts smoother actions under environmental perturbations.
Swap distance minimization beyond entropy minimization in word order variation
Venue: arXiv cs.CL 2026
Year: 2026

Consider a linguistic structure formed by $n$ elements, for instance, subject, direct object and verb ($n=3$) or subject, direct object, indirect object and verb ($n=4$). We investigate whether the frequency of the $n!$ possible orders is constrained by two principles. First, entropy minimization, a principle that has been suggested to shape natural communication systems at distinct levels of organization. Second, swap distance minimization, namely a preference for word orders that require fewer swaps of adjacent elements to be produced from a source order. We present average swap distance, a novel score for research on swap distance minimization. We find strong evidence of pressure for entropy minimization and swap distance minimization with respect to a die rolling experiment in distinct linguistic structures with $n=3$ or $n=4$. Evidence with respect to a Polya urn process is strong for $n=4$ but weaker for $n=3$. We still find evidence consistent with the action of swap distance minimization when word order frequencies are shuffled, indicating that swap distance minimization effects are beyond pressure to reduce word order entropy.
Sign Language-Based versus Touch-Based Input for Deaf Users with Interactive Personal Assistants in Simulated Kitchen Environments
Venue: arXiv cs.HC 2026
Year: 2026

In this study, we assess the usability of interactive personal assistants (IPAs), such as Amazon Alexa, in a simulated kitchen smart home environment, with deaf and hard of hearing users. Participants engage in activities in a way that causes their hands to get dirty. With these dirty hands, they are tasked with two different input methods for IPAs: American Sign Language (ASL) in a Wizard-of-Oz design, and smart home apps with a touchscreen. Usability ratings show that participants significantly preferred ASL over touch-based apps with dirty hands, although not to a larger extent than in comparable previous work with clean hands. Participants also expressed significant enthusiasm for ASL-based IPA interaction in Netpromoter scores and in questions about their overall preferences. Preliminary observations further suggest that having dirty hands may affect the way people sign, which may pose challenges for building IPAs that natively support sign language input.
Beyond Trial-and-Error: Predicting User Abandonment After a Moderation Intervention
Venue: arXiv cs.CY 2026
Year: 2026

Current content moderation follows a reactive, trial-and-error approach, where interventions are applied and their effects are only measured post-hoc. In contrast, we introduce a proactive, predictive approach that enables moderators to anticipate the impact of their actions before implementation. We propose and tackle the new task of predicting user abandonment following a moderation intervention. We study the reactions of 16,540 users to a massive ban of online communities on Reddit, training a set of binary classifiers to identify those users who would abandon the platform after the intervention -- a problem of great practical relevance. We leverage a dataset of 13.8 million posts to compute a large and diverse set of 142 features, which convey information about the activity, toxicity, relations, and writing style of the users. We obtain promising results, with the best-performing model achieving micro F1-score = 0.914. Our model shows robust generalizability when applied to users from previously unseen communities. Furthermore, we identify activity features as the most informative predictors, followed by relational and toxicity features, while writing style features exhibit limited utility. Theoretically, our results demonstrate the feasibility of adopting a predictive machine learning approach to estimate the effects of moderation interventions. Practically, this work marks a fundamental shift from reactive to predictive moderation, equipping platform administrators with intelligent tools to strategically plan interventions, minimize unintended consequences, and optimize user engagement.
Data-Driven Knowledge Transfer in Batch $Q^*$ Learning
Venue: arXiv cs.LG 2026
Year: 2026

In data-driven decision-making in marketing, healthcare, and education, it is desirable to utilize a large amount of data from existing ventures to navigate high-dimensional feature spaces and address data scarcity in new ventures. We explore knowledge transfer in dynamic decision-making by concentrating on batch stationary environments and formally defining task discrepancies through the lens of Markov decision processes (MDPs). We propose a framework of Transferred Fitted $Q$-Iteration algorithm with general function approximation, enabling the direct estimation of the optimal action-state function $Q^*$ using both target and source data. We establish the relationship between statistical performance and MDP task discrepancy under sieve approximation, shedding light on the impact of source and target sample sizes and task discrepancy on the effectiveness of knowledge transfer. We show that the final learning error of the $Q^*$ function is significantly improved from the single task rate both theoretically and empirically.
Efficient Transformer Encoders for Mask2Former-style models
Venue: arXiv cs.CV 2026
Year: 2026

Vision transformer based models bring significant improvements for image segmentation tasks. Although these architectures offer powerful capabilities irrespective of specific segmentation tasks, their use of computational resources can be taxing on deployed devices. One way to overcome this challenge is by adapting the computation level to the specific needs of the input image rather than the current one-size-fits-all approach. To this end, we introduce ECO-M2F or EffiCient TransfOrmer Encoders for Mask2Former-style models. Noting that the encoder module of M2F-style models incur high resource-intensive computations, ECO-M2F provides a strategy to self-select the number of hidden layers in the encoder, conditioned on the input image. To enable this self-selection ability for providing a balance between performance and computational efficiency, we present a three step recipe. The first step is to train the parent architecture to enable early exiting from the encoder. The second step is to create an derived dataset of the ideal number of encoder layers required for each training example. The third step is to use the aforementioned derived dataset to train a gating network that predicts the number of encoder layers to be used, conditioned on the input image. Additionally, to change the computational-accuracy tradeoff, only steps two and three need to be repeated which significantly reduces retraining time. Experiments on the public datasets show that the proposed approach reduces expected encoder computational cost while maintaining performance, adapts to various user compute resources, is flexible in architecture configurations, and can be extended beyond the segmentation task to object detection.
Cycles of Well-Linked Sets I: an Elementary Bound for Directed Cycle Packing
Venue: arXiv cs.DM 2026
Year: 2026

In 1996, Reed, Robertson, Seymour and Thomas [Combinatorica 1996] proved Younger's Conjecture, which states that, for all directed graphs $D$, there exists a function $f$ such that, if $D$ does not contain $k$ disjoint cycles, then $D$ contains a feedback vertex set, i.e.~a subset of vertices whose deletion renders the graph acyclic, of size bounded by $f(k)$. However, the function obtained by Reed, Robertson, Seymour and Thomas in their paper is enormous and, in fact, not even elementary. We prove the first elementary upper bound for the function $f$ above, showing it is upper-bounded by a power tower of height 8. Our proof is inspired by the breakthrough result of Chekuri and Chuzhoy [J. ACM 2016], who proved a polynomial bound for the Excluded Grid Theorem for undirected graphs. We translate a key concept of their proof to directed graphs by introducing paths of well-linked sets (PWS), and show that any digraph of large directed treewidth contains a large PWS, which in turn contains a large fence. We believe that the theoretical tools developed in this work may find applications beyond the results above, in a similar way as the path-of-sets-system framework due to Chekuri and Chuzhoy [J. ACM 2016] did for undirected graphs (see, for example, Hatzel, Komosa, Pilipczuk and Sorge [Discret. Math. Theor. Comput. Sci. 2022], Chekuri and Chuzhoy [SODA 2015] and Chuzhoy and Nimavat [arXiv 2019]). Indeed, in a follow-up paper, we apply this framework to improve the bounds of the Directed Grid Theorem.
A Systematic Literature Review on Large Language Models for Automated Program Repair
Venue: arXiv cs.SE 2026
Year: 2026

Automated Program Repair (APR) attempts to patch software bugs and reduce manual debugging efforts. Very recently, with the advances in Large Language Models (LLMs), an increasing number of APR techniques have been proposed, facilitating software development and maintenance and demonstrating remarkable performance. However, due to ongoing explorations in the LLM-based APR field, it is challenging for researchers to understand the current achievements, challenges, and potential opportunities. This work provides the first systematic literature review to summarize the applications of LLMs in APR between 2020 and 2025. We analyze 189 relevant papers from LLMs, APR and their integration perspectives. First, we categorize existing popular LLMs that are applied to support APR and outline four types of utilization strategies for their deployment. Besides, we detail some specific repair scenarios that benefit from LLMs, e.g., semantic bugs and security vulnerabilities. Furthermore, we discuss several critical aspects of integrating LLMs into APR research, e.g., input forms and open science. Finally, we highlight a set of challenges remaining to be investigated and the potential guidelines for future research. Overall, our paper provides a systematic overview of the research landscape to the APR community, helping researchers gain a comprehensive understanding of achievements and promote future research.
Mapping the Unseen: Unified Promptable Panoptic Mapping with Dynamic Labeling using Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Panoptic maps enable robots to reason about both geometry and semantics. However, open-vocabulary models repeatedly produce closely related labels that split panoptic entities and degrade volumetric consistency. The proposed UPPM advances open-world scene understanding by leveraging foundation models to introduce a panoptic Dynamic Descriptor that reconciles open-vocabulary labels with unified category structure and geometric size priors. The fusion for such dynamic descriptors is performed within a multi-resolution multi-TSDF map using language-guided open-vocabulary panoptic segmentation and semantic retrieval, resulting in a persistent and promptable panoptic map without additional model training. Based on our evaluation experiments, UPPM shows the best overall performance in terms of the map reconstruction accuracy and the panoptic segmentation quality. The ablation study investigates the contribution for each component of UPPM (custom NMS, blurry-frame filtering, and unified semantics) to the overall system performance. Consequently, UPPM preserves open-vocabulary interpretability while delivering strong geometric and panoptic accuracy.