OpenRaiser/Intern-Atlas huggingface dataset:
ReFilter: Improving Robustness of Retrieval-Augmented Generation via Gated Filter
Venue: arXiv cs.CL 2026
Year: 2026

Retrieval-augmented generation (RAG) has become a dominant paradigm for grounding large language models (LLMs) with external evidence in knowledge-intensive question answering. A core design choice is how to fuse retrieved samples into the LLMs, where existing internal fusion approaches broadly fall into query-based fusion, parametric fusion, and latent-based fusion. Despite their effectiveness at modest retrieval scales, these methods often fail to scale gracefully as the number of retrieved candidates k increases: Larger k improves evidence coverage, yet realistic top-k retrieval inevitably contains irrelevant or redundant content and increases the inference cost. To address these limitations, we propose ReFilter, a novel latent-based fusion framework that performs token-level filtering and fusion. ReFilter consists of three key components: a context encoder for encoding context features, a gated filter for weighting each token, and a token fusion module for integrating the weighted token feature into the LLM's hidden states. Our experiments across four general-domain QA benchmarks show that ReFilter consistently achieves the best average performance under both in-domain adaptation and out-of-domain transfer. ReFilter further generalizes to five biomedical QA benchmarks in zero-shot transfer without domain fine-tuning, reaching 70.01% average accuracy with Qwen2.5-14B-Instruct.
TRANS: Terrain-aware Reinforcement Learning for Agile Navigation of Quadruped Robots under Social Interactions
Venue: arXiv cs.RO 2026
Year: 2026

This study introduces TRANS: Terrain-aware Reinforcement learning for Agile Navigation under Social interactions, a deep reinforcement learning (DRL) framework for quadrupedal social navigation over unstructured terrains. Conventional quadrupedal navigation typically separates motion planning from locomotion control, neglecting whole-body constraints and terrain awareness. On the other hand, end-to-end methods are more integrated but require high-frequency sensing, which is often noisy and computationally costly. In addition, most existing approaches assume static environments, limiting their use in human-populated settings. To address these limitations, we propose a two-stage training framework with three DRL pipelines. (1) TRANS-Loco employs an asymmetric actor-critic (AC) model for quadrupedal locomotion, enabling traversal of uneven terrains without explicit terrain or contact observations. (2) TRANS-Nav applies a symmetric AC framework for social navigation, directly mapping transformed LiDAR data to ego-agent actions under differential-drive kinematics. (3) A unified pipeline, TRANS, integrates TRANS-Loco and TRANS-Nav, supporting terrain-aware quadrupedal navigation in uneven and socially interactive environments. Comprehensive benchmarks against locomotion and social navigation baselines demonstrate the effectiveness of TRANS. Hardware experiments further confirm its potential for sim-to-real transfer.
Training Dense Retrievers with Multiple Positive Passages
Venue: arXiv cs.IR 2026
Year: 2026

Modern knowledge-intensive systems, such as retrieval-augmented generation (RAG), rely on effective retrievers to establish the performance ceiling for downstream modules. However, retriever training has been bottlenecked by sparse, single-positive annotations, which lead to false-negative noise and suboptimal supervision. While the advent of large language models (LLMs) makes it feasible to collect comprehensive multi-positive relevance labels at scale, the optimal strategy for incorporating these dense signals into training remains poorly understood. In this paper, we present a systematic study of multi-positive optimization objectives for retriever training. We unify representative objectives, including Joint Likelihood (JointLH), Summed Marginal Likelihood (SumMargLH), and Log-Sum-Exp Pairwise (LSEPair) loss, under a shared contrastive learning framework. Our theoretical analysis characterizes their distinct gradient behaviors, revealing how each allocates probability mass across positive document sets. Empirically, we conduct extensive evaluations on Natural Questions, MS MARCO, and the BEIR benchmark across two realistic regimes: homogeneous LLM-annotated data and heterogeneous mixtures of human and LLM labels. Our results show that LSEPair consistently achieves superior robustness and performance across settings, while JointLH and SumMargLH exhibit high sensitivity to the quality of positives. Furthermore, we find that the simple strategy of random sampling (Rand1LH) serves as a reliable baseline. By aligning theoretical insights with empirical findings, we provide practical design principles for leveraging dense, LLM-augmented supervision to enhance retriever effectiveness.
Scaling Single Human Demonstrations for Imitation Learning using Generative Foundational Models
Venue: arXiv cs.RO 2026
Year: 2026

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human embodiment is much easier and data is available in abundance, yet transfer to the robot can be non-trivial. In this work, we propose Real2Gen to train a manipulation policy from a single human demonstration. Real2Gen extracts required information from the demonstration and transfers it to a simulation environment, where a programmable expert agent can demonstrate the task arbitrarily many times, generating an unlimited amount of data to train a flow matching policy. We evaluate Real2Gen on human demonstrations from three different real-world tasks and compare it to a recent baseline. Real2Gen shows an average increase in the success rate of 26.6% and better generalization of the trained policy due to the abundance and diversity of training data. We further deploy our purely simulation-trained policy zero-shot in the real world. We make the data, code, and trained models publicly available at real2gen.cs.uni-freiburg.de.
SoK: Understanding the Pedagogical, Health, Ethical, and Privacy Challenges of Extended Reality in Early Childhood Education
Venue: arXiv cs.HC 2026
Year: 2026

Extended Reality (XR) combines dense sensing, real-time rendering, and close-range interaction, making its use in early childhood education both promising and high risk. To investigate this, we conduct a Systematization of Knowledge (SoK) of 111 peer-reviewed studies with children aged 3-8, quantifying how technical, pedagogical, health, privacy, and equity challenges arise in practice. We found that AR dominates the landscape (73%), focusing primarily on tablets or phones, while VR remains uncommon and typically relies on head mounted displays (HMDs). We integrate these quantitative patterns into a joint risk and attention matrix and an Augmented Human Development (AHD) model that link XR pipeline properties to cognitive load, sensory conflict, and access inequity. Finally, implementing a seven dimension coding scheme on a 0 - 2 scale, we obtain mean scholarly attention scores of 1.56 for pedagogy, 1.04 for privacy (primarily procedural consent), 0.96 for technical reliability, 0.92 for accessibility in low resource contexts, 0.81 for medical and health issues, 0.52 for accessibility for disabilities, and 0.14 for data security practices. This indicates that pedagogy receives the most systematic scrutiny, while data access practices is largely overlooked. We conclude by offering a roadmap for Child-Centered XR that helps HCI researchers and educators move beyond novelty to design systems that are developmentally aligned, secure by default, and accessible to diverse learners.
Closing the Loop: A Control-Theoretic Framework for Provably Stable Time Series Forecasting with LLMs
Venue: arXiv cs.LG 2026
Year: 2026

Large Language Models (LLMs) have recently shown exceptional potential in time series forecasting, leveraging their inherent sequential reasoning capabilities to model complex temporal dynamics. However, existing approaches typically employ a naive autoregressive generation strategy. We identify a critical theoretical flaw in this paradigm: during inference, the model operates in an open-loop manner, consuming its own generated outputs recursively. This leads to inevitable error accumulation (exposure bias), where minor early deviations cascade into significant trajectory drift over long horizons. In this paper, we reformulate autoregressive forecasting through the lens of control theory, proposing \textbf{F-LLM} (Feedback-driven LLM), a novel closed-loop framework. Unlike standard methods that passively propagate errors, F-LLM actively stabilizes the trajectory via a learnable residual estimator (Observer) and a feedback controller. Furthermore, we provide a theoretical guarantee that our closed-loop mechanism ensures uniformly bounded error, provided the base model satisfies a local Lipschitz constraint. Extensive experiments demonstrate that F-LLM significantly mitigates error propagation, achieving good performance on time series benchmarks.
Towards complete digital twins in cultural heritage with ART3mis 3D artifacts annotator
Venue: arXiv cs.CV 2026
Year: 2026

Archaeologists, as well as specialists and practitioners in cultural heritage, require applications with additional functions, such as the annotation and attachment of metadata to specific regions of the 3D digital artifacts, to go beyond the simplistic three-dimensional (3D) visualization. Different strategies addressed this issue, most of which are excellent in their particular area of application, but their capacity is limited to their design's purpose; they lack generalization and interoperability. This paper introduces ART3mis, a general-purpose, user-friendly, feature-rich, interactive web-based textual annotation tool for 3D objects. Moreover, it enables the communication, distribution, and reuse of information as it complies with the W3C Web Annotation Data Model. It is primarily designed to help cultural heritage conservators, restorers, and curators who lack technical expertise in 3D imaging and graphics, handle, segment, and annotate 3D digital replicas of artifacts with ease.
FPNet: Joint Wi-Fi Beamforming Matrix Feedback and Anomaly-Aware Indoor Positioning
Venue: arXiv cs.IT 2026
Year: 2026

Channel State Information (CSI) provides a detailed description of the wireless channel and has been widely adopted for Wi-Fi sensing, particularly for high-precision indoor positioning. However, complete CSI is rarely available in real-world deployments due to hardware constraints and the high communication overhead required for feedback. Moreover, existing positioning models lack mechanisms to detect when users move outside their trained regions, leading to unreliable estimates in dynamic environments. In this paper, we present FPNet, a unified deep learning framework that jointly addresses channel feedback compression, accurate indoor positioning, and robust anomaly detection (AD). FPNet leverages the beamforming feedback matrix (BFM), a compressed CSI representation natively supported by IEEE 802.11ac/ax/be protocols, to minimize feedback overhead while preserving critical positioning features. To enhance reliability, we integrate ADBlock, a lightweight AD module trained on normal BFM samples, which identifies out-of-distribution scenarios when users exit predefined spatial regions. Experimental results using standard 2.4 GHz Wi-Fi hardware show that FPNet achieves positioning accuracy above 97% with only 100 feedback bits, boosts net throughput by up to 22.92%, and attains AD accuracy over 99% with a false alarm rate below 1.5%. These results demonstrate FPNet's ability to deliver efficient, accurate, and reliable indoor positioning on commodity Wi-Fi devices.
Left-right asymmetry in predicting brain activity from LLMs' representations emerges with their formal linguistic competence
Venue: arXiv cs.CL 2026
Year: 2026

When humans and large language models (LLMs) process the same text, activations in the LLMs correlate with brain activity measured, e.g., with functional magnetic resonance imaging (fMRI). Moreover, it has been shown that, as the training of an LLM progresses, the performance in predicting brain activity from its internal activations improves more in the left hemisphere than in the right one. The aim of the present work is to understand which kind of competence acquired by the LLMs underlies the emergence of this left-right asymmetry. Using the OLMo-2 7B language model at various training checkpoints and fMRI data from English participants, we compare the evolution of the left-right asymmetry in brain scores alongside performance on several benchmarks. We observe that the asymmetry co-emerges with the formal linguistic abilities of the LLM. These abilities are demonstrated in two ways: by the model's capacity to assign a higher probability to an acceptable sentence than to a grammatically unacceptable one within a minimal contrasting pair, or its ability to produce well-formed text. On the opposite, the left-right asymmetry does not correlate with the performance on arithmetic or Dyck language tasks; nor with text-based tasks involving world knowledge and reasoning. We generalize these results to another family of LLMs (Pythia) and another language, namely French. Our observations indicate that the left-right asymmetry in brain predictivity matches the progress in formal linguistic competence (knowledge of linguistic patterns).
WISE: A Multimodal Search Engine for Visual Scenes, Audio, Objects, Faces, Speech, and Metadata
Venue: arXiv cs.IR 2026
Year: 2026

In this paper, we present WISE, an open-source audiovisual search engine which integrates a range of multimodal retrieval capabilities into a single, practical tool accessible to users without machine learning expertise. WISE supports natural-language and reverse-image queries at both the scene level (e.g. empty street) and object level (e.g. horse) across images and videos; face-based search for specific individuals; audio retrieval of acoustic events using text (e.g. wood creak) or an audio file; search over automatically transcribed speech; and filtering by user-provided metadata. Rich insights can be obtained by combining queries across modalities -- for example, retrieving German trains from a historical archive by applying the object query "train" and the metadata query "Germany", or searching for a face in a place. By employing vector search techniques, WISE can scale to support efficient retrieval over millions of images or thousands of hours of video. Its modular architecture facilitates the integration of new models. WISE can be deployed locally for private or sensitive collections, and has been applied to various real-world use cases. Our code is open-source and available at https://gitlab.com/vgg/wise/wise.
Reliable Hierarchical Operating System Fingerprinting via Conformal Prediction
Venue: arXiv cs.CR 2026
Year: 2026

Operating System (OS) fingerprinting is critical for network security, but conventional methods do not provide formal uncertainty quantification mechanisms. Conformal Prediction (CP) could be directly wrapped around existing methods to obtain prediction sets with guaranteed coverage. However, a direct application of CP would treat OS identification as a flat classification problem, ignoring the natural taxonomic structure of OSs and providing brittle point predictions. This work addresses these limitations by introducing and evaluating two distinct structured CP strategies: level-wise CP (L-CP), which calibrates each hierarchy level independently, and projection-based CP (P-CP), which ensures structural consistency by projecting leaf-level sets upwards. Our results demonstrate that, while both methods satisfy validity guarantees, they expose a fundamental trade-off between level-wise efficiency and structural consistency. L-CP yields tighter prediction sets suitable for human forensic analysis but suffers from taxonomic inconsistencies. Conversely, P-CP guarantees hierarchically consistent, nested sets ideal for automated policy enforcement, albeit at the cost of reduced efficiency at coarser levels.
Understanding Cultural Alignment in Multilingual LLMs via Natural Debate Statements
Venue: arXiv cs.CY 2026
Year: 2026

In this work we investigate the sociocultural values learned by large language models (LLMs). We introduce a novel open-access dataset, Sociocultural Statements, constructed from natural debate statements using a multi-step methodology. The dataset is synthetically labeled to enable the quantization of sociocultural norms and beliefs that LLMs exhibit in their responses to these statements, according to the Hofstede cultural dimensions. We verify the accuracy of synthetic labels using human quality control on a representative sample. We conduct a comparative analysis between two groups of LLMs developed in different countries (U.S. and China), and use as a comparative baseline patterns observed in human measurements. Using this new dataset and the analysis above, we found that culturally-distinct LLMs reflect the values and norms of the countries in which they were developed, highlighting their inability to adapt to the sociocultural backgrounds of their users.
Adaptive Scaling with Geometric and Visual Continuity of completed 3D objects
Venue: arXiv cs.CV 2026
Year: 2026

Object completion networks typically produce static Signed Distance Fields (SDFs) that faithfully reconstruct geometry but cannot be rescaled or deformed without introducing structural distortions. This limitation restricts their use in applications requiring flexible object manipulation, such as indoor redesign, simulation, and digital content creation. We introduce a part-aware scaling framework that transforms these static completed SDFs into editable, structurally coherent objects. Starting from SDFs and Texture Fields generated by state-of-the-art completion models, our method performs automatic part segmentation, defines user-controlled scaling zones, and applies smooth interpolation of SDFs, color, and part indices to enable proportional and artifact-free deformation. We further incorporate a repetition-based strategy to handle large-scale deformations while preserving repeating geometric patterns. Experiments on Matterport3D and ShapeNet objects show that our method overcomes the inherent rigidity of completed SDFs and is visually more appealing than global and naive selective scaling, particularly for complex shapes and repetitive structures.
JARVIS: An Evidence-Grounded Retrieval System for Interpretable Deceptive Reviews Adjudication
Venue: arXiv cs.IR 2026
Year: 2026

Deceptive reviews, refer to fabricated feedback designed to artificially manipulate the perceived quality of products. Within modern e-commerce ecosystems, these reviews remain a critical governance challenge. Despite advances in review-level and graph-based detection methods, two pivotal limitations remain: inadequate generalization and lack of interpretability. To address these challenges, we propose JARVIS, a framework providing Judgment via Augmented Retrieval and eVIdence graph Structures. Starting from the review to be evaluated, it retrieves semantically similar evidence via hybrid dense-sparse multimodal retrieval, expands relational signals through shared entities, and constructs a heterogeneous evidence graph. Large language model then performs evidence-grounded adjudication to produce interpretable risk assessments. Offline experiments demonstrate that JARVIS enhances performance on our constructed review dataset, achieving a precision increase from 0.953 to 0.988 and a recall boost from 0.830 to 0.901. In the production environment, our framework achieves a 27% increase in the recall volume and reduces manual inspection time by 75%. Furthermore, the adoption rate of the model-generated analysis reaches 96.4%.
Training-Free Acceleration for Document Parsing Vision-Language Model with Hierarchical Speculative Decoding
Venue: arXiv cs.CV 2026
Year: 2026

Document parsing is a fundamental task in multimodal understanding, supporting a wide range of downstream applications such as information extraction and intelligent document analysis. Benefiting from strong semantic modeling and robust generalization, VLM-based end-to-end approaches have emerged as the mainstream paradigm in recent years. However, these models often suffer from substantial inference latency, as they must auto-regressively generate long token sequences when processing long-form documents. In this work, motivated by the extremely long outputs and complex layout structures commonly found in document parsing, we propose a training-free and highly efficient acceleration method. Inspired by speculative decoding, we employ a lightweight document parsing pipeline as a draft model to predict batches of future tokens, while the more accurate VLM verifies these draft predictions in parallel. Moreover, we further exploit the layout-structured nature of documents by partitioning each page into independent regions, enabling parallel decoding of each region using the same draft-verify strategy. The final predictions are then assembled according to the natural reading order. Experimental results demonstrate the effectiveness of our approach: on the general-purpose OmniDocBench, our method provides a 2.42x lossless acceleration for the dots.ocr model, and achieves up to 4.89x acceleration on long-document parsing tasks. We will release our code to facilitate reproducibility and future research.
Limits of Kernelization and Parametrization for Phylogenetic Diversity with Dependencies
Venue: arXiv cs.CC 2026
Year: 2026

In the Maximize Phylogenetic Diversity problem, we are given a phylogenetic tree that represents the genetic proximity of species, and we are asked to select a subset of species of maximum phylogenetic diversity to be preserved through conservation efforts, subject to budgetary constraints that allow only k species to be saved. This neglects that it is futile to preserve a predatory species if we do not also preserve at least a subset of the prey it feeds on. Thus, in the Optimizing PD with Dependencies ($ε$-PDD) problem, we are additionally given a food web that represents the predator-prey relationships between species. The goal is to save a set of k species of maximum phylogenetic diversity such that for every saved species, at least one of its prey is also saved. This problem is NP-hard even when the phylogenetic tree is a star. The $α$-PDD problem alters PDD by requiring that at least some fraction $α$ of the prey of every saved species are also saved. In this paper, we study the parameterized complexity of $α$-PDD. We prove that the problem is W[1]-hard and in XP when parameterized by the solution size k, the diversity threshold D, or their complements. When parameterized by the vertex cover number of the food web, $α$-PDD is fixed-parameter tractable (FPT). A key measure of the computational difficulty of a problem that is FPT is the size of the smallest kernel that can be obtained. We prove that, when parameterized by the distance to clique, 1-PDD admits a linear kernel. Our main contribution is to prove that $α$-PDD does not admit a polynomial kernel when parameterized by the vertex cover number plus the diversity threshold D, even if the phylogenetic tree is a star. This implies the non-existence of a polynomial kernel for $α$-PDD also when parameterized by a range of structural parameters of the food web, such as its dist[...]