OpenRaiser/Intern-Atlas huggingface dataset:
A gripper for flap separation and opening of sealed bags
Venue: arXiv cs.RO 2026
Year: 2026

Separating thin, flexible layers that must be individually grasped is a common but challenging manipulation primitive for most off-the-shelf grippers. A prominent example arises in clinical settings: the opening of sterile flat pouches for the preparation of the operating room, where the first step is to separate and grasp the flaps. We present a novel gripper design and opening strategy that enables reliable flap separation and robust seal opening. This capability addresses a high-volume repetitive hospital procedure in which nurses manually open up to 240 bags per shift, a physically demanding task linked to musculoskeletal injuries. Our design combines an active dented-roller fingertip with compliant fingers that exploit environmental constraints to robustly grasp thin flexible flaps. Experiments demonstrate that the proposed gripper reliably grasps and separates sealed bag flaps and other thin-layered materials from the hospital, the most sensitive variable affecting performance being the normal force applied. When two copies of the gripper grasp both flaps, the system withstands the forces needed to open the seals robustly. To our knowledge, this is one of the first demonstrations of robotic assistance to automate this repetitive, low-value, but critical hospital task.
Ergodicity in reinforcement learning
Venue: arXiv cs.LG 2026
Year: 2026

In reinforcement learning, we typically aim to optimize the expected value of the sum of rewards an agent collects over a trajectory. However, if the process generating these rewards is non-ergodic, the expected value, i.e., the average over infinitely many trajectories with a given policy, is uninformative for the average over a single, but infinitely long trajectory. Thus, if we care about how the individual agent performs during deployment, the expected value is not a good optimization objective. In this paper, we discuss the impact of non-ergodic reward processes on reinforcement learning agents through an instructive example, relate the notion of ergodic reward processes to more widely used notions of ergodic Markov chains, and present existing solutions that optimize long-term performance of individual trajectories under non-ergodic reward dynamics.
Expressive Boundedness of Authoritative DNS Response Selection
Venue: arXiv cs.NI 2026
Year: 2026

Authoritative Domain Name System (DNS) response selection defines query-time response selection based on resolver-visible context and per-answer metadata, yielding different observable outcomes for the same query under different conditions. Although such behavior is widely deployed and often described informally as traffic steering, its semantics have not been formalized independently of particular configuration languages or implementations. This paper shows that authoritative DNS response selection inhabits a bounded semantic domain determined directly by DNS protocol constraints. Requirements such as finiteness of responses, RRset atomicity, termination, cacheability, and restriction to resolver-visible inputs jointly limit the expressive power of any query-time selection mechanism. We formalize authoritative response selection as a class of DNS-admissible functions and prove that every such function admits a finite normal form consisting of conditional restriction over observable context followed by selection among a finite candidate set. We further show that this bounded semantic domain carries intrinsic algebraic structure induced by DNS semantics, enabling principled reasoning about composition, expressiveness loss, and semantic collapse. Concrete authoritative systems, configuration models, and serialized encodings are modeled uniformly as semantic restrictions of this domain. This framework supports precise reasoning about equivalence, representability, and approximation across heterogeneous authoritative DNS systems, grounded directly in protocol semantics rather than implementation detail.
Data Augmentation and Convolutional Network Architecture Influence on Distributed Learning
Venue: arXiv cs.DC 2026
Year: 2026

Convolutional Neural Networks (CNNs) have proven to be highly effective in solving a broad spectrum of computer vision tasks, such as classification, identification, and segmentation. These methods can be deployed in both centralized and distributed environments, depending on the computational demands of the task. While much of the literature has focused on the explainability of CNNs, which is essential for building trust and confidence in their predictions, there remains a gap in understanding their impact on computational resources, particularly in distributed training contexts. In this study, we analyze how CNN architectures primarily influence model accuracy and investigate additional factors that affect computational efficiency in distributed systems. Our findings contribute valuable insights for optimizing the deployment of CNNs in resource-intensive scenarios, paving the way for further exploration of variables critical to distributed learning.
NCAA Bracket Prediction Using Machine Learning and Combinatorial Fusion Analysis
Venue: arXiv cs.LG 2026
Year: 2026

Machine learning models have demonstrated remarkable success in sports prediction in the past years, often treating sports prediction as a classification task within the field. This paper introduces new perspectives for analyzing sports data to predict outcomes more accurately. We leverage rankings to generate team rankings for the 2024 dataset using Combinatorial Fusion Analysis (CFA), a new paradigm for combining multiple scoring systems through the rank-score characteristic (RSC) function and cognitive diversity (CD). Our result based on rank combination with respect to team ranking has an accuracy rate of $74.60\%$, which is higher than the best of the ten popular public ranking systems ($73.02\%$). This exhibits the efficacy of CFA in enhancing the precision of sports prediction through different lens.
A Formalization of Abstract Rewriting in Agda
Venue: arXiv cs.LO 2026
Year: 2026

We present a constructive formalization of Abstract Rewriting Systems (ARS) in the Agda proof assistant, focusing on standard results in term rewriting. We define a taxonomy of concepts related to termination and confluence and investigate the relationships between them and their classical counterparts. We identify, and eliminate where possible, the use of classical logic in the proofs of standard ARS results. Our analysis leads to refinements and mild generalizations of classical termination and confluence criteria. We investigate logical relationships between several notions of termination, arising from different formulations of the concept of a well-founded relation. We illustrate general applicability of our ARS development with an example formalization of the lambda calculus.
Quantifying Membership Disclosure Risk for Tabular Synthetic Data Using Kernel Density Estimators
Venue: arXiv cs.LG 2026
Year: 2026

The use of synthetic data has become increasingly popular as a privacy-preserving alternative to sharing real datasets, especially in sensitive domains such as healthcare, finance, and demography. However, the privacy assurances of synthetic data are not absolute, and remain susceptible to membership inference attacks (MIAs), where adversaries aim to determine whether a specific individual was present in the dataset used to train the generator. In this work, we propose a practical and effective method to quantify membership disclosure risk in tabular synthetic datasets using kernel density estimators (KDEs). Our KDE-based approach models the distribution of nearest-neighbour distances between synthetic data and the training records, allowing probabilistic inference of membership and enabling robust evaluation via ROC curves. We propose two attack models: a 'True Distribution Attack', which assumes privileged access to training data, and a more realistic, implementable 'Realistic Attack' that uses auxiliary data without true membership labels. Empirical evaluations across four real-world datasets and six synthetic data generators demonstrate that our method consistently achieves higher F1 scores and sharper risk characterization than a prior baseline approach, without requiring computationally expensive shadow models. The proposed method provides a practical framework and metric for quantifying membership disclosure risk in synthetic data, which enables data custodians to conduct a post-generation risk assessment prior to releasing their synthetic datasets for downstream use. The datasets and codes for this study are available at https://github.com/PyCoder913/MIA-KDE.
Ranking Reasoning LLMs under Test-Time Scaling
Venue: arXiv cs.LG 2026
Year: 2026

Test-time scaling evaluates reasoning LLMs by sampling multiple outputs per prompt, but ranking models in this regime remains underexplored. We formalize dense benchmark ranking under test-time scaling and introduce Scorio, a library that implements statistical ranking methods such as paired-comparison models, item response theory (IRT) models, voting rules, and graph- and spectral-based methods. Across $20$ reasoning models on four Olympiad-style math benchmarks (AIME'24, AIME'25, HMMT'25, and BrUMO'25; up to $N=80$ trials), most full-trial rankings agree closely with the Bayesian gold standard $\mathrm{Bayes}_{\mathcal{U}}@80$ (mean Kendall's $τ_b = 0.93$--$0.95$), and $19$--$34$ methods recover exactly the same ordering. In the single-trial regime, the best methods reach $τ_b \approx 0.86$. Using greedy decoding as an empirical prior ($\mathrm{Bayes}_{\mathbf{R}_0}@N$) reduces variance at $N=1$ by $16$--$52\%$, but can bias rankings when greedy and stochastic sampling disagree. These results identify reliable ranking methods for both high- and low-budget test-time scaling. We release Scorio as an open-source library at https://github.com/mohsenhariri/scorio.
World Mouse: Exploring Interactions with a Cross-Reality Cursor
Venue: arXiv cs.HC 2026
Year: 2026

As Extended Reality (XR) systems increasingly map and understand the physical world, interacting with these blended representations remains challenging. The current push for "natural" inputs has its trade-offs: touch is limited by human reach and fatigue, while gaze often lacks the precision for fine interaction. To bridge this gap, we introduce World Mouse, a cross-reality cursor that reinterprets the familiar 2D desktop mouse for complex 3D scenes. The system is driven by two core mechanisms: within-object interaction, which uses surface normals for precise cursor placement, and between-object navigation, which leverages interpolation to traverse empty space. Unlike previous virtual-only approaches, World Mouse leverages semantic segmentation and mesh reconstruction to treat physical objects as interactive surfaces. Through a series of prototypes, including object manipulation and screen-to-world transitions, we illustrate how cross-reality cursors may enable seamless interactions across real and virtual environments.
Factorized Neural Implicit DMD for Parametric Dynamics
Venue: arXiv cs.LG 2026
Year: 2026

A data-driven, model-free approach to modeling the temporal evolution of physical systems mitigates the need for explicit knowledge of the governing equations. Even when physical priors such as partial differential equations are available, such systems often reside in high-dimensional state spaces and exhibit nonlinear dynamics, making traditional numerical solvers computationally expensive and ill-suited for real-time analysis and control. Consider the problem of learning a parametric flow of a dynamical system: with an initial field and a set of physical parameters, we aim to predict the system's evolution over time in a way that supports long-horizon rollouts, generalization to unseen parameters, and spectral analysis. We propose a physics-coded neural field parameterization of the Koopman operator's spectral decomposition. Unlike a physics-constrained neural field, which fits a single solution surface, and neural operators, which directly approximate the solution operator at fixed time horizons, our model learns a factorized flow operator that decouples spatial modes and temporal evolution. This structure exposes underlying eigenvalues, modes, and stability of the underlying physical process to enable stable long-term rollouts, interpolation across parameter spaces, and spectral analysis. We demonstrate the efficacy of our method on a range of dynamics problems, showcasing its ability to accurately predict complex spatiotemporal phenomena while providing insights into the system's dynamic behavior.
TreeON: Reconstructing 3D Tree Point Clouds from Orthophotos and Heightmaps
Venue: arXiv cs.GR 2026
Year: 2026

We present TreeON, a novel neural-based framework for reconstructing detailed 3D tree point clouds from sparse top-down geodata, using only a single orthophoto and its corresponding Digital Surface Model (DSM). Our method introduces a new training supervision strategy that combines both geometric supervision and differentiable shadow and silhouette losses to learn point cloud representations of trees without requiring species labels, procedural rules, terrestrial reconstruction data, or ground laser scans. To address the lack of ground truth data, we generate a synthetic dataset of point clouds from procedurally modeled trees and train our network on it. Quantitative and qualitative experiments demonstrate better reconstruction quality and coverage compared to existing methods, as well as strong generalization to real-world data, producing visually appealing and structurally plausible tree point cloud representations suitable for integration into interactive digital 3D maps. The codebase, synthetic dataset, and pretrained model are publicly available at https://angelikigram.github.io/treeON/.
Task-Aware Delegation Cues for LLM Agents
Venue: arXiv cs.HC 2026
Year: 2026

LLM agents increasingly present as conversational collaborators, yet human--agent teamwork remains brittle due to information asymmetry: users lack task-specific reliability cues, and agents rarely surface calibrated uncertainty or rationale. We propose a task-aware collaboration signaling layer that turns offline preference evaluations into online, user-facing primitives for delegation. Using Chatbot Arena pairwise comparisons, we induce an interpretable task taxonomy via semantic clustering, then derive (i) Capability Profiles as task-conditioned win-rate maps and (ii) Coordination-Risk Cues as task-conditioned disagreement (tie-rate) priors. These signals drive a closed-loop delegation protocol that supports common-ground verification, adaptive routing (primary vs.\ primary+auditor), explicit rationale disclosure, and privacy-preserving accountability logs. Two predictive probes validate that task typing carries actionable structure: cluster features improve winner prediction accuracy and reduce difficulty prediction error under stratified 5-fold cross-validation. Overall, our framework reframes delegation from an opaque system default into a visible, negotiable, and auditable collaborative decision, providing a principled design space for adaptive human--agent collaboration grounded in mutual awareness and shared accountability.
LLMGreenRec: LLM-Based Multi-Agent Recommender System for Sustainable E-Commerce
Venue: arXiv cs.MA 2026
Year: 2026

Rising environmental awareness in e-commerce necessitates recommender systems that not only guide users to sustainable products but also minimize their own digital carbon footprints. Traditional session-based systems, optimized for short-term conversions, often fail to capture nuanced user intents for eco-friendly choices, perpetuating a gap between green intentions and actions. To tackle this, we introduce LLMGreenRec, a novel multi-agent framework that leverages Large Language Models (LLMs) to promote sustainable consumption. Through collaborative analysis of user interactions and iterative prompt refinement, LLMGreenRec's specialized agents deduce green-oriented user intents and prioritize eco-friendly product recommendations. Notably, this intent-driven approach also reduces unnecessary interactions and energy consumption. Extensive experiments on benchmark datasets validate LLMGreenRec's effectiveness in recommending sustainable products, demonstrating a robust solution that fosters a responsible digital economy.
Agentar-Fin-OCR
Venue: arXiv cs.CV 2026
Year: 2026

In this paper, we propose Agentar-Fin-OCR, a document parsing system tailored to financial-domain documents, transforming ultra-long financial PDFs into semantically consistent, highly accurate, structured outputs with auditing-grade provenance. To address finance-specific challenges such as complex layouts, cross-page structural discontinuities, and cell-level referencing capability, Agentar-Fin-OCR combines (1) a Cross-page Contents Consolidation algorithm to restore continuity across pages and a Document-level Heading Hierarchy Reconstruction (DHR) module to build a globally consistent Table of Contents (TOC) tree for structure-aware retrieval, and (2) a difficulty-adaptive curriculum learning training strategy for table parsing, together with a CellBBoxRegressor module that uses structural anchor tokens to localize table cells from decoder hidden states without external detectors. Experiments demonstrate that our model shows high performance on the table parsing metrics of OmniDocBench. To enable realistic evaluation in the financial vertical, we further introduce FinDocBench, a benchmark that includes six financial document categories with expert-verified annotations and evaluation metrics including Table of Contents edit-distance-based similarity (TocEDS), cross-page concatenated TEDS, and Table Cell Intersection over Union (C-IoU). We evaluate a wide range of state-of-the-art models on FinDocBench to assess their capabilities and remaining limitations on financial documents. Overall, Agentar-Fin-OCR and FinDocBench provide a practical foundation for reliable downstream financial document applications.
Neural Field Thermal Tomography: A Differentiable Physics Framework for Non-Destructive Evaluation
Venue: arXiv cs.LG 2026
Year: 2026

We propose Neural Field Thermal Tomography (NeFTY), a differentiable physics framework for the quantitative 3D reconstruction of material properties from transient surface temperature measurements. While traditional thermography relies on pixel-wise 1D approximations that neglect lateral diffusion, and soft-constrained Physics-Informed Neural Networks (PINNs) often fail in transient diffusion scenarios due to gradient stiffness, NeFTY parameterizes the 3D diffusivity field as a continuous neural field optimized through a rigorous numerical solver. By leveraging a differentiable physics solver, our approach enforces thermodynamic laws as hard constraints while maintaining the memory efficiency required for high-resolution 3D tomography. Our discretize-then-optimize paradigm effectively mitigates the spectral bias and ill-posedness inherent in inverse heat conduction, enabling the recovery of subsurface defects at arbitrary scales. Experimental validation on synthetic data demonstrates that NeFTY significantly improves the accuracy of subsurface defect localization over baselines. Additional details at https://cab-lab-princeton.github.io/nefty/
Speculative Decoding Scaling Laws (SDSL): Throughput Optimization Made Simple
Venue: arXiv cs.CL 2026
Year: 2026

Speculative decoding is a technique that uses multiple language models to accelerate infer- ence. Previous works have used an experi- mental approach to optimize the throughput of the inference pipeline, which involves LLM training and can be costly. This study of spec- ulative decoding proposes a theory that ana- lytically connects the key hyperparameters of pre-trained LLMs to the throughput efficiency of a downstream SD-based inference system. The theory allows the prediction of throughput- optimal hyperparameters for the components of an inference system before their pre-training.
The Attack and Defense Landscape of Agentic AI: A Comprehensive Survey
Venue: arXiv cs.CR 2026
Year: 2026

AI agents that combine large language models with non-AI system components are rapidly emerging in real-world applications, offering unprecedented automation and flexibility. However, this unprecedented flexibility introduces complex security challenges fundamentally different from those in traditional software systems. This paper presents the first systematic and comprehensive survey of AI agent security, including an analysis of the design space, attack landscape, and defense mechanisms for secure AI agent systems. We further conduct case studies to point out existing gaps in securing agentic AI systems and identify open challenges in this emerging domain. Our work also introduces the first systematic framework for understanding the security risks and defense strategies of AI agents, serving as a foundation for building both secure agentic systems and advancing research in this critical area.
Fingerprinting Concepts in Data Streams with Supervised and Unsupervised Meta-Information
Venue: arXiv cs.LG 2026
Year: 2026

Streaming sources of data are becoming more common as the ability to collect data in real-time grows. A major concern in dealing with data streams is concept drift, a change in the distribution of data over time, for example, due to changes in environmental conditions. Representing concepts (stationary periods featuring similar behaviour) is a key idea in adapting to concept drift. By testing the similarity of a concept representation to a window of observations, we can detect concept drift to a new or previously seen recurring concept. Concept representations are constructed using meta-information features, values describing aspects of concept behaviour. We find that previously proposed concept representations rely on small numbers of meta-information features. These representations often cannot distinguish concepts, leaving systems vulnerable to concept drift. We propose FiCSUM, a general framework to represent both supervised and unsupervised behaviours of a concept in a fingerprint, a vector of many distinct meta-information features able to uniquely identify more concepts. Our dynamic weighting strategy learns which meta-information features describe concept drift in a given dataset, allowing a diverse set of meta-information features to be used at once. FiCSUM outperforms state-of-the-art methods over a range of 11 real world and synthetic datasets in both accuracy and modeling underlying concept drift.
Enhancing Value Alignment of LLMs with Multi-agent system and Combinatorial Fusion
Venue: arXiv cs.MA 2026
Year: 2026

Aligning large language models (LLMs) with human values is a central challenge for ensuring trustworthy and safe deployment. While existing methods such as Reinforcement Learning from Human Feedback (RLHF) and its variants have improved alignment, they often rely on a single evaluator or narrowly defined reward signals, limiting their ability to capture ethical pluralism. In this work, we propose the Value Alignment System using Combinatorial Fusion Analysis (VAS-CFA), a framework that operationalizes multi-agent fusion alignment. It instantiates multiple moral agents, each fine-tuned to represent a distinct normative perspective, and fuses their outputs using CFA with both rank- and score-based aggregation. This design leverages cognitive diversity, between agents, to mitigate conflicts and redundancies across multiple agents, producing responses that better reflect human values. Empirical evaluation demonstrates that VAS-CFA outperforms both single agent baselines and prior aggregation approaches on standard metrics, showing that multi-agent fusion provides a robust and effective mechanism for advancing value alignment in LLMs.