OpenRaiser/Intern-Atlas huggingface dataset:
Multi-Agent Off-World Exploration for Sparse Evidence Discovery via Gaussian Belief Mapping and Dual-Domain Coverage
Venue: arXiv cs.RO 2026
Year: 2026

Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually ambiguous and often require close-range observations, making efficient and safe informative path planning essential. Existing methods often rely on predefined areas of interest (AOIs), which may be incomplete or biased, and typically handle terrain risk only through soft penalties, which are insufficient for avoiding non-recoverable regions. To address these issues, we propose a multi-agent informative path planning framework for sparse evidence discovery based on Gaussian belief mapping and dual-domain coverage. The method maintains Gaussian-process-based interest and risk beliefs and combines them with trajectory-intent representations to support coordinated sequential decision-making among multiple agents. It further prioritizes search inside the AOI while preserving limited exploration outside it, thereby improving robustness to AOI bias. In addition, the risk-aware design helps agents balance information gain and operational safety in hazardous environments. Experimental results in simulated lunar environments show that the proposed method consistently outperforms sampling-based and greedy baselines under different budgets and communication ranges. In particular, it achieves lower final uncertainty in risk-aware settings and remains robust under limited communication, demonstrating its effectiveness for cooperative off-world robotic exploration.
Mitigating the Memory Bottleneck with Machine Learning-Driven and Data-Aware Microarchitectural Techniques
Venue: arXiv cs.AR 2026
Year: 2026

Modern applications process massive data volumes that overwhelm the storage and retrieval capabilities of memory systems, making memory the primary performance and energy-efficiency bottleneck of computing systems. Although many microarchitectural techniques attempt to hide or tolerate long memory access latency, rapidly growing data footprints continue to outpace technology scaling, requiring more effective solutions. This dissertation shows that modern processors observe large amounts of application and system data during execution, yet many microarchitectural mechanisms make decisions largely independent of this information. Through four case studies, we demonstrate that such data-agnostic design leads to substantial missed opportunities for improving performance and energy efficiency. To address this limitation, this dissertation advocates shifting microarchitecture design from data-agnostic to data-informed. We propose mechanisms that (1) learn policies from observed execution behavior (data-driven design) and (2) exploit semantic characteristics of application data (data-aware design). We apply lightweight machine learning techniques and previously underexplored data characteristics across four processor components: a reinforcement learning-based hardware data prefetcher that learns memory access patterns online; a perceptron predictor that identifies memory requests likely to access off-chip memory; a reinforcement learning mechanism that coordinates data prefetching and off-chip prediction; and a mechanism that exploits repeatability in memory addresses and loaded values to eliminate predictable load instructions. Our extensive evaluation shows that the proposed techniques significantly improve performance and energy efficiency compared to prior state-of-the-art approaches.
PARSE: Part-Aware Relational Spatial Modeling
Venue: arXiv cs.CV 2026
Year: 2026

Inter-object relations underpin spatial intelligence, yet existing representations -- linguistic prepositions or object-level scene graphs -- are too coarse to specify which regions actually support, contain, or contact one another, leading to ambiguous and physically inconsistent layouts. To address these ambiguities, a part-level formulation is needed; therefore, we introduce PARSE, a framework that explicitly models how object parts interact to determine feasible and spatially grounded scene configurations. PARSE centers on the Part-centric Assembly Graph (PAG), which encodes geometric relations between specific object parts, and a Part-Aware Spatial Configuration Solver that converts these relations into geometric constraints to assemble collision-free, physically valid scenes. Using PARSE, we build PARSE-10K, a dataset of 10,000 3D indoor scenes constructed from real-image layout priors and a curated part-annotated shape database, each with dense contact structures and a part-level contact graph. With this structured, spatially grounded supervision, fine-tuning Qwen3-VL on PARSE-10K yields stronger object-level layout reasoning and more accurate part-level relation understanding; furthermore, leveraging PAGs as structural priors in 3D generation models leads to scenes with substantially improved physical realism and structural complexity. Together, these results show that PARSE significantly advances geometry-grounded spatial reasoning and supports the generation of physically consistent 3D scenes.
VoiceSHIELD-Small: Real-Time Malicious Speech Detection and Transcription
Venue: arXiv cs.SD 2026
Year: 2026

Voice interfaces are quickly becoming a common way for people to interact with AI systems. This also brings new security risks, such as prompt injection, social engineering, and harmful voice commands. Traditional security methods rely on converting speech to text and then filtering that text, which introduces delays and can ignore important audio cues. This paper introduces VoiceSHIELD-Small, a lightweight model that works in real time. It can transcribe speech and detect whether it is safe or harmful, all in one step. Built on OpenAI's Whisper-small encoder, VoiceSHIELD adds a mean-pooling layer and a simple classification head. It takes just 90-120 milliseconds to classify audio on mid-tier GPUs, while transcription happens at the same time. Tested on a balanced set of 947 audio clips, the model achieved 99.16 percent accuracy and an F1 score of 0.9865. At the default setting, it missed 2.33 percent of harmful inputs. Cross-validation showed consistent performance (F1 standard deviation = 0.0026). The paper also covers the model's design, training data, performance trade-offs, and responsible use guidelines. VoiceSHIELD is released under the MIT license to encourage further research and adoption in voice AI security.
Evaluating Granularity in Markov Chain-Based Trust Models for Vehicular Ad Hoc Networks (VANETs)
Venue: arXiv cs.CR 2026
Year: 2026

Trust management is a critical research pillar in Vehicular Ad Hoc Networks (VANETs), where the reliability of shared data depends entirely on driver integrity. In these networks, a driver's reputation is dynamically constructed based on the veracity of their recent message history: consistent reliability builds trust, while frequent misinformation leads to exclusion. This study analyses driver announcement characteristics by modelling behavioural transitions-specifically the frequency and nature of shifts between "good" and "bad" states. To facilitate this analysis, three distinct Markov chain-based behavioural models are evaluated with varying degrees of granularity: a 4-state model, a 7-state model, and a high-resolution 11-state model. By simulating announcement and reporting patterns, each model's ability to reflect nuanced behavioural shifts is assessed. Our results confirm that increasing the number of trust states significantly enhances the system's ability to capture complex, dynamic driver behaviours, providing a more robust framework for security in VANETs.
Post-quantum Federated Learning: Secure And Scalable Threat Intelligence For Collaborative Cyber Defense
Venue: arXiv cs.CR 2026
Year: 2026

Collaborative threat intelligence via federated learning (FL) faces critical risks from quantum computing, which can compromise classical encryption methods. This study proposes a quantum-secure FL framework using post-quantum cryptography (PQC) to protect cross-organizational data sharing. We expose vulnerabilities in traditional FL through simulated quantum attacks on RSA encrypted gradients and introduce a hybrid architecture integrating NIST-standardized algorithms CRYSTALS-Kyber for key exchange and CRYSTALS-Dilithium for authentication. Testing on APT attack datasets demonstrated 97.6% threat detection accuracy with minimal latency overhead (18.7%), validating real-world viability. A healthcare consortium case study confirmed secure ransomware indicator sharing without breaching privacy regulations. The work highlights the urgency of quantum ready defenses and provides technical guidelines for deploying PQC in FL systems, alongside policy recommendations for standardizing quantum resilience in threat-sharing networks.
AeroPlace-Flow: Language-Grounded Object Placement for Aerial Manipulators via Visual Foresight and Object Flow
Venue: arXiv cs.RO 2026
Year: 2026

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in real-world settings, where users naturally communicate goals through language. In this work, we present AeroPlace-Flow, a training-free framework for language-grounded aerial object placement that unifies visual foresight with explicit 3D geometric reasoning and object flow. Given RGB-D observations of the object and the placement scene, along with a natural language instruction, AeroPlace-Flow first synthesizes a task-complete goal image using image editing models. The imagined configuration is then grounded into metric 3D space through depth alignment and object-centric reasoning, enabling the inference of a collision-aware object flow that transports the grasped object to a language and contact-consistent placement configuration. The resulting motion is executed via standard trajectory tracking for an aerial manipulator. AeroPlace-Flow produces executable placement targets without requiring predefined poses or task-specific training. We validate our approach through extensive simulation and real-world experiments, demonstrating reliable language-conditioned placement across diverse aerial scenarios with an average success rate of 75% on hardware.
Whitening Reveals Cluster Commitment as the Geometric Separator of Hallucination Types
Venue: arXiv cs.CL 2026
Year: 2026

A geometric hallucination taxonomy distinguishes three failure types -- center-drift (Type~1), wrong-well convergence (Type~2), and coverage gaps (Type~3) -- by their signatures in embedding cluster space. Prior work found Types~1 and~2 indistinguishable in full-dimensional contextual measurement. We address this through PCA-whitening and eigenspectrum decomposition on GPT-2-small, using multi-run stability analysis (20 seeds) with prompt-level aggregation. Whitening transforms the micro-signal regime into a space where peak cluster alignment (max\_sim) separates Type~2 from Type~3 at Holm-corrected significance, with condition means following the taxonomy's predicted ordering: Type~2 (highest commitment) $>$ Type~1 (intermediate) $>$ Type~3 (lowest). A first directionally stable but underpowered hint of Type~1/2 separation emerges via the same metric, generating a capacity prediction for larger models. Prompt diversification from 15 to 30 prompts per group eliminates a false positive in whitened entropy that appeared robust at the smaller set, demonstrating prompt-set sensitivity in the micro-signal regime. Eigenspectrum decomposition localizes this artifact to the dominant principal components and confirms that Type~1/2 separation does not emerge in any spectral band, rejecting the spectral mixing hypothesis. The contribution is threefold: whitening as preprocessing that reveals cluster commitment as the theoretically correct separating metric, evidence that the Type~1/2 boundary is a capacity limitation rather than a measurement artifact, and a methodological finding about prompt-set fragility in near-saturated representation spaces.
Geometric Knowledge-Assisted Federated Dual Knowledge Distillation Approach Towards Remote Sensing Satellite Imagery
Venue: arXiv cs.CV 2026
Year: 2026

Federated learning (FL) has recently become a promising solution for analyzing remote sensing satellite imagery (RSSI). However, the large scale and inherent data heterogeneity of images collected from multiple satellites, where the local data distribution of each satellite differs from the global one, present significant challenges to effective model training. To address this issue, we propose a Geometric Knowledge-Guided Federated Dual Knowledge Distillation (GK-FedDKD) framework for RSSI analysis. In our approach, each local client first distills a teacher encoder (TE) from multiple student encoders (SEs) trained with unlabeled augmented data. The TE is then connected with a shared classifier to form a teacher network (TN) that supervises the training of a new student network (SN). The intermediate representations of the TN are used to compute local covariance matrices, which are aggregated at the server to generate global geometric knowledge (GGK). This GGK is subsequently employed for local embedding augmentation to further guide SN training. We also design a novel loss function and a multi-prototype generation pipeline to stabilize the training process. Evaluation over multiple datasets showcases that the proposed GK-FedDKD approach is superior to the considered state-of-the-art baselines, e.g., the proposed approach with the Swin-T backbone surpasses previous SOTA approaches by an average 68.89% on the EuroSAT dataset.
Breaking Training Bottlenecks: Effective and Stable Reinforcement Learning for Coding Models
Venue: arXiv cs.LG 2026
Year: 2026

Modern code generation models exhibit longer outputs, accelerated capability growth, and changed training dynamics, rendering traditional training methodologies, algorithms, and datasets ineffective for improving their performance. To address these training bottlenecks, we propose MicroCoder-GRPO, an improved Group Relative Policy Optimization approach with three innovations: conditional truncation masking to improve long output potential while maintaining training stability, diversity-determined temperature selection to maintain and encourage output diversity, and removal of KL loss with high clipping ratios to facilitate solution diversity. MicroCoder-GRPO achieves up to 17.6% relative improvement over strong baselines on LiveCodeBench v6, with more pronounced gains under extended context evaluation. Additionally, we release MicroCoder-Dataset, a more challenging training corpus that achieves 3x larger performance gains than mainstream datasets on LiveCodeBench v6 within 300 training steps, and MicroCoder-Evaluator, a robust framework with approximately 25% improved evaluation accuracy and around 40% faster execution. Through comprehensive analysis across more than thirty controlled experiments, we reveal 34 training insights across seven main aspects, demonstrating that properly trained models can achieve competitive performance with larger counterparts.
A Robust Antenna Provides Tactile Feedback in a Multi-legged Robot
Venue: arXiv cs.RO 2026
Year: 2026

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However, robust navigation through confined spaces remains challenging when body-environment contact is extensive and terrain rheology varies rapidly. To address this challenge, we develop a pair of tactile antennae for multi-legged robots that enable real-time sensing of surrounding geometry, modeling the morphology and function of biological centipede antennae. Each antenna features gradient compliance, with a stiff base and soft tip, allowing repeated deformation and elastic recovery. Robophysical experiments reveal a relationship between continuous antenna curvature and contact force, leading to a simplified mapping from antenna deformation to inferred discrete collision states. We incorporate this mapping into a controller that selects among a set of locomotor maneuvers based on the inferred collision state. Experiments in obstacle-rich and confined environments demonstrate that tactile feedback enables reliable steering and allows the robot to recover from near-stuck conditions without requiring global environmental information or real-time vision. These results highlight how mechanically tuned tactile appendages can simplify sensing and enhance autonomy in elongate multi-legged robots operating in constrained spaces.
Which Vertical Graphs are Non VPHT Reconstructible?
Venue: arXiv cs.CG 2026
Year: 2026

The verbose persistent homology transform (VPHT) is a topological summary of shapes in Euclidean space. Assuming general position, the VPHT is injective, meaning shapes can be reconstructed using only the VPHT. In this work, we investigate cases in which the VPHT is not injective, focusing on a simple setting of degeneracy; graphs whose vertices are all collinear. We identify both necessary properties and sufficient properties for non-reconstructibility of such graphs, bringing us closer to a complete classification.
HybridStitch: Pixel and Timestep Level Model Stitching for Diffusion Acceleration
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models have demonstrated a remarkable ability in Text-to-Image (T2I) generation applications. Despite the advanced generation output, they suffer from heavy computation overhead, especially for large models that contain tens of billions of parameters. Prior work has illustrated that replacing part of the denoising steps with a smaller model still maintains the generation quality. However, these methods only focus on saving computation for some timesteps, ignoring the difference in compute demand within one timestep. In this work, we propose HybridStitch, a new T2I generation paradigm that treats generation like editing. Specifically, we introduce a hybrid stage that jointly incorporates both the large model and the small model. HybridStitch separates the entire image into two regions: one that is relatively easy to render, enabling an early transition to the smaller model, and another that is more complex and therefore requires refinement by the large model. HybridStitch employs the small model to construct a coarse sketch while exploiting the large model to edit and refine the complex regions. According to our evaluation, HybridStitch achieves 1.83$\times$ speedup on Stable Diffusion 3, which is faster than all existing mixture of model methods.
Fusion Complexity Inversion: Why Simpler Cross View Modules Outperform SSMs and Cross View Attention Transformers for Pasture Biomass Regression
Venue: arXiv cs.CV 2026
Year: 2026

Accurate estimation of pasture biomass from agricultural imagery is critical for sustainable livestock management, yet existing methods are limited by the small, imbalanced, and sparsely annotated datasets typical of real world monitoring. In this study, adaptation of vision foundation models to agricultural regression is systematically evaluated on the CSIRO Pasture Biomass benchmark, a 357 image dual view dataset with laboratory validated, component wise ground truth for five biomass targets, through 17 configurations spanning four backbones (EfficientNet-B3 to DINOv3-ViT-L), five cross view fusion mechanisms, and a 4x2 metadata factorial. A counterintuitive principle, termed "fusion complexity inversion", is uncovered: on scarce agricultural data, a two layer gated depthwise convolution (R^2 = 0.903) outperforms cross view attention transformers (0.833), bidirectional SSMs (0.819), and full Mamba (0.793, below the no fusion baseline). Backbone pretraining scale is found to monotonically dominate all architectural choices, with the DINOv2 -> DINOv3 upgrade alone yielding +5.0 R^2 points. Training only metadata (species, state, and NDVI) is shown to create a universal ceiling at R^2 ~ 0.829, collapsing an 8.4 point fusion spread to 0.1 points. Actionable guidelines for sparse agricultural benchmarks are established: backbone quality should be prioritized over fusion complexity, local modules preferred over global alternatives, and features unavailable at inference excluded.
Broken Access: On the Challenges of Screen Reader Assisted Two-Factor and Passwordless Authentication
Venue: arXiv cs.CR 2026
Year: 2026

In today's technology-driven world, web services have opened up new opportunities for blind and visually impaired people to interact independently. Securing interactions with these services is crucial; however, currently deployed authentication mainly concentrate on sighted users, overlooking the needs of the blind and visually impaired community. In this paper, we address this gap by investigating the security and accessibility aspects of these authentication when adopted by blind and visually impaired users. We model web authentication for such users as screen reader assisted authentication and introduce an evaluation framework called AWARE. Using AWARE, we then systematically assessed popular PC and smartphone-based screen readers against different authentication methods, including variants of 2FA and passwordless schemes, to simulate real-world scenarios. We analyzed these screen reader assisted authentication interactions with authentication methods in three settings: using a terminal (PC) with screen readers, a combination of the terminal (PC) and smartphone with screen readers, and smartphones with integrated screen readers. The results of our study underscore weaknesses in all of our observed screen reader assisted scenarios for real-life authentication methods. These weaknesses, encompassing specific accessibility issues caused by imprecise screen reader instructions, highlight vulnerability concerning observed scenarios for both real-world and research literature based attacks, including phishing, concurrency, fatigue, cross-service, and shoulder surfing. Broadly, our AWARE framework can be used by designers as a precursor to user studies which are typically time-consuming and tedious to perform, independently allowing to unfold security and accessibility problems early which designers can address prior to full-fledged user testing of more isolated issues.