OpenRaiser/Intern-Atlas huggingface dataset:
LAMUS: A Large-Scale Corpus for Legal Argument Mining from U.S. Caselaw using LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Legal argument mining aims to identify and classify the functional components of judicial reasoning, such as facts, issues, rules, analysis, and conclusions. Progress in this area is limited by the lack of large-scale, high-quality annotated datasets for U.S. caselaw, particularly at the state level. This paper introduces LAMUS, a sentence-level legal argument mining corpus constructed from U.S. Supreme Court decisions and Texas criminal appellate opinions. The dataset is created using a data-centric pipeline that combines large-scale case collection, LLM-based automatic annotation, and targeted human-in-the-loop quality refinement. We formulate legal argument mining as a six-class sentence classification task and evaluate multiple general-purpose and legal-domain language models under zero-shot, few-shot, and chain-of-thought prompting strategies, with LegalBERT as a supervised baseline. Results show that chain-of-thought prompting substantially improves LLM performance, while domain-specific models exhibit more stable zero-shot behavior. LLM-assisted verification corrects nearly 20% of annotation errors, improving label consistency. Human verification achieves Cohen's Kappa of 0.85, confirming annotation quality. LAMUS provides a scalable resource and empirical insights for future legal NLP research. All code and datasets can be accessed for reproducibility on GitHub at: https://github.com/LavanyaPobbathi/LAMUS/tree/main
Novel Semantic Prompting for Zero-Shot Action Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Zero-shot action recognition relies on transferring knowledge from vision-language models to unseen actions using semantic descriptions. While recent methods focus on temporal modeling or architectural adaptations to handle video data, we argue that semantic prompting alone provides a strong and underexplored signal for zero-shot action understanding. We introduce SP-CLIP, a lightweight framework that augments frozen vision-language models with structured semantic prompts describing actions at multiple levels of abstraction, such as intent, motion, and object interaction. Without modifying the visual encoder or learning additional parameters, SP-CLIP aligns video representations with enriched textual semantics through prompt aggregation and consistency scoring. Experiments across standard benchmarks show that semantic prompting substantially improves zero-shot action recognition, particularly for fine-grained and compositional actions, while preserving the efficiency and generalization of pretrained models.
Minor First, Major Last: A Depth-Induced Implicit Bias of Sharpness-Aware Minimization
Venue: arXiv cs.LG 2026
Year: 2026

We study the implicit bias of Sharpness-Aware Minimization (SAM) when training $L$-layer linear diagonal networks on linearly separable binary classification. For linear models ($L=1$), both $\ell_\infty$- and $\ell_2$-SAM recover the $\ell_2$ max-margin classifier, matching gradient descent (GD). However, for depth $L = 2$, the behavior changes drastically -- even on a single-example dataset. For $\ell_\infty$-SAM, the limit direction depends critically on initialization and can converge to $\mathbf{0}$ or to any standard basis vector, in stark contrast to GD, whose limit aligns with the basis vector of the dominant data coordinate. For $\ell_2$-SAM, we show that although its limit direction matches the $\ell_1$ max-margin solution as in the case of GD, its finite-time dynamics exhibit a phenomenon we call "sequential feature amplification", in which the predictor initially relies on minor coordinates and gradually shifts to larger ones as training proceeds or initialization increases. Our theoretical analysis attributes this phenomenon to $\ell_2$-SAM's gradient normalization factor applied in its perturbation, which amplifies minor coordinates early and allows major ones to dominate later, giving a concrete example where infinite-time implicit-bias analyses are insufficient. Synthetic and real-data experiments corroborate our findings.
Silicone Ethernet (SEth): a Nervous System for Robotic Touch
Venue: arXiv cs.NI 2026
Year: 2026

Fine-grained robotic touch sensing is essential for tasks such as robot-human interaction and the handling of hazardous materials. Yet, the sense of touch of robots is limited by the cost and complexity of routing cables to embedded sensors. This paper tackles this problem by contributing Silicone Ethernet (SEth), a wireless solution for touch sensing, communication and power transfer within a conductive silicone substrate. SEth~\emph{neurons} require no battery and deliver computation, communication, sensing and energy harvesting within a compact package. These neurons are placed into an undifferentiated conductive silicone substrate which may form the entire body of a soft robot, or an outer `skin' for hard robots. Our evaluation shows that SEth achieves data rates of 100\,kbps with sub-$μ$W receive and mW-scale transmit power. Exploiting the unique properties of the conductive silicone substrate, SEth provides prioritized traffic arbitration similar to that found in wired control networks such as CAN. The SEth network inherently supports capacitive touch and presence sensing and neurons can harvest sufficient energy to transmit 10s of messages per second at a range of 1\,m. Considered in sum, these features open new degrees of freedom in touch sensing for soft robots.
Agentic Neurosymbolic Collaboration for Mathematical Discovery: A Case Study in Combinatorial Design
Venue: arXiv cs.AI 2026
Year: 2026

We study mathematical discovery through the lens of neurosymbolic reasoning, where an AI agent powered by a large language model (LLM), coupled with symbolic computation tools, and human strategic direction, jointly produced a new result in combinatorial design theory. The main result of this human-AI collaboration is a tight lower bound on the imbalance of Latin squares for the notoriously difficult case $n \equiv 1 \pmod{3}$. We reconstruct the discovery process from detailed interaction logs spanning multiple sessions over several days and identify the distinct cognitive contributions of each component. The AI agent proved effective at uncovering hidden structure and generating hypotheses. The symbolic component consists of computer algebra, constraint solvers, and simulated annealing, which provides rigorous verification and exhaustive enumeration. Human steering supplied the critical research pivot that transformed a dead end into a productive inquiry. Our analysis reveals that multi-model deliberation among frontier LLMs proved reliable for criticism and error detection but unreliable for constructive claims. The resulting human-AI mathematical contribution, a tight lower bound of $4n(n{-}1)/9$, is achieved via a novel class of near-perfect permutations. The bound was formally verified in Lean 4. Our experiments show that neurosymbolic systems can indeed produce genuine discoveries in pure mathematics.
GRAND for Gaussian Intersymbol Interference Channels
Venue: arXiv cs.IT 2026
Year: 2026

Channel decoding is a challenging task in communication channels exhibiting memory effects. In this work, we apply the recently proposed decoding paradigm of guessing random additive noise decoding (GRAND) to channels with memory, focusing on linear Gaussian intersymbol interference (ISI) channels. For describing error patterns (EPs), we introduce the concept of error burst to account for the memory effect, and define sequence reliability to characterize the likelihood of EP. Based on sequence reliability, we obtain the optimal GRAND algorithm as a generalization of soft GRAND (SGRAND) for linear Gaussian ISI channels, termed SGRAND-ISI, which is equivalent to the maximum-likelihood (ML) decoding algorithm. We then develop order-reliability-bit (ORB) GRAND algorithms based on SGRAND-ISI, to facilitate implementation. In numerical experiments, our proposed algorithms achieve multiple-dB improvements compared to GRAND algorithms which ignore channel memory, and can often attain performance within 0.1--0.2dB of the ML lower bound. We also compare our proposed algorithms with the recently proposed ORBGRAND-Approximate Independence algorithm for handling channel memory, and observe a performance gain of at least 0.5dB at block error rate of $10^{-3}$, meanwhile incurring a substantially lower computational complexity.
PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are typically constrained to low-frequency updates due to inference latency and action chunking, underutilizing F/T for control-rate feedback. Furthermore, existing force-aware methods often inject force continuously and indiscriminately, lacking an explicit mechanism to schedule when / how much / where to apply force across different task phases. We propose PhaForce, a phase-scheduled visual--force policy that coordinates low-rate chunk-level planning and high-rate residual correction via a unified contact/phase schedule. PhaForce comprises (i) a contact-aware phase predictor (CAP) that estimates contact probability and phase belief, (ii) a Slow diffusion planner that performs dual-gated visual--force fusion with orthogonal residual injection to preserve vision semantics while conditioning on force, and (iii) a Fast corrector that applies control-rate phase-routed residuals in interpretable corrective subspaces for within-chunk micro-adjustments. Across multiple real-robot contact-rich tasks, PhaForce achieves an average success rate of 86% (+40 pp over baselines), while also substantially improving contact quality by regulating interaction forces and exhibiting robust adaptability to OOD geometric shifts.
Towards plausibility in time series counterfactual explanations
Venue: arXiv cs.LG 2026
Year: 2026

We present a new method for generating plausible counterfactual explanations for time series classification problems. The approach performs gradient-based optimization directly in the input space. To enforce plausibility, we integrate soft-DTW (dynamic time warping) alignment with $k$-nearest neighbors from the target class, which effectively encourages the generated counterfactuals to adopt a realistic temporal structure. The overall optimization objective is a multi-faceted loss function that balances key counterfactual properties. It incorporates losses for validity, sparsity, and proximity, alongside the novel soft-DTW-based plausibility component. We conduct an evaluation of our method against several strong reference approaches, measuring the key properties of the generated counterfactuals across multiple dimensions. The results demonstrate that our method achieves competitive performance in validity while significantly outperforming existing approaches in distributional alignment with the target class, indicating superior temporal realism. Furthermore, a qualitative analysis highlights the critical limitations of existing methods in preserving realistic temporal structure. This work shows that the proposed method consistently generates counterfactual explanations for time series classifiers that are not only valid but also highly plausible and consistent with temporal patterns.
Leaderboard Incentives: Model Rankings under Strategic Post-Training
Venue: arXiv cs.GT 2026
Year: 2026

Influential benchmarks incentivize competing model developers to strategically allocate post-training resources toward improvements on the leaderboard, a phenomenon dubbed benchmaxxing or training on the test task. In this work, we initiate a principled study of the incentive structure that benchmarks induce. We model benchmarking as a Stackelberg game between a benchmark designer who chooses an evaluation protocol and multiple model developers who compete simultaneously in a subgame given by the designer's choice. Each competitor has a model of unknown latent quality and can inflate its observed score by allocating resources to benchmark-specific improvements. First, we prove that current benchmarks induce games for which no Nash equilibrium between model developers exists. This result suggests one explanation for why current practice leads to misaligned incentives, prompting model developers to strategize in opaque ways. However, we prove that under mild conditions, a recently proposed evaluation protocol, called tune-before-test, induces a benchmark with a unique Nash equilibrium that ranks models by latent quality. This positive result demonstrates that benchmarks need not set bad incentives, even if current evaluations do.
Beyond the Markovian Assumption: Robust Optimization via Fractional Weyl Integrals in Imbalanced Data
Venue: arXiv cs.LG 2026
Year: 2026

Standard Gradient Descent and its modern variants assume local, Markovian weight updates, making them highly susceptible to noise and overfitting. This limitation becomes critically severe in extremely imbalanced datasets such as financial fraud detection where dominant class gradients systematically overwrite the subtle signals of the minority class. In this paper, we introduce a novel optimization algorithm grounded in Fractional Calculus. By isolating the core memory engine of the generalized fractional derivative, the Weighted Fractional Weyl Integral, we replace the instantaneous gradient with a dynamically weighted historical sequence. This fractional memory operator acts as a natural regularizer. Empirical evaluations demonstrate that our method prevents overfitting in medical diagnostics and achieves an approximately 40 percent improvement in PR-AUC over classical optimizers in financial fraud detection, establishing a robust bridge between pure fractional topology and applied Machine Learning.
StructBiHOI: Structured Articulation Modeling for Long--Horizon Bimanual Hand--Object Interaction Generation
Venue: arXiv cs.RO 2026
Year: 2026

Recent progress in 3D hand--object interaction (HOI) generation has primarily focused on single--hand grasp synthesis, while bimanual manipulation remains significantly more challenging. Long--horizon planning instability, fine--grained joint articulation, and complex cross--hand coordination make coherent bimanual generation difficult, especially under multimodal conditions. Existing approaches often struggle to simultaneously ensure temporal consistency, physical plausibility, and semantic alignment over extended sequences. We propose StructBiHOI, a Structured articulation modeling framework for long-horizon Bimanual HOI generation. Our key insight is to structurally disentangle temporal joint planning from frame--level manipulation refinement. Specifically, a jointVAE models long-term joint evolution conditioned on object geometry and task semantics, while a maniVAE refines fine-grained hand poses at the single--frame level. To enable stable and efficient long--sequence generation, we incorporate a state--space--inspired diffusion denoiser based on Mamba, which models long--range dependencies with linear complexity. This hierarchical design facilitates coherent dual-hand coordination and articulated object interaction. Extensive experiments on bimanual manipulation and single-hand grasping benchmarks demonstrate that our method achieves superior long--horizon stability, motion realism, and computational efficiency compared to strong baselines.
A Recipe for Stable Offline Multi-agent Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Despite remarkable achievements in single-agent offline reinforcement learning (RL), multi-agent RL (MARL) has struggled to adopt this paradigm, largely persisting with on-policy training and self-play from scratch. One reason for this gap comes from the instability of non-linear value decomposition, leading prior works to avoid complex mixing networks in favor of linear value decomposition (e.g., VDN) with value regularization used in single-agent setups. In this work, we analyze the source of instability in non-linear value decomposition within the offline MARL setting. Our observations confirm that they induce value-scale amplification and unstable optimization. To alleviate this, we propose a simple technique, scale-invariant value normalization (SVN), that stabilizes actor-critic training without altering the Bellman fixed point. Empirically, we examine the interaction among key components of offline MARL (e.g., value decomposition, value learning, and policy extraction) and derive a practical recipe that unlocks its full potential.
Nonlinearity Compensation for Coherent Optical Satellite Communications
Venue: arXiv cs.IT 2026
Year: 2026

Optical satellite uplinks rely on high-power optical amplifiers (HPOAs) to overcome free-space attenuation and enable long-distance transmission. However, at high power levels, fiber Kerr nonlinearity becomes significant and degrades system performance. In this work, we develop a realistic model for optical uplinks that accounts for nonlinear effects and analyze their impact, highlighting key differences from conventional longhaul fiber systems. We then introduce low-complexity digital signal processing techniques for nonlinearity compensation, based on constellation shaping via a look-up table (LUT) and a simple nonlinear phase rotation applied at the transmitter and/or receiver. The LUT also enables adaptive rate tuning according to channel conditions, enhancing robustness against link variations. Simulation results show that the proposed techniques increase the maximum acceptable link loss by up to 6 dB with negligible complexity. Finally, we show that, at the system level, propagation in the HPOA can be modeled as a simple nonlinear phase rotation, equivalent to propagation in a zero-dispersion noiseless fiber link, and fully characterized by a single parameter - the characteristic nonlinear power.
LLM-Driven Online Aggregation for Unstructured Text Analytics
Venue: arXiv cs.DB 2026
Year: 2026

Large Language Models (LLMs) exhibit strong capabilities in text processing, and recent research has augmented SQL and DataFrame with LLM-powered semantic operators for data analysis. However, LLM-based data processing is hindered by slower token generation speeds compared to relational queries. To enhance real-time responsiveness, we propose OLLA, an LLM-driven online aggregation framework that accelerates semantic processing within relational queries. In contrast to batch-processing systems that yield results only after the entire dataset is processed, our approach incrementally transforms text into a structured data stream and applies online aggregation to provide progressive output. To enhance our online aggregation process, we introduce a semantic stratified sampling approach that improves data selection and expedites convergence to the ground truth. Evaluations show that OLLA reaches 1% accuracy error bound compared with labeled ground truth using less than 4% of the full-data time. It achieves speedups ranging from 1.6$\times$ to 38$\times$ across diverse domains, measured by comparing the time to reach a 5% error bound with that of full-data time. We release our code at https://github.com/olla-project/llm-online-agg.git.
Efficient Policy Learning with Hybrid Evaluation-Based Genetic Programming for Uncertain Agile Earth Observation Satellite Scheduling
Venue: arXiv cs.AI 2026
Year: 2026

The Uncertain Agile Earth Observation Satellite Scheduling Problem (UAEOSSP) is a novel combinatorial optimization problem and a practical engineering challenge that aligns with the current demands of space technology development. It incorporates uncertainties in profit, resource consumption, and visibility, which may render pre-planned schedules suboptimal or even infeasible. Genetic Programming Hyper-Heuristic (GPHH) shows promise for evolving interpretable scheduling policies; however, their simulation-based evaluation incurs high computational costs. Moreover, the design of the constructive method, denoted as Online Scheduling Algorithm (OSA), directly affects fitness assessment, resulting in evaluation-dependent local optima within the policy space. To address these issues, this paper proposes a Hybrid Evaluation-based Genetic Programming (HE-GP) for effectively solving UAEOSSP. A Hybrid Evaluation (HE) mechanism is integrated into the policy-driven OSA, combining exact and approximate filtering modes: exact mode ensures evaluation accuracy through elaborately designed constraint verification modules, while approximate mode reduces computational overhead via simplified logic. HE-GP dynamically switches between evaluation models based on real-time evolutionary state information. Experiments on 16 simulated instance sets demonstrate that HE-GP significantly outperforms handcrafted heuristics and single-evaluation based GPHH, achieving substantial reductions in computational cost while maintaining excellent scheduling performance across diverse scenarios. Specifically, the average training time of HE-GP was reduced by 17.77\% compared to GP employing exclusively exact evaluation, while the optimal policy generated by HE-GP achieved the highest average ranks across all scenarios.
Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking
Venue: arXiv cs.RO 2026
Year: 2026

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a heterogeneous multi-sensor fusion particle-filter tracker that incorporates an information-gain (entropy-reduction) adaptive sensing policy to select the most informative configuration at each fusion time bin. The approach is validated in a real maritime deployment at the CMMI Smart Marina Testbed (Ayia Napa Marina, Cyprus), using a shore-mounted 3D LiDAR and an elevated fixed camera to track a rigid inflatable boat with onboard GNSS ground truth. We compare LiDAR-only, camera-only, all-sensors, and adaptive configurations. Results show LiDAR dominates near-field accuracy, the camera sustains longer-range coverage when LiDAR becomes unavailable, and the adaptive policy achieves a favorable accuracy-continuity trade-off by switching modalities based on information gain. By avoiding continuous multi-stream processing, the adaptive configuration provides a practical baseline for resilient and resource-aware maritime surveillance.
NN-OpInf: an operator inference approach using structure-preserving composable neural networks
Venue: arXiv cs.LG 2026
Year: 2026

We propose neural network operator inference (NN-OpInf): a structure-preserving, composable, and minimally restrictive operator inference framework for the non-intrusive reduced-order modeling of dynamical systems. The approach learns latent dynamics from snapshot data, enforcing local operator structure such as skew-symmetry, (semi-)positive definiteness, and gradient preservation, while also reflecting complex dynamics by supporting additive compositions of heterogeneous operators. We present practical training strategies and analyze computational costs relative to linear and quadratic polynomial OpInf (P-OpInf). Numerical experiments across several nonlinear and parametric problems demonstrate improved accuracy, stability, and robustness over P-OpInf and prior NN-ROM formulations, particularly when the dynamics are not well represented by polynomial models. These results suggest that NN-OpInf can serve as an effective drop-in replacement for P-OpInf when the dynamics to be modeled contain non-polynomial nonlinearities, offering potential gains in accuracy and out-of-distribution performance at the expense of higher training computational costs and a more difficult, non-convex learning problem.