OpenRaiser/Intern-Atlas huggingface dataset:
Digital Simulations to Enhance Military Medical Evacuation Decision-Making
Venue: arXiv cs.AI 2026
Year: 2026

Medical evacuation is one of the United States Army's most storied and critical mission sets, responsible for efficiently and expediently evacuating the battlefield ill and injured. Medical evacuation planning involves designing a robust network of medical platforms and facilities capable of moving and treating large numbers of casualties. Until now, there has not been a medium to simulate these networks in a classroom setting and evaluate both offline planning and online decision-making performance. This work describes the Medical Evacuation Wargaming Initiative (MEWI), a three-dimensional multiplayer simulation developed in Unity that replicates battlefield constraints and uncertainties. MEWI accurately models patient interactions at casualty collection points, ambulance exchange points, medical treatment facilities, and evacuation platforms. Two operational scenarios are introduced: an amphibious island assault in the Pacific and a Eurasian conflict across a sprawling road and river network. These scenarios pit students against the clock to save as many casualties as possible while adhering to doctrinal lessons learned during didactic training. We visualize performance data collected from two iterations of the MEWI Pacific scenario executed in the United States Army's Medical Evacuation Doctrine Course. We consider post-wargame Likert survey data from student participants and external observer notes to identify key planning decision points, document medical evacuation lessons learned, and quantify general utility. Results indicate that MEWI participation substantially improves uptake of medical evacuation lessons learned and co-operative decision-making. MEWI is a substantial step forward in the field of high-fidelity training tools for medical education, and our study findings offer critical insights into improving medical evacuation education and operations across the joint force.
Divergence-Based Similarity Function for Multi-View Contrastive Learning
Venue: arXiv cs.CV 2026
Year: 2026

Recent success in contrastive learning has sparked growing interest in more effectively leveraging multiple augmented views of data. While prior methods incorporate multiple views at the loss or feature level, they primarily capture pairwise relationships and fail to model the joint structure across all views. In this work, we propose a divergence-based similarity function (DSF) that explicitly captures the joint structure by representing each set of augmented views as a distribution and measuring similarity as the divergence between distributions. Extensive experiments demonstrate that DSF consistently improves performance across diverse tasks, including kNN classification, linear evaluation, transfer learning, and distribution shift, while also achieving greater efficiency than other multi-view methods. Furthermore, we establish a connection between DSF and cosine similarity, and demonstrate that, unlike cosine similarity, DSF operates effectively without the need for tuning a temperature hyperparameter.
ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body (manipulation) and lower-body (locomotion) policies. While this decomposition reduces training complexity, it inherently limits coordination between subsystems and contradicts the unified whole-body control exhibited by humans. We demonstrate that a single unified policy can achieve a combination of tracking accuracy, large workspace, and robustness for humanoid loco-manipulation. We propose the Unified Loco-Manipulation Controller (ULC), a single-policy framework that simultaneously tracks root velocity, root height, torso rotation, and dual-arm joint positions in an end-to-end manner, proving the feasibility of unified control without sacrificing performance. We achieve this unified control through key technologies: sequence skill acquisition for progressive learning complexity, residual action modeling for fine-grained control adjustments, command polynomial interpolation for smooth motion transitions, random delay release for robustness to deploy variations, load randomization for generalization to external disturbances, and center-of-gravity tracking for providing explicit policy gradients to maintain stability. We validate our method on the Unitree G1 humanoid robot with 3-DOF (degrees-of-freedom) waist. Compared with strong baselines, ULC shows better tracking performance to disentangled methods and demonstrating larger workspace coverage. The unified dual-arm tracking enables precise manipulation under external loads while maintaining coordinated whole-body control for complex loco-manipulation tasks.
Noisy PDE Training Requires Bigger PINNs
Venue: arXiv cs.LG 2026
Year: 2026

Physics-Informed Neural Networks (PINNs) are increasingly used to approximate solutions of partial differential equations (PDEs), particularly in high dimensions. In real-world settings, data are often noisy, making it crucial to understand when a predictor can still achieve low empirical risk. Yet, little is known about the conditions under which a PINN can do so effectively. We analyse PINNs applied to the Hamilton--Jacobi--Bellman (HJB) PDE and establish a lower bound on the network size required for the supervised PINN empirical risk to fall below the variance of noisy supervision labels. Specifically, if a predictor achieves empirical risk $O(η)$ below $σ^2$ (the variance of the supervision data), then necessarily $d_N\log d_N\gtrsim N_s η^2$, where $N_s$ is the number of samples and $d_N$ the number of trainable parameters. A similar constraint holds in the fully unsupervised PINN setting when boundary labels are noisy. Thus, simply increasing the number of noisy supervision labels does not offer a ``free lunch'' in reducing empirical risk. We also give empirical studies on the HJB PDE, the Poisson PDE and the the Navier-Stokes PDE set to produce the Taylor-Green solutions. In these experiments we demonstrate that PINNs indeed need to be beyond a threshold model size for them to train to errors below $σ^2$. These results provide a quantitative foundation for understanding parameter requirements when training PINNs in the presence of noisy data.
Online Navigation Refinement: Achieving Lane-Level Guidance by Associating Standard-Definition and Online Perception Maps
Venue: arXiv cs.CV 2026
Year: 2026

Lane-level navigation is critical for geographic information systems and navigation-based tasks, offering finer-grained guidance than road-level navigation by standard definition (SD) maps. However, it currently relies on expansive global HD maps that cannot adapt to dynamic road conditions. Recently, online perception (OP) maps have become research hotspots, providing real-time geometry as an alternative, but lack the global topology needed for navigation. To address these issues, Online Navigation Refinement (ONR), a new mission is introduced that refines SD-map-based road-level routes into accurate lane-level navigation by associating SD maps with OP maps. The map-to-map association to handle many-to-one lane-to-road mappings under two key challenges: (1) no public dataset provides lane-to-road correspondences; (2) severe misalignment from spatial fluctuations, semantic disparities, and OP map noise invalidates traditional map matching. For these challenges, We contribute: (1) Online map association dataset (OMA), the first ONR benchmark with 30K scenarios and 2.6M annotated lane vectors; (2) MAT, a transformer with path-aware attention to aligns topology despite spatial fluctuations and semantic disparities and spatial attention for integrates noisy OP features via global context; and (3) NR P-R, a metric evaluating geometric and semantic alignment. Experiments show that MAT outperforms existing methods at 34 ms latency, enabling low-cost and up-to-date lane-level navigation.
Scalable Signed Exponential Random Graph Models under Local Dependence
Venue: arXiv cs.SI 2026
Year: 2026

Traditional network analysis focuses on binary edges, while real-world relationships are more nuanced, encompassing cooperation, neutrality, and conflict. The rise of negative edges in social media discussions spurred interest in analyzing signed interactions, especially in polarized debates. However, the vast data generated by digital networks presents challenges for traditional methods like Stochastic Block Models (SBM) and Exponential Family Random Graph Models (ERGM), particularly due to the homogeneity assumption and global dependence, which become increasingly unrealistic as network size grows. To address this, we propose a novel method that combines the strengths of SBM and ERGM while mitigating their weaknesses by incorporating local dependence based on nonoverlapping blocks. Our approach involves a two-step process: First, decomposing the network into sub-networks using SBM approximation, and, second, estimating parameters using ERGM methods. We validate our method on large synthetic networks and apply it to a signed Wikipedia network of thousands of editors. Through the use of local dependence, we find patterns consistent with structural balance theory.
Can cloud-based VR streaming handle Wi-Fi OBSS contention?
Venue: arXiv cs.NI 2026
Year: 2026

This paper experimentally analyzes the negative impact of contention caused by neighboring Wi-Fi networks operating on overlapping channels on Virtual Reality (VR) streaming over Wi-Fi, focusing on scenarios of partial and full channel overlap within an 80 MHz channel. Our results show that (i) increasing the number of 80 MHz Overlapping Basic Service Sets (OBSSs) intensifies contention and degrades VR streaming performance; (ii) OBSS activity on the secondary-sided 40 MHz portion degrades performance more than activity on the primary-sided 40 MHz portion; (iii) for the same aggregate load, full channel overlap with two 40 MHz OBSS contenders is less detrimental than partial overlap with a single high-load 40 MHz contender, but more disruptive than full overlap with two 80 MHz contenders; and (iv) full channel overlap with two 40 MHz OBSS contenders has a smaller impact on VR streaming under symmetric traffic loads than under asymmetric loads. Moreover, our results demonstrate that our previously proposed Network-aware Step-wise adaptive bitrate algorithm for VR streaming (NeSt-VR) effectively mitigates performance degradation in OBSS environments, enabling VR streaming under heavier OBSS traffic conditions.
Stable Preference Optimization: A Bilevel Approach to Catastrophic Preference Shift
Venue: arXiv cs.AI 2026
Year: 2026

Direct Preference Learning has emerged as a dominant offline paradigm for preference optimization. Most of these methods are based on the Bradley-Terry (BT) model for pairwise preference ranking, which directly aligns language model with human preference. Prior work has observed a counter-intuitive phenomenon termed likelihood displacement, where the absolute probability of preferred responses decreases simultaneously during training. We demonstrate that such displacement can lead to a more devastating failure mode, which we defined as \textit{Catastrophic Preference Shift}, where the lost preference probability mass inadvertently shifts toward out-of-distribution (OOD) responses. Such a failure mode is a key limitation shared across BT-style direct preference learning methods, due to the fundamental conflict between the unconstrained discriminative alignment and generative foundational capabilities, ultimately leading to severe performance degradation (e.g., SimPO suffers a significant drop in reasoning accuracy from 73.5\% to 37.5\%). We analyze existing BT-style methods from the probability evolution perspective and theoretically prove that these methods exhibit over-reliance on model initialization and can lead to preference shift. To resolve these counter-intuitive behaviors, we propose a theoretically grounded Stable Preference Optimization (SPO) framework that constrains preference learning within a safe alignment region. Empirical evaluations demonstrate that SPO effectively stabilizes and enhances the performance of existing BT-style preference learning methods. SPO provides new insights into the design of preference learning objectives and opens up new avenues towards more reliable and interpretable language model alignment.
Mechanistic Indicators of Understanding in Large Language Models
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) are often portrayed as merely imitating linguistic patterns without genuine understanding. We argue that recent findings in mechanistic interpretability (MI), the emerging field probing the inner workings of LLMs, render this picture increasingly untenable--but only once those findings are integrated within a theoretical account of understanding. We propose a tiered framework for thinking about understanding in LLMs and use it to synthesize the most relevant findings to date. The framework distinguishes three hierarchical varieties of understanding, each tied to a corresponding level of computational organization: conceptual understanding emerges when a model forms "features" as directions in latent space, learning connections between diverse manifestations of a single entity or property; state-of-the-world understanding emerges when a model learns contingent factual connections between features and dynamically tracks changes in the world; principled understanding emerges when a model ceases to rely on memorized facts and discovers a compact "circuit" connecting these facts. Across these tiers, MI uncovers internal organizations that can underwrite understanding-like unification. However, these also diverge from human cognition in their parallel exploitation of heterogeneous mechanisms. Fusing philosophical theory with mechanistic evidence thus allows us to transcend binary debates over whether AI understands, paving the way for a comparative, mechanistically grounded epistemology that explores how AI understanding aligns with--and diverges from--our own.
AblationBench: Evaluating Automated Planning of Ablations in Empirical AI Research
Venue: arXiv cs.CL 2026
Year: 2026

Language model agents are increasingly used to automate scientific research, yet evaluating their scientific contributions remains a challenge. A key mechanism to obtain such insights is through ablation experiments. To this end, we introduce AblationBench, a benchmark suite for evaluating agents on ablation planning tasks in empirical AI research. It includes two tasks: AuthorAblation, which helps authors propose ablation experiments based on a method section and contains 83 instances, and ReviewerAblation, which helps reviewers find missing ablations in a full paper and contains 350 instances. For both tasks, we develop LM-based judges that serve as an automatic evaluation framework. Our experiments with frontier LMs show that these tasks remain challenging, with the best-performing LM system identifying only 38% of the original ablations on average, below human-level performance. We observe an inverse performance trend between the author and reviewer tasks, which we attribute to differences in model grounding. Lastly, we analyze the limitations of current LMs on these tasks, and find that chain-of-thought prompting outperforms an agent-based approach. Our data is available on https://huggingface.co/collections/ai-coscientist/ablationbench, and our code is available on https://github.com/ai-scientist-bench/ablation-bench .
Giving AI Agents Access to Cryptocurrency and Smart Contracts Creates New Vectors of AI Harm
Venue: arXiv cs.AI 2026
Year: 2026

There is growing interest in giving AI agents access to cryptocurrencies as well as to the smart contracts that transact them. But doing so, this position paper argues, could lead to formidable new vectors of AI harm. To support this argument, we first examine the unique properties of cryptocurrencies and smart contracts that could give rise to these new vectors of AI harm. Next, we describe each of these new vectors of AI harm in detail, providing a first-of-its-kind taxonomy. Finally, we conclude with a call for more technical research aimed at preventing and mitigating these new vectors of AI , thereby making it safer to endow AI agents with cryptocurrencies and smart contracts.
The Impact of Automatic Speech Transcription on Speaker Attribution
Venue: arXiv cs.CL 2026
Year: 2026

Speaker attribution from speech transcripts is the task of identifying a speaker from the transcript of their speech based on patterns in their language use. This task is especially useful when the audio is unavailable (e.g. deleted) or unreliable (e.g. anonymized speech). Prior work in this area has primarily focused on the feasibility of attributing speakers using transcripts produced by human annotators. However, in real-world settings, one often only has more errorful transcripts produced by automatic speech recognition (ASR) systems. In this paper, we conduct what is, to our knowledge, the first comprehensive study of the impact of automatic transcription on speaker attribution performance. In particular, we study the extent to which speaker attribution performance degrades in the face of transcription errors, as well as how properties of the ASR system impact attribution. We find that attribution is surprisingly resilient to word-level transcription errors and that the objective of recovering the true transcript is minimally correlated with attribution performance. Overall, our findings suggest that speaker attribution on more errorful transcripts produced by ASR is as good, if not better, than attribution based on human-transcribed data, possibly because ASR transcription errors can capture speaker-specific features revealing of speaker identity.
wd1: Weighted Policy Optimization for Reasoning in Diffusion Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Improving the reasoning capabilities of diffusion-based large language models (dLLMs) through reinforcement learning (RL) remains an open problem. The intractability of dLLMs likelihood function necessitates approximating the current, old, and reference policy likelihoods at each policy optimization step. This reliance introduces additional computational overhead, and can lead to large variance and estimation error in RL objective -- particularly in computing the policy ratio for importance sampling. To mitigate these issues, we introduce wd1, a novel ratio-free policy optimization approach that reformulates the RL objective as a weighted log-likelihood, requiring only a single approximation for the current parametrized policy likelihood. We formally show that our proposed method can be interpreted as energy-guided discrete diffusion training combined with negative sample unlearning, thereby confirming its theoretical soundness. In experiments on LLaDA-8B model, wd1 outperforms diffusion-based GRPO (d1) while requiring lower computational cost, achieving up to a $+59\%$ improvement in accuracy. Furthermore, we extend wd1 to denoising-stepwise weighted policy optimization (wd1++), achieving state-of-the-art math performance of $44.2\%$ on MATH500 and $84.5\%$ on GSM8K with only 20 RL training steps.
Analytical Study on the Exposedness of Potential Positions for External Human-Machine Interfaces
Venue: arXiv cs.HC 2026
Year: 2026

As we move towards a future of autonomous vehicles, questions regarding their method of communication have arisen. One of the common questions concerns the placement of the signaling used to communicate with pedestrians and road users, but few works have been fully dedicated to the matter. This paper uses a simulation made in the Unity game engine to record the fifteen different vehicles under fifty-seven different scenarios each for the first time, in order to find how often its forward-facing exterior surfaces can be seen by a pedestrian on the sidewalk. Variables include the vehicle type, position, number of vehicles on the road, camera position and direction, as well as its minimum and maximum distance from the recorded points. It was concluded that the areas of the vehicle most often seen by pedestrians on the sidewalk attempting to cross the road were the wheels, front fenders, and headlights. Based on these results, a suggestion is made to implement displays on at least two of the following regions: windshield, front fenders, side mirrors. These findings are valuable in the future design of signaling for autonomous vehicles in order to ensure pedestrians are able to see them on approaching vehicles. The software used provides a platform for similar works in the future to be conducted.
BENYO-S2ST-Corpus-1: A Bilingual English-to-Yoruba Direct Speech-to-Speech Translation Corpus
Venue: arXiv cs.SD 2026
Year: 2026

There is a major shortage of Speech-to-Speech Translation (S2ST) datasets for high resource-to-low resource language pairs such as English-to-Yoruba. Thus, in this study, we curated the Bilingual English-to-Yoruba Speech-to-Speech Translation Corpus Version 1 (BENYO-S2ST-Corpus-1). The corpus is based on a hybrid architecture we developed for large-scale direct S2ST corpus creation at reduced cost. To achieve this, we leveraged non speech-to-speech Standard Yoruba (SY) real-time audios and transcripts in the YORULECT Corpus as well as the corresponding Standard English (SE) transcripts. YORULECT Corpus is small scale(1,504) samples, and it does not have paired English audios. Therefore, we generated the SE audios using pre-trained AI models (i.e. Facebook MMS). We also developed an audio augmentation algorithm named AcoustAug based on three latent acoustic features to generate augmented audios from the raw audios of the two languages. BENYO-S2ST-Corpus-1 has 12,032 audio samples per language, which gives a total of 24,064 sample size. The total audio duration for the two languages is 41.20 hours. This size is quite significant. Beyond building S2ST models, BENYO-S2ST-Corpus-1 can be used to build pretrained models or improve existing ones. The created corpus and Coqui framework were used to build a pretrained Yoruba TTS model (named YoruTTS-1.5) as a proof of concept. The YoruTTS-1.5 gave a F0 RMSE value of 63.54 after 1,000 epochs, which indicates moderate fundamental pitch similarity with the reference real-time audio. Ultimately, the corpus architecture in this study can be leveraged by researchers and developers to curate datasets for multilingual high-resource-to-low-resource African languages. This will bridge the huge digital divides in translations among high and low-resource language pairs. BENYO-S2ST-Corpus-1 and YoruTTS-1.5 are publicly available at (https://bit.ly/40bGMwi).