OpenRaiser/Intern-Atlas huggingface dataset:
OVerSeeC: Open-Vocabulary Costmap Generation from Satellite Images and Natural Language
Venue: arXiv cs.RO 2026
Year: 2026

Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating global costmaps for long-range planning directly from satellite imagery when entities and mission-specific traversal rules are expressed in natural language at test time. This setting is challenging since mission requirements vary, terrain entities may be unknown at deployment, and user prompts often encode compositional traversal logic. Existing approaches relying on fixed ontologies and static cost mappings cannot accommodate such flexibility. While foundation models excel at language interpretation and open-vocabulary perception, no single model can simultaneously parse nuanced mission directives, locate arbitrary entities in large-scale imagery, and synthesize them into an executable cost function for planners. We therefore propose OVerSeeC, a zero-shot modular framework that decomposes the problem into Interpret-Locate-Synthesize: (i) an LLM extracts entities and ranked preferences, (ii) an open-vocabulary segmentation pipeline identifies these entities from high-resolution imagery, and (iii) the LLM uses the user's natural language preferences and masks to synthesize executable costmap code. Empirically, OVerSeeC handles novel entities, respects ranked and compositional preferences, and produces routes consistent with human-drawn trajectories across diverse regions, demonstrating robustness to distribution shifts. This shows that modular composition of foundation models enables open-vocabulary, preference-aligned costmap generation for scalable, mission-adaptive global planning.
FORMICA: Decision-Focused Learning for Communication-Free Multi-Robot Task Allocation
Venue: arXiv cs.RO 2026
Year: 2026

Most multi-robot task allocation methods rely on communication to resolve conflicts and reach consistent assignments. In environments with limited bandwidth, degraded infrastructure, or adversarial interference, existing approaches degrade sharply. We introduce a learning-based framework that achieves high-quality task allocation without any robot-to-robot communication. The key idea is that robots coordinate implicitly by predicting teammates' bids: if each robot can anticipate competition for a task, it can adjust its choices accordingly. Our method predicts bid distributions to correct systematic errors in analytical mean-field approximations. While analytical predictions assume idealized conditions (uniform distributions, known bid functions), our learned approach adapts to task clustering and spatial heterogeneity. Inspired by Smart Predict-then-Optimize (SPO), we train predictors end-to-end to minimize Task Allocation Regret rather than prediction error. To scale to large swarms, we develop a mean-field approximation where each robot predicts the distribution of competing bids rather than individual bids, reducing complexity from $O(NT)$ to $O(T)$. We call our approach FORMICA: Field-Oriented Regret-Minimizing Implicit Coordination Algorithm. Experiments show FORMICA substantially outperforms a natural analytical baseline. In scenarios with 16 robots and 64 tasks, our approach improves system reward by 17% and approaches the optimal MILP solution. When deployed on larger scenarios (256 robots, 4096 tasks), the same model improves performance by 7%, demonstrating strong generalization. Training requires only 21 seconds on a laptop, enabling rapid adaptation to new environments.
Musical Training, but not Mere Exposure to Music, Drives the Emergence of Chroma Equivalence in Artificial Neural Networks
Venue: arXiv cs.SD 2026
Year: 2026

Pitch is a fundamental aspect of auditory perception. Pitch perception is commonly described across two perceptual dimensions: pitch height is the sense that tones with varying frequencies seem to be higher or lower, and chroma equivalence is the cyclical similarity of notes octaves, corresponding to a doubling of fundamental frequency. Existing research is divided on whether chroma equivalence is a learned percept that varies according to musical experience and culture, or is an innate percept that develops automatically. Building on a recent framework that proposes to use ANNs to ask 'why' questions about the brain, we evaluated recent auditory ANNs using representational similarity analysis to test the emergence of pitch height and chroma equivalence in their learned representations. Additionally, we fine-tuned two models, Wav2Vec 2.0 and Data2Vec, on a self-supervised learning task using speech and music, and a supervised music transcription task. We found that all models exhibited varying degrees of pitch height representation, but that only models trained on the supervised music transcription task exhibited chroma equivalence. Mere exposure to music through self-supervised learning was not sufficient for chroma equivalence to emerge. This supports the view that chroma equivalence is a higher-order cognitive computation that emerges to support the specific task of music perception, distinct from other auditory perception such as speech listening. This work also highlights the usefulness of ANNs for probing the developmental conditions that give rise to perceptual representations in humans.
Decoding ML Decision: An Agentic Reasoning Framework for Large-Scale Ranking System
Venue: arXiv cs.AI 2026
Year: 2026

Modern large-scale ranking systems operate within a sophisticated landscape of competing objectives, operational constraints, and evolving product requirements. Progress in this domain is increasingly bottlenecked by the engineering context constraint: the arduous process of translating ambiguous product intent into reasonable, executable, verifiable hypotheses, rather than by modeling techniques alone. We present GEARS (Generative Engine for Agentic Ranking Systems), a framework that reframes ranking optimization as an autonomous discovery process within a programmable experimentation environment. Rather than treating optimization as static model selection, GEARS leverages Specialized Agent Skills to encapsulate ranking expert knowledge into reusable reasoning capabilities, enabling operators to steer systems via high-level intent vibe personalization. Furthermore, to ensure production reliability, the framework incorporates validation hooks to enforce statistical robustness and filter out brittle policies that overfit short-term signals. Experimental validation across diverse product surfaces demonstrates that GEARS consistently identifies superior, near-Pareto-efficient policies by synergizing algorithmic signals with deep ranking context while maintaining rigorous deployment stability.
Global Low-Rank, Local Full-Rank: The Holographic Encoding of Learned Algorithms
Venue: arXiv cs.LG 2026
Year: 2026

Grokking -- the abrupt transition from memorization to generalization after extended training -- has been linked to the emergence of low-dimensional structure in learning dynamics. Yet neural network parameters inhabit extremely high-dimensional spaces. How can a low-dimensional learning process produce solutions that resist low-dimensional compression? We investigate this question in multi-task modular arithmetic, training shared-trunk Transformers with separate heads for addition, multiplication, and a quadratic operation modulo 97. Across three model scales (315K--2.2M parameters) and five weight decay settings, we compare three reconstruction methods: per-matrix SVD, joint cross-matrix SVD, and trajectory PCA. Across all conditions, grokking trajectories are confined to a 2--6 dimensional global subspace, while individual weight matrices remain effectively full-rank. Reconstruction from 3--5 trajectory PCs recovers over 95\% of final accuracy, whereas both per-matrix and joint SVD fail at sub-full rank. Even when static decompositions capture most spectral energy, they destroy task-relevant structure. These results show that learned algorithms are encoded through dynamically coordinated updates spanning all matrices, rather than localized low-rank components. We term this the holographic encoding principle: grokked solutions are globally low-rank in the space of learning directions but locally full-rank in parameter space, with implications for compression, interpretability, and understanding how neural networks encode computation.
NutriOrion: A Hierarchical Multi-Agent Framework for Personalized Nutrition Intervention Grounded in Clinical Guidelines
Venue: arXiv cs.MA 2026
Year: 2026

Personalized nutrition intervention for patients with multimorbidity is critical for improving health outcomes, yet remains challenging because it requires the simultaneous integration of heterogeneous clinical conditions, medications, and dietary guidelines. Single-agent large language models (LLMs) often suffer from context overload and attention dilution when processing such high-dimensional patient profiles. We introduce NutriOrion, a hierarchical multi-agent framework with a parallel-then-sequential reasoning topology. NutriOrion decomposes nutrition planning into specialized domain agents with isolated contexts to mitigate anchoring bias, followed by a conditional refinement stage. The framework includes a multi-objective prioritization algorithm to resolve conflicting dietary requirements and a safety constraint mechanism that injects pharmacological contraindications as hard negative constraints during synthesis, ensuring clinical validity by construction rather than post-hoc filtering. For clinical interoperability, NutriOrion maps synthesized insights into the ADIME standard and FHIR R4 resources. Evaluated on 330 stroke patients with multimorbidity, NutriOrion outperforms multiple baselines, including GPT-4.1 and alternative multi-agent architectures. It achieves a 12.1 percent drug-food interaction violation rate, demonstrates strong personalization with negative correlations (-0.26 to -0.35) between patient biomarkers and recommended risk nutrients, and yields clinically meaningful dietary improvements, including a 167 percent increase in fiber and a 27 percent increase in potassium, alongside reductions in sodium (9 percent) and sugars (12 percent).
PolyFrame at MWE-2026 AdMIRe 2: When Words Are Not Enough: Multimodal Idiom Disambiguation
Venue: arXiv cs.CL 2026
Year: 2026

Multimodal models struggle with idiomatic expressions due to their non-compositional meanings, a challenge amplified in multilingual settings. We introduced PolyFrame, our system for the MWE-2026 AdMIRe2 shared task on multimodal idiom disambiguation, featuring a unified pipeline for both image+text ranking (Subtask A) and text-only caption ranking (Subtask B). All model variants retain frozen CLIP-style vision--language encoders and the multilingual BGE M3 encoder, training only lightweight modules: a logistic regression and LLM-based sentence-type predictor, idiom synonym substitution, distractor-aware scoring, and Borda rank fusion. Starting from a CLIP baseline (26.7% Top-1 on English dev, 6.7% on English test), adding idiom-aware paraphrasing and explicit sentence-type classification increased performance to 60.0% Top-1 on English and 60.0% Top-1 (0.822 NDCG@5) in zero-shot transfer to Portuguese. On the multilingual blind test, our systems achieved average Top-1/NDCG scores of 0.35/0.73 for Subtask A and 0.32/0.71 for Subtask B across 15 languages. Ablation results highlight idiom-aware rewriting as the main contributor to performance, while sentence-type prediction and multimodal fusion enhance robustness. These findings suggest that effective idiom disambiguation is feasible without fine-tuning large multimodal encoders.
DSLean: A Framework for Type-Correct Interoperability Between Lean 4 and External DSLs
Venue: arXiv cs.LO 2026
Year: 2026

Domain-specific languages (DSLs) mediate interactions between interactive proof assistants and external automation, but translating between the prover's internal representation and such DSLs is a tedious engineering chore. To simplify this task, we present DSLean, a framework for bidirectional translation between expressions in the Lean proof assistant and external syntax. DSLean requires only a specification of an external language and its Lean equivalents, abstracting away meta-level implementation details. We demonstrate DSLean's capabilities by implementing three new automation tactics, providing access to external solvers for interval arithmetic, ordinary differential equations, and ring ideal membership.
Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits
Venue: arXiv cs.RO 2026
Year: 2026

The global agri-food sector faces increasing challenges from labour shortages, high consumer demand, and supply-chain disruptions, resulting in substantial losses of unharvested produce. Robotic harvesting has emerged as a promising alternative; however, evaluating and training soft grippers for delicate fruits remains difficult due to the highly variable mechanical properties of natural produce. This makes it difficult to establish reliable benchmarks or data-driven control strategies. Existing testing practices rely on large quantities of real fruit to capture this variability, leading to inefficiency, higher costs, and waste. The methodology presented in this work aims to address these limitations by developing tunable soft physical twins that emulate the stiffness characteristics of real fruits at different ripeness levels. A fiber-reinforced pneumatic physical twin of a kiwi fruit was designed and fabricated to replicate the stiffness at different ripeness levels. Experimental results show that the stiffness of the physical twin can be tuned accurately over multiple trials (97.35 - 99.43% accuracy). Gripping tasks with a commercial robotic gripper showed that sensor feedback from the physical twin can reflect the applied gripping forces. Finally, a stress test was performed over 50 cycles showed reliable maintenance of desired stiffness (0.56 - 1.10% error). This work shows promise that robotic physical twins could adjust their stiffness to resemble that of real fruits. This can provide a sustainable, controllable platform for benchmarking and training robotic grippers.
Transformers for dynamical systems learn transfer operators in-context
Venue: arXiv cs.LG 2026
Year: 2026

Large-scale foundation models for scientific machine learning adapt to physical settings unseen during training, such as zero-shot transfer between turbulent scales. This phenomenon, in-context learning, challenges conventional understanding of learning and adaptation in physical systems. Here, we study in-context learning of dynamical systems in a minimal setting: we train a small two-layer, single-head transformer to forecast one dynamical system, and then evaluate its ability to forecast a different dynamical system without retraining. We discover an early tradeoff in training between in-distribution and out-of-distribution performance, which manifests as a secondary double descent phenomenon. We discover that attention-based models apply a transfer-operator forecasting strategy in-context. They (1) lift low-dimensional time series using delay embedding, to detect the system's higher-dimensional dynamical manifold, and (2) identify and forecast long-lived invariant sets that characterize the global flow on this manifold. Our results clarify the mechanism enabling large pretrained models to forecast unseen physical systems at test without retraining, and they illustrate the unique ability of attention-based models to leverage global attractor information in service of short-term forecasts.
From Trial by Fire To Sleep Like a Baby: A Lexicon of Anxiety Associations for 20k English Multiword Expressions
Venue: arXiv cs.CL 2026
Year: 2026

Anxiety is the unease about a possible future negative outcome. In recent years, there has been growing interest in understanding how anxiety relates to our health, well-being, body, mind, and behaviour. This includes work on lexical resources for word-anxiety association. However, there is very little anxiety-related work on larger units of text such as multiword expressions (MWE). Here, we introduce the first large-scale lexicon capturing descriptive norms of anxiety associations for more than 20k English MWEs. We show that the anxiety associations are highly reliable. We use the lexicon to study prevalence of different types of anxiety- and calmness-associated MWEs; and how that varies across two-, three-, and four-word sequences. We also study the extent to which the anxiety association of MWEs is compositional (due to its constituent words). The lexicon enables a wide variety of anxiety-related research in psychology, NLP, public health, and social sciences. The lexicon is freely available: https://saifmohammad.com/worrylex.html
Contradiction to Consensus: Dual Perspective, Multi Source Retrieval Based Claim Verification with Source Level Disagreement using LLM
Venue: arXiv cs.CL 2026
Year: 2026

The spread of misinformation across digital platforms can pose significant societal risks. Claim verification, a.k.a. fact-checking, systems can help identify potential misinformation. However, their efficacy is limited by the knowledge sources that they rely on. Most automated claim verification systems depend on a single knowledge source and utilize the supporting evidence from that source; they ignore the disagreement of their source with others. This limits their knowledge coverage and transparency. To address these limitations, we present a novel system for open-domain claim verification (ODCV) that leverages large language models (LLMs), multi-perspective evidence retrieval, and cross-source disagreement analysis. Our approach introduces a novel retrieval strategy that collects evidence for both the original and the negated forms of a claim, enabling the system to capture supporting and contradicting information from diverse sources: Wikipedia, PubMed, and Google. These evidence sets are filtered, deduplicated, and aggregated across sources to form a unified and enriched knowledge base that better reflects the complexity of real-world information. This aggregated evidence is then used for claim verification using LLMs. We further enhance interpretability by analyzing model confidence scores to quantify and visualize inter-source disagreement. Through extensive evaluation on four benchmark datasets with five LLMs, we show that knowledge aggregation not only improves claim verification but also reveals differences in source-specific reasoning. Our findings underscore the importance of embracing diversity, contradiction, and aggregation in evidence for building reliable and transparent claim verification systems
In-Context Planning with Latent Temporal Abstractions
Venue: arXiv cs.LG 2026
Year: 2026

Planning-based reinforcement learning for continuous control is bottlenecked by two practical issues: planning at primitive time scales leads to prohibitive branching and long horizons, while real environments are frequently partially observable and exhibit regime shifts that invalidate stationary, fully observed dynamics assumptions. We introduce I-TAP (In-Context Latent Temporal-Abstraction Planner), an offline RL framework that unifies in-context adaptation with online planning in a learned discrete temporal-abstraction space. From offline trajectories, I-TAP learns an observation-conditioned residual-quantization VAE that compresses each observation-macro-action segment into a coarse-to-fine stack of discrete residual tokens, and a temporal Transformer that autoregressively predicts these token stacks from a short recent history. The resulting sequence model acts simultaneously as a context-conditioned prior over abstract actions and a latent dynamics model. At test time, I-TAP performs Monte Carlo Tree Search directly in token space, using short histories for implicit adaptation without gradient update, and decodes selected token stacks into executable actions. Across deterministic MuJoCo, stochastic MuJoCo with per-episode latent dynamics regimes, and high-dimensional Adroit manipulation, including partially observable variants, I-TAP consistently matches or outperforms strong model-free and model-based offline baselines, demonstrating efficient and robust in-context planning under stochastic dynamics and partial observability.
Semantic Substrate Theory: An Operator-Theoretic Framework for Geometric Semantic Drift
Venue: arXiv cs.CL 2026
Year: 2026

Most semantic drift studies report multiple signals e.g., embedding displacement, neighbor changes, distributional divergence, and recursive trajectory instability, without a shared explanatory theory that relates them. This paper proposes a formalization of these signals in one time-indexed substrate, $S_t=(X,d_t,P_t)$, combining embedding geometry with local diffusion. Within this substrate, node-level neighborhood drift measures changes in local conditional distributions, coarse Ricci curvature measures local contractivity of semantic diffusion, and recursive drift probes stability of iterated semantic operators. This manuscript specifies the formal model, assumptions, and tests that can refute the model. Herein, the paper introduces bridge mass, a node-level aggregate of incident negative curvature, as a predictor of future neighborhood rewiring. This paper provides the theory and test contracts; empirical performance is deferred to subsequent studies.
Watermarking LLM Agent Trajectories
Venue: arXiv cs.CR 2026
Year: 2026

LLM agents rely heavily on high-quality trajectory data to guide their problem-solving behaviors, yet producing such data requires substantial task design, high-capacity model generation, and manual filtering. Despite the high cost of creating these datasets, existing literature has overlooked copyright protection for LLM agent trajectories. This gap leaves creators vulnerable to data theft and makes it difficult to trace misuse or enforce ownership rights. This paper introduces ActHook, the first watermarking method tailored for agent trajectory datasets. Inspired by hook mechanisms in software engineering, ActHook embeds hook actions that are activated by a secret input key and do not alter the original task outcome. Like software execution, LLM agents operate sequentially, allowing hook actions to be inserted at decision points without disrupting task flow. When the activation key is present, an LLM agent trained on watermarked trajectories can produce these hook actions at a significantly higher rate, enabling reliable black-box detection. Experiments on mathematical reasoning, web searching, and software engineering agents show that ActHook achieves an average detection AUC of 94.3 on Qwen-2.5-Coder-7B while incurring negligible performance degradation.
On the Energy Cost of Post-Quantum Key Establishment in Wireless Low-Power Personal Area Networks
Venue: arXiv cs.CR 2026
Year: 2026

Post-Quantum Cryptography (PQC) creates payloads that strain the timing and energy budgets of Personal Area Networks. In post-quantum key exchange (PQKE), this causes severe fragmentation, prolonged radio activity, and high transmission overhead on low-power devices. Prior work optimizes cryptographic computation but largely ignores communication cost. This paper separates computation and communication costs using Bluetooth Low Energy as a representative platform and validates them on real hardware. Results show communication often dominates PQKE energy, exceeding cryptographic cost. Efficient quantum-resilient pairing therefore requires coordinated protocol configuration and lower-layer optimization. This work provides developers a practical way to reason about PQC energy trade-offs and informs the evolution of PAN standards toward quantum-safe operation.