OpenRaiser/Intern-Atlas huggingface dataset:
TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design
Venue: arXiv cs.RO 2026
Year: 2026

Triphibious robots capable of multi-domain motion and cross-domain transitions are promising to handle complex tasks across diverse environments. However, existing designs primarily focus on dual-mode platforms, and some designs suffer from high mechanical complexity or low propulsion efficiency, which limits their application. In this paper, we propose a novel triphibious robot capable of aerial, terrestrial, and aquatic motion, by a minimalist design combining a quadcopter structure with two passive wheels, without extra actuators. To address inefficiency of ground-support motion (moving on land/seabed) for quadcopter based designs, we introduce an eccentric Center of Gravity (CoG) design that inherently aligns thrust with motion, enhancing efficiency without specialized mechanical transformation designs. Furthermore, to address the drastic differences in motion control caused by different fluids (air and water), we develop a unified propulsion system based on Field-Oriented Control (FOC). This method resolves torque matching issues and enables precise, rapid bidirectional thrust across different mediums. Grounded in the perspective of living condition and ground support, we analyse the robot's dynamics and propose a Hybrid Nonlinear Model Predictive Control (HNMPC)-PID control system to ensure stable multi-domain motion and seamless transitions. Experimental results validate the robot's multi-domain motion and cross-mode transition capability, along with the efficiency and adaptability of the proposed propulsion system.
An Odd Estimator for Shapley Values
Venue: arXiv cs.LG 2026
Year: 2026

The Shapley value is a ubiquitous framework for attribution in machine learning, encompassing feature importance, data valuation, and causal inference. However, its exact computation is generally intractable, necessitating efficient approximation methods. While the most effective and popular estimators leverage the paired sampling heuristic to reduce estimation error, the theoretical mechanism driving this improvement has remained opaque. In this work, we provide an elegant and fundamental justification for paired sampling: we prove that the Shapley value depends exclusively on the odd component of the set function, and that paired sampling orthogonalizes the regression objective to filter out the irrelevant even component. Leveraging this insight, we propose OddSHAP, a novel consistent estimator that performs polynomial regression solely on the odd subspace. By utilizing the Fourier basis to isolate this subspace and employing a proxy model to identify high-impact interactions, OddSHAP overcomes the combinatorial explosion of higher-order approximations. Through an extensive benchmark evaluation, we find that OddSHAP achieves state-of-the-art estimation accuracy.
Building Better Deception Probes Using Targeted Instruction Pairs
Venue: arXiv cs.AI 2026
Year: 2026

Linear probes are a promising approach for monitoring AI systems for deceptive behaviour. Previous work has shown that a linear classifier trained on a contrastive instruction pair and a simple dataset can achieve good performance. However, these probes exhibit notable failures even in straightforward scenarios, including spurious correlations and false positives on non-deceptive responses. In this paper, we identify the importance of the instruction pair used during training. Furthermore, we show that targeting specific deceptive behaviors through a human-interpretable taxonomy of deception leads to improved results on evaluation datasets. Our findings reveal that instruction pairs capture deceptive intent rather than content-specific patterns, explaining why prompt choice dominates probe performance (70.6% of variance). Given the heterogeneity of deception types across datasets, we conclude that organizations should design specialized probes targeting their specific threat models rather than seeking a universal deception detector.
Cross-Paradigm Evaluation of Gaze-Based Semantic Object Identification for Intelligent Vehicles
Venue: arXiv cs.CV 2026
Year: 2026

Understanding where drivers direct their visual attention during driving, as characterized by gaze behavior, is critical for developing next-generation advanced driver-assistance systems and improving road safety. This paper tackles this challenge as a semantic identification task from the road scenes captured by a vehicle's front-view camera. Specifically, the collocation of gaze points with object semantics is investigated using three distinct vision-based approaches: direct object detection (YOLOv13), segmentation-assisted classification (SAM2 paired with EfficientNetV2 versus YOLOv13), and query-based Vision-Language Models, VLMs (Qwen2.5-VL-7b versus Qwen2.5-VL-32b). The results demonstrate that the direct object detection (YOLOv13) and Qwen2.5-VL-32b significantly outperform other approaches, achieving Macro F1-Scores over 0.84. The large VLM (Qwen2.5-VL-32b), in particular, exhibited superior robustness and performance for identifying small, safety-critical objects such as traffic lights, especially in adverse nighttime conditions. Conversely, the segmentation-assisted paradigm suffers from a "part-versus-whole" semantic gap that led to large failure in recall. The results reveal a fundamental trade-off between the real-time efficiency of traditional detectors and the richer contextual understanding and robustness offered by large VLMs. These findings provide critical insights and practical guidance for the design of future human-aware intelligent driver monitoring systems.
Provable Cooperative Multi-Agent Exploration for Reward-Free MDPs
Venue: arXiv cs.LG 2026
Year: 2026

We study cooperative multi-agent reinforcement learning in the setting of reward-free exploration, where multiple agents jointly explore an unknown MDP in order to learn its dynamics (without observing rewards). We focus on a tabular finite-horizon MDP and adopt a phased learning framework. In each learning phase, multiple agents independently interact with the environment. More specifically, in each learning phase, each agent is assigned a policy, executes it, and observes the resulting trajectory. Our primary goal is to characterize the tradeoff between the number of learning phases and the number of agents, especially when the number of learning phases is small. Our results identify a sharp transition governed by the horizon $H$. When the number of learning phases equals $H$, we present a computationally efficient algorithm that uses only $\tilde{O}(S^6 H^6 A / ε^2)$ agents to obtain an $ε$ approximation of the dynamics (i.e., yields an $ε$-optimal policy for any reward function). We complement our algorithm with a lower bound showing that any algorithm restricted to $ρ< H$ phases requires at least $A^{H/ρ}$ agents to achieve constant accuracy. Thus, we show that it is essential to have an order of $H$ learning phases if we limit the number of agents to be polynomial.
ConPress: Learning Efficient Reasoning from Multi-Question Contextual Pressure
Venue: arXiv cs.CL 2026
Year: 2026

Large reasoning models (LRMs) typically solve reasoning-intensive tasks by generating long chain-of-thought (CoT) traces, leading to substantial inference overhead. We identify a reproducible inference-time phenomenon, termed Self-Compression: when multiple independent and answerable questions are presented within a single prompt, the model spontaneously produces shorter reasoning traces for each question. This phenomenon arises from multi-question contextual pressure during generation and consistently manifests across models and benchmarks. Building on this observation, we propose ConPress (Learning from Contextual Pressure), a lightweight self-supervised fine-tuning approach. ConPress constructs multi-question prompts to induce self-compression, samples the resulting model outputs, and parses and filters per-question traces to obtain concise yet correct reasoning trajectories. These trajectories are directly used for supervised fine-tuning, internalizing compressed reasoning behavior in single-question settings without external teachers, manual pruning, or reinforcement learning. With only 8k fine-tuning examples, ConPress reduces reasoning token usage by 59% on MATH500 and 33% on AIME25, while maintaining competitive accuracy.
Data Repair
Venue: arXiv cs.HC 2026
Year: 2026

This paper investigates data repair practices through a six-month-long ethnographic study in Bangladesh. Our interviews and field observations with data repairers and related stakeholders found that, alongside the scarcity of high-precision machinery and access to advanced software, data repair work is constrained by cross-language learning resources and the protective nature of documenting, curating, and sharing the experiences and knowledge among local peers. Repairers turning to external resources such as foreign forums and LLMs also revealed their frustrating experiences and the postcolonial ethical tensions they encountered. We noted that both anticipated technical labor and the emotionality of data were taken into account for pricing the data repair job, which contributed to their market sustainability strategies. Engaging with repair, infrastructure, and data poverty discourse, we argue that data repair practices represent a crucial challenge and opportunity for HCI in advancing global efforts toward data equity.
A Relative-Budget Theory for Reinforcement Learning with Verifiable Rewards in Large Language Model Reasoning
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement learning (RL) is a dominant paradigm for improving the reasoning abilities of large language models, yet its effectiveness varies across tasks and compute budgets. We propose a \emph{relative-budget} theory explaining this variation through a single quantity called relative budget $ξ:= H/\mathbb{E}[T]$, where $H$ is the generation horizon (token budget) and $T$ denotes the number of tokens until the first correct solution under a base policy. We show that $ξ$ determines sample efficiency by controlling reward variance and the likelihood of informative trajectories. Our analysis reveals three regimes: in the \emph{deficient} regime ($ξ\to 0$), informative trajectories are rare and the sample complexity explodes; in the \emph{balanced} regime ($ξ=Θ(1)$), informative trajectories occur with non-negligible probability and RL is maximally sample-efficient; and in the \emph{ample} regime ($ξ\to \infty$), learning remains stable but marginal gains per iteration diminish. We further provide finite-sample guarantees for online RL that characterize learning progress across these regimes. Specifically, in a case study under idealized distributional assumptions, we show that the relative budget grows linearly over iterations. Our empirical results confirm these predictions in realistic settings, identifying a budget $ξ\in [1.5, 2.0]$ that maximizes learning efficiency and coincides with peak reasoning performance.
Toward a Machine Bertin: Why Visualization Needs Design Principles for Machine Cognition
Venue: arXiv cs.HC 2026
Year: 2026

Visualization's design knowledge-effectiveness rankings, encoding guidelines, color models, preattentive processing rules -- derives from six decades of psychophysical studies of human vision. Yet vision-language models (VLMs) increasingly consume chart images in automated analysis pipelines, and a growing body of benchmark evidence indicates that this human-centered knowledge base does not straightforwardly transfer to machine audiences. Machines exhibit different encoding performance patterns, process images through patch-based tokenization rather than holistic perception, and fail on design patterns that pose no difficulty for humans-while occasionally succeeding where humans struggle. Current approaches address this gap primarily by bypassing vision entirely, converting charts to data tables or structured text. We argue that this response forecloses a more fundamental question: what visual representations would actually serve machine cognition well? This paper makes the case that the visualization field needs to investigate machine-oriented visual design as a distinct research problem. We synthesize evidence from VLM benchmarks, visual reasoning research, and visualization literacy studies to show that the human-machine perceptual divergence is qualitative, not merely quantitative, and critically examine the prevailing bypassing approach. We propose a conceptual distinction between human-oriented and machine-oriented visualization-not as an engineering architecture but as a recognition that different audiences may require fundamentally different design foundations-and outline a research agenda for developing the empirical foundations the field currently lacks: the beginnings of a "machine Bertin" to complement the human-centered knowledge the field already possesses.
Rotation-free Online Handwritten Character Recognition Using Linear Recurrent Units
Venue: arXiv cs.CV 2026
Year: 2026

Online handwritten character recognition leverages stroke order and dynamic features, which generally provide higher accuracy and robustness compared with offline recognition. However, in practical applications, rotational deformations can disrupt the spatial layout of strokes, substantially reducing recognition accuracy. Extracting rotation-invariant features therefore remains a challenging open problem. In this work, we employ the Sliding Window Path Signature (SW-PS) to capture local structural features of characters, and introduce the lightweight Linear Recurrent Units (LRU) as the classifier. The LRU combine the fast incremental processing capability of recurrent neural networks (RNN) with the efficient parallel training of state space models (SSM), while reliably modelling dynamic stroke characteristics. We conducted recognition experiments with random rotation angle up to $\pm 180^{\circ}$ on three subsets of the CASIA-OLHWDB1.1 dataset: digits, English upper letters, and Chinese radicals. The accuracies achieved after ensemble learning were $99.62\%$, $96.67\%$, and $94.33\%$, respectively. Experimental results demonstrate that the proposed SW-PS+LRU framework consistently surpasses competing models in both convergence speed and test accuracy.
Plain Transformers are Surprisingly Powerful Link Predictors
Venue: arXiv cs.LG 2026
Year: 2026

Link prediction is a core challenge in graph machine learning, demanding models that capture rich and complex topological dependencies. While Graph Neural Networks (GNNs) are the standard solution, state-of-the-art pipelines often rely on explicit structural heuristics or memory-intensive node embeddings -- approaches that struggle to generalize or scale to massive graphs. Emerging Graph Transformers (GTs) offer a potential alternative but often incur significant overhead due to complex structural encodings, hindering their applications to large-scale link prediction. We challenge these sophisticated paradigms with PENCIL, an encoder-only plain Transformer that replaces hand-crafted priors with attention over sampled local subgraphs, retaining the scalability and hardware efficiency of standard Transformers. Through experimental and theoretical analysis, we show that PENCIL extracts richer structural signals than GNNs, implicitly generalizing a broad class of heuristics and subgraph-based expressivity. Empirically, PENCIL outperforms heuristic-informed GNNs and is far more parameter-efficient than ID-embedding--based alternatives, while remaining competitive across diverse benchmarks -- even without node features. Our results challenge the prevailing reliance on complex engineering techniques, demonstrating that simple design choices are potentially sufficient to achieve the same capabilities.
Argument Rarity-based Originality Assessment for AI-Assisted Writing
Venue: arXiv cs.CL 2026
Year: 2026

This study proposes Argument Rarity-based Originality Assessment (AROA), a framework for automatically evaluating argumentative originality in student essays. AROA defines originality as rarity within a reference corpus and evaluates it through four complementary components: structural rarity, claim rarity, evidence rarity, and cognitive depth, quantified via density estimation and integrated with quality adjustment. Experiments using 1,375 human essays and 1,000 AI-generated essays on two argumentative topics revealed three key findings. First, a strong negative correlation (r = -0.67) between text quality and claim rarity demonstrates a quality-originality trade-off. Second, while AI essays achieved near-perfect quality scores (Q = 0.998), their claim rarity was approximately one-fifth of human levels (AI: 0.037, human: 0.170), indicating that LLMs can reproduce argumentative structure but not semantic originality. Third, the four components showed low mutual correlations (r = 0.06--0.13 between structural and semantic dimensions), confirming that they capture genuinely independent aspects of originality. These results suggest that writing assessment in the AI era must shift from quality to originality.
Local Exponential Stability of Mean-Field Langevin Descent-Ascent in Wasserstein Space
Venue: arXiv cs.LG 2026
Year: 2026

We study the mean-field Langevin descent-ascent (MFL-DA), a coupled optimization dynamics on the space of probability measures for entropically regularized two-player zero-sum games. Although the associated mean-field objective admits a unique mixed Nash equilibrium, the long-time behavior of the original MFL-DA for general nonconvex-nonconcave payoffs has remained largely open. Answering an open question posed by Wang and Chizat (COLT 2024), we provide a partial resolution by proving that this equilibrium is locally exponentially stable: if the initialization is sufficiently close in Wasserstein metric, the dynamics trends to the equilibrium at an exponential rate. The key to our analysis is to establish a coercivity estimate for the entropy near equilibrium via spectral analysis of the linearized operator. We show that this coercivity effectively reveals a local displacement convex-concave structure, thereby driving contraction. This result settles the local stability and quantitative rate questions of Wang and Chizat, leaving global convergence as a remaining open challenge.
DREAMS: A Social Exchange Theory-Informed Modeling of Misinformation Engagement on Social Media
Venue: arXiv cs.SI 2026
Year: 2026

Social media engagement prediction is a central challenge in computational social science, particularly for understanding how users interact with misinformation. Existing approaches often treat engagement as a homogeneous time-series signal, overlooking the heterogeneous social mechanisms and platform designs that shape how misinformation spreads. In this work, we ask: ``Can neural architectures discover social exchange principles from behavioral data alone?'' We introduce \textsc{Dreams} (\underline{D}isentangled \underline{R}epresentations and \underline{E}pisodic \underline{A}daptive \underline{M}odeling for \underline{S}ocial media misinformation engagements), a social exchange theory-guided framework that models misinformation engagement as a dynamic process of social exchange. Rather than treating engagement as a static outcome, \textsc{Dreams} models it as a sequence-to-sequence adaptation problem, where each action reflects an evolving negotiation between user effort and social reward conditioned by platform context. It integrates adaptive mechanisms to learn how emotional and contextual signals propagate through time and across platforms. On a cross-platform dataset spanning $7$ platforms and 2.37M posts collected between 2021 and 2025, \textsc{Dreams} achieves state-of-the-art performance in predicting misinformation engagements, reaching a mean absolute percentage error of $19.25$\%. This is a $43.6$\% improvement over the strongest baseline. Beyond predictive gains, the model reveals consistent cross-platform patterns that align with social exchange principles, suggesting that integrating behavioral theory can enhance empirical modeling of online misinformation engagement. The source code is available at: https://github.com/ltian678/DREAMS.
HandMCM: Multi-modal Point Cloud-based Correspondence State Space Model for 3D Hand Pose Estimation
Venue: arXiv cs.CV 2026
Year: 2026

3D hand pose estimation that involves accurate estimation of 3D human hand keypoint locations is crucial for many human-computer interaction applications such as augmented reality. However, this task poses significant challenges due to self-occlusion of the hands and occlusions caused by interactions with objects. In this paper, we propose HandMCM to address these challenges. Our HandMCM is a novel method based on the powerful state space model (Mamba). By incorporating modules for local information injection/filtering and correspondence modeling, the proposed correspondence Mamba effectively learns the highly dynamic kinematic topology of keypoints across various occlusion scenarios. Moreover, by integrating multi-modal image features, we enhance the robustness and representational capacity of the input, leading to more accurate hand pose estimation. Empirical evaluations on three benchmark datasets demonstrate that our model significantly outperforms current state-of-the-art methods, particularly in challenging scenarios involving severe occlusions. These results highlight the potential of our approach to advance the accuracy and reliability of 3D hand pose estimation in practical applications.
Two-chart Beltrami Optimization for Distortion-Controlled Spherical Bijection with Application to Brain Surface Registration
Venue: arXiv cs.GR 2026
Year: 2026

Many genus-0 surface mapping tasks such as landmark alignment, feature matching, and image-driven registration, can be reduced (via an initial spherical conformal map) to optimizing a spherical self-homeomorphism with controlled distortion. However, existing works lack efficient mechanisms to control the geometric distortion of the resulting mapping. To resolve this issue, we formulate this as a Beltrami-space optimization problem, where the angle distortion is encoded explicitly by the Beltrami differential and bijectivity can be enforced through the constraint $\|μ\|_{\infty}<1$. To make this practical on the sphere, we introduce the Spherical Beltrami Differential (SBD), a two-chart representation of quasiconformal self-maps of the unit sphere $\mathbb{S}^2$, together with cross-chart consistency conditions that yield a globally bijective spherical deformation (up to conformal automorphisms). Building on the Spectral Beltrami Network, we develop BOOST, a differentiable optimization framework that updates two Beltrami fields to minimize task-driven losses while regularizing distortion and enforcing consistency along the seam. Experiments on large-deformation landmark matching and intensity-based spherical registration demonstrate improved task performance meanwhile maintaining controlled distortion and robust bijective behavior. We also apply the method to cortical surface registration by aligning sulcal landmarks and matching cortical sulcal depth, achieving comparative or better registration performance without sacrificing geometric validity.