OpenRaiser/Intern-Atlas huggingface dataset:
Smudged Fingerprints: A Systematic Evaluation of the Robustness of AI Image Fingerprints
Venue: arXiv cs.CV 2026
Year: 2026

Model fingerprint detection has shown promise to trace the provenance of AI-generated images in forensic applications. However, despite the inherent adversarial nature of these applications, existing evaluations rarely consider adversarial settings. We present the first systematic security evaluation of these techniques, formalizing threat models that encompass both white- and black-box access and two attack goals: fingerprint removal, which erases identifying traces to evade attribution, and fingerprint forgery, which seeks to cause misattribution to a target model. We implement five attack strategies and evaluate 14 representative fingerprinting methods across RGB, frequency, and learned-feature domains on 12 state-of-the-art image generators. Our experiments reveal a pronounced gap between clean and adversarial performance. Removal attacks are highly effective, often achieving success rates above 80% in white-box settings and over 50% under black-box access. While forgery is more challenging than removal, its success varies significantly across targeted models. We also observe a utility-robustness trade-off: accurate attribution methods are often vulnerable to attacks and, although some techniques are robust in specific settings, none achieves robustness and accuracy across all evaluated threat models. These findings highlight the need for techniques that balance robustness and accuracy, and we identify the most promising approaches toward this goal. Code available at: https://github.com/kaikaiyao/SmudgedFingerprints.
Agile Flight Emerges from Multi-Agent Competitive Racing
Venue: arXiv cs.RO 2026
Year: 2026

Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge from agents trained with reinforcement learning. We provide evidence in both simulation and the real world that this approach outperforms the common paradigm of training agents in isolation with rewards that prescribe behavior, e.g., progress on the raceline, in particular when the complexity of the environment increases, e.g., in the presence of obstacles. Moreover, we find that multi-agent competition yields policies that transfer more reliably to the real world than policies trained with a single-agent progress-based reward, despite the two methods using the same simulation environment, randomization strategy, and hardware. In addition to improved sim-to-real transfer, the multi-agent policies also exhibit some degree of generalization to opponents unseen at training time. Overall, our work, following in the tradition of multi-agent competitive game-play in digital domains, shows that sparse task-level rewards are sufficient for training agents capable of advanced low-level control in the physical world. Code: https://github.com/Jirl-upenn/AgileFlight_MultiAgent
Goal Reaching with Eikonal-Constrained Hierarchical Quasimetric Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Goal-Conditioned Reinforcement Learning (GCRL) mitigates the difficulty of reward design by framing tasks as goal reaching rather than maximizing hand-crafted reward signals. In this setting, the optimal goal-conditioned value function naturally forms a quasimetric, motivating Quasimetric RL (QRL), which constrains value learning to quasimetric mappings and enforces local consistency through discrete, trajectory-based constraints. We propose Eikonal-Constrained Quasimetric RL (Eik-QRL), a continuous-time reformulation of QRL based on the Eikonal Partial Differential Equation (PDE). This PDE-based structure makes Eik-QRL trajectory-free, requiring only sampled states and goals, while improving out-of-distribution generalization. We provide theoretical guarantees for Eik-QRL and identify limitations that arise under complex dynamics. To address these challenges, we introduce Eik-Hierarchical QRL (Eik-HiQRL), which integrates Eik-QRL into a hierarchical decomposition. Empirically, Eik-HiQRL achieves state-of-the-art performance in offline goal-conditioned navigation and yields consistent gains over QRL in manipulation tasks, matching temporal-difference methods.
Rethinking Jailbreak Detection of Large Vision Language Models with Representational Contrastive Scoring
Venue: arXiv cs.CR 2026
Year: 2026

Large Vision-Language Models (LVLMs) are vulnerable to a growing array of multimodal jailbreak attacks, necessitating defenses that are both generalizable to novel threats and efficient for practical deployment. Many current strategies fall short, either targeting specific attack patterns, which limits generalization, or imposing high computational overhead. While lightweight anomaly-detection methods offer a promising direction, we find that their common one-class design tends to confuse novel benign inputs with malicious ones, leading to unreliable over-rejection. To address this, we propose Representational Contrastive Scoring (RCS), a framework built on a key insight: the most potent safety signals reside within the LVLM's own internal representations. Our approach inspects the internal geometry of these representations, learning a lightweight projection to maximally separate benign and malicious inputs in safety-critical layers. This enables a simple yet powerful contrastive score that differentiates true malicious intent from mere novelty. Our instantiations, MCD (Mahalanobis Contrastive Detection) and KCD (K-nearest Contrastive Detection), achieve state-of-the-art performance on a challenging evaluation protocol designed to test generalization to unseen attack types. This work demonstrates that effective jailbreak detection can be achieved by applying simple, interpretable statistical methods to the appropriate internal representations, offering a practical path towards safer LVLM deployment. Our code is available on Github https://github.com/sarendis56/Jailbreak_Detection_RCS.
From Human Intention to Action Prediction: Intention-Driven End-to-End Autonomous Driving
Venue: arXiv cs.CV 2026
Year: 2026

While end-to-end autonomous driving has achieved remarkable progress in geometric control, current systems remain constrained by a command-following paradigm that relies on simple navigational instructions. Transitioning to genuinely intelligent agents requires the capability to interpret and fulfill high-level, abstract human intentions. However, this advancement is hindered by the lack of dedicated benchmarks and semantic-aware evaluation metrics. In this paper, we formally define the task of Intention-Driven End-to-End Autonomous Driving and present Intention-Drive, a comprehensive benchmark designed to bridge this gap. We construct a large-scale dataset featuring complex natural language intentions paired with high-fidelity sensor data. To overcome the limitations of conventional trajectory-based metrics, we introduce the Imagined Future Alignment (IFA), a novel evaluation protocol leveraging generative world models to assess the semantic fulfillment of human goals beyond mere geometric accuracy. Furthermore, we explore the solution space by proposing two distinct paradigms: an end-to-end vision-language planner and a hierarchical agent-based framework. The experiments reveal a critical dichotomy where existing models exhibit satisfactory driving stability but struggle significantly with intention fulfillment. Notably, the proposed frameworks demonstrate superior alignment with human intentions.
Rough Sets for Explainability of Spectral Graph Clustering
Venue: arXiv cs.LG 2026
Year: 2026

Graph Spectral Clustering methods (GSC) allow representing clusters of diverse shapes, densities, etc. However, the results of such algorithms, when applied e.g. to text documents, are hard to explain to the user, especially due to embedding in the spectral space which has no obvious relation to document contents. Furthermore, the presence of documents without clear content meaning and the stochastic nature of the clustering algorithms deteriorate explainability. This paper proposes an enhancement to the explanation methodology, proposed in an earlier research of our team. It allows us to overcome the latter problems by taking inspiration from rough set theory.
Leader-driven or Leaderless: How Participation Structure Sustains Engagement and Shapes Narratives in Online Hate Communities
Venue: arXiv cs.SI 2026
Year: 2026

Extremist communities increasingly rely on social media to sustain and amplify divisive discourse. However, the relationship between their internal participation structures, audience engagement, and narrative expression remains underexplored. This study analyzes ten years of Facebook activity by hate groups related to the Israel-Palestine conflict, focusing on anti-Semitic and Islamophobic ideologies. Consistent with prior work, we find that higher participation centralization in online hate groups is associated with greater user engagement across hate ideologies, suggesting the role of key actors in sustaining group activity over time. Meanwhile, our narrative frame detection models--based on an eight-frame extremist taxonomy (e.g., dehumanization, violence justification)--reveal a clear contrast across hate ideologies: centralized Islamophobic groups employ more uniform messaging, while centralized anti-Semitic groups demonstrate greater framing diversity and topical breadth, potentially reflecting distinct historical trajectories and leader coordination patterns. Analysis of the inter-group network indicates that, although centralization and homophily are not clearly linked, ideological distinctions emerge: Islamophobic groups cluster tightly, whereas anti-Semitic groups remain more evenly connected. Overall, these findings clarify how participation structure may shape the dissemination pattern and resonance of extremist narratives online and provide a foundation for tailored strategies to disrupt or mitigate such discourse.
Knowledge-Guided Masked Autoencoder with Linear Spectral Mixing and Spectral-Angle-Aware Reconstruction
Venue: arXiv cs.LG 2026
Year: 2026

Integrating domain knowledge into deep learning has emerged as a promising direction for improving model interpretability, generalization, and data efficiency. In this work, we present a novel knowledge-guided ViT-based Masked Autoencoder that embeds scientific domain knowledge within the self-supervised reconstruction process. Instead of relying solely on data-driven optimization, our proposed approach incorporates the Linear Spectral Mixing Model (LSMM) as a physical constraint and physically-based Spectral Angle Mapper (SAM), ensuring that learned representations adhere to known structural relationships between observed signals and their latent components. The framework jointly optimizes LSMM and SAM loss with a conventional Huber loss objective, promoting both numerical accuracy and geometric consistency in the feature space. This knowledge-guided design enhances reconstruction fidelity, stabilizes training under limited supervision, and yields interpretable latent representations grounded in physical principles. The experimental findings indicate that the proposed model substantially enhances reconstruction quality and improves downstream task performance, highlighting the promise of embedding physics-informed inductive biases within transformer-based self-supervised learning.
From Tokens to Photons: Test-Time Physical Prompting for Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

To extend the application of vision-language models (VLMs) from web images to sensor-mediated physical environments, we propose Multi-View Physical-prompt for Test-Time Adaptation (MVP), a forward-only framework that moves test-time adaptation (TTA) from tokens to photons by treating the camera exposure triangle--ISO, shutter speed, and aperture--as physical prompts. At inference, MVP acquires a library of physical views per scene, selects the top-k sensor settings using a source-affinity score, evaluates each retained view under lightweight digital augmentations, filters the lowest-entropy subset of augmented views, and aggregates predictions with Zero-temperature softmax (i.e., hard voting). This selection-then-vote design is simple, calibration-friendly, and requires no gradients or model modifications. On ImageNet-ES and ImageNet-ES-Diverse, MVP consistently outperforms digital-only TTA on single Auto-Exposure captures, by up to 25.6 percentage points (pp), and delivers up to 3.4 pp additional gains over pipelines that combine conventional sensor control with TTA. MVP remains effective under reduced parameter candidate sets that lower capture latency, demonstrating practicality. These results support the main claim that, beyond post-capture prompting, measurement-time control--selecting and combining real physical views--substantially improves robustness for VLMs.
Vision-Enhanced Large Language Models for High-Resolution Image Synthesis and Multimodal Data Interpretation
Venue: arXiv cs.CV 2026
Year: 2026

This research introduces a transformative framework for integrating Vision-Enhanced Large Language Models (LLMs) with advanced transformer-based architectures to tackle challenges in high-resolution image synthesis and multimodal data interpretation. The proposed model incorporates a rectified flow mechanism that connects noise and data with linear paths, enabling efficient and high-quality generation. A bidirectional tokenization strategy is employed to seamlessly merge inputs from text, image, and video modalities, fostering a unified understanding across diverse data types. By embedding spatial-temporal features and leveraging a hybrid text-image sequence modeling approach, the framework achieves unparalleled fidelity in synthesized images and coherent multimodal representations. The architecture is optimized with a noise-aware learning algorithm, addressing discrepancies in noisy data distributions and improving generative performance under varying input conditions. Rigorous evaluations on benchmark datasets demonstrate a 25% increase in image resolution clarity and a 20% reduction in computational requirements compared to diffusion-based methods. Furthermore, the model exhibits robust scalability and adaptability, showcasing its potential in applications like autonomous systems, creative content generation, and advanced video analysis. This work underscores the role of vision-centric LLMs in redefining capabilities in computer vision and multimodal artificial intelligence.
PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations
Venue: arXiv cs.RO 2026
Year: 2026

Achieving efficient and robust whole-body control (WBC) is essential for enabling humanoid robots to perform complex tasks in dynamic environments. Despite the success of reinforcement learning (RL) in this domain, its sample inefficiency remains a significant challenge due to the intricate dynamics and partial observability of humanoid robots. To address this limitation, we propose PvP, a Proprioceptive-Privileged contrastive learning framework that leverages the intrinsic complementarity between proprioceptive and privileged states. PvP learns compact and task-relevant latent representations without requiring hand-crafted data augmentations, enabling faster and more stable policy learning. To support systematic evaluation, we develop SRL4Humanoid, the first unified and modular framework that provides high-quality implementations of representative state representation learning (SRL) methods for humanoid robot learning. Extensive experiments on the LimX Oli robot across velocity tracking and motion imitation tasks demonstrate that PvP significantly improves sample efficiency and final performance compared to baseline SRL methods. Our study further provides practical insights into integrating SRL with RL for humanoid WBC, offering valuable guidance for data-efficient humanoid robot learning.
Can LLMs Understand What We Cannot Say? Measuring Multilevel Alignment Through Abortion Stigma Across Cognitive, Interpersonal, and Structural Levels
Venue: arXiv cs.AI 2026
Year: 2026

As Large Language Models (LLMs) increasingly mediate stigmatized health decisions, their capacity to understand complex psychological phenomena remains inadequately assessed. Can LLMs understand what we cannot say? We investigate whether LLMs coherently represent abortion stigma across cognitive, interpersonal, and structural levels. We systematically tested 627 demographically diverse personas across five leading LLMs using the validated Individual Level Abortion Stigma Scale (ILAS), examining representation at cognitive (self-judgment), interpersonal (worries about judgment and isolation), and structural (community condemnation and disclosure patterns) levels. Models fail tests of genuine understanding across all dimensions. They underestimate cognitive stigma while overestimating interpersonal stigma, introduce demographic biases assigning higher stigma to younger, less educated, and non-White personas, and treat secrecy as universal despite 36% of humans reporting openness. Most critically, models produce internal contradictions: they overestimate isolation yet predict isolated individuals are less secretive, revealing incoherent representations. These patterns show current alignment approaches ensure appropriate language but not coherent understanding across levels. This work provides empirical evidence that LLMs lack coherent understanding of psychological constructs operating across multiple dimensions. AI safety in high-stakes contexts demands new approaches to design (multilevel coherence), evaluation (continuous auditing), governance and regulation (mandatory audits, accountability, deployment restrictions), and AI literacy in domains where understanding what people cannot say determines whether support helps or harms.
Iterative Tuning of Nonlinear Model Predictive Control for Robotic Manufacturing Tasks
Venue: arXiv cs.RO 2026
Year: 2026

Manufacturing processes are often perturbed by drifts in the environment and wear in the system, requiring control re-tuning even in the presence of repetitive operations. This paper presents an iterative learning framework for automatic tuning of Nonlinear Model Predictive Control (NMPC) weighting matrices based on task-level performance feedback. Inspired by norm-optimal Iterative Learning Control (ILC), the proposed method adaptively adjusts NMPC weights Q and R across task repetitions to minimize key performance indicators (KPIs) related to tracking accuracy, control effort, and saturation. Unlike gradient-based approaches that require differentiating through the NMPC solver, we construct an empirical sensitivity matrix, enabling structured weight updates without analytic derivatives. The framework is validated through simulation on a UR10e robot performing carbon fiber winding on a tetrahedral core. Results demonstrate that the proposed approach converges to near-optimal tracking performance (RMSE within 0.3% of offline Bayesian Optimization (BO)) in just 4 online repetitions, compared to 100 offline evaluations required by BO algorithm. The method offers a practical solution for adaptive NMPC tuning in repetitive robotic tasks, combining the precision of carefully optimized controllers with the flexibility of online adaptation.
Learning under Distributional Drift: Prequential Reproducibility as an Intrinsic Statistical Resource
Venue: arXiv cs.LG 2026
Year: 2026

Statistical learning under distributional drift remains poorly characterized, especially in closed-loop settings where learning alters the data-generating law. We introduce an intrinsic drift budget $C_T$ that quantifies the cumulative information-geometric motion of the data distribution along the realized learner-environment trajectory, measured in Fisher-Rao distance (the Riemannian metric induced by Fisher information on a statistical manifold of data-generating laws). The budget decomposes this motion into exogenous change (environmental drift that would occur without intervention) and policy-sensitive feedback contributions (drift induced by the learner's actions through the closed loop). This yields a rate-based characterization: in prequential reproducibility bounds -- where performance on the realized stream is used to predict one-step-ahead performance under the next distribution -- the drift contribution enters through the average drift rate $C_T/T$, i.e., normalized cumulative Fisher-Rao motion per time step. We prove a drift--feedback bound of order $T^{-1/2} + C_T/T$ (up to a controlled second-order remainder) and establish a matching minimax lower bound on a canonical subclass, showing this dependence is tight up to constants. Consequently, when $C_T/T$ is nonnegligible, one-step-ahead reproducibility admits an irreducible accuracy floor of the same order. Finally, the framework places exogenous drift, adaptive data analysis, and performative feedback within a common geometric account of distributional motion.
Writing in Symbiosis: Mapping Human Creative Agency in the AI Era
Venue: arXiv cs.CY 2026
Year: 2026

The proliferation of Large Language Models (LLMs) raises a critical question about what it means to be human when we share an increasingly symbiotic relationship with persuasive and creative machines. This paper examines patterns of human-AI coevolution in creative writing, investigating how human craft and agency are adapting alongside machine capabilities. We challenge the prevailing notion of stylistic homogenization by examining diverse patterns in longitudinal writing data. Using a large-scale corpus spanning the pre- and post-LLM era, we observe patterns suggestive of a "Dual-Track Evolution": thematic convergence around AI-related topics, coupled with structured stylistic differentiation. Our analysis reveals three emergent adaptation patterns: authors showing increased similarity to AI style, those exhibiting decreased similarity, and those maintaining stylistic stability while engaging with AI-related themes. This Creative Archetype Map illuminates how authorship is coevolving with AI, contributing to discussions about human-AI collaboration, detection challenges, and the preservation of creative diversity.
Establishing Stochastic Object Models from Noisy Data via Ambient Measurement-Integrated Diffusion
Venue: arXiv cs.GR 2026
Year: 2026

Task-based measures of image quality (IQ) are critical for evaluating medical imaging systems, which must account for randomness including anatomical variability. Stochastic object models (SOMs) provide a statistical description of such variability, but conventional mathematical SOMs fail to capture realistic anatomy, while data-driven approaches typically require clean data rarely available in clinical tasks. To address this challenge, we propose AMID, an unsupervised Ambient Measurement-Integrated Diffusion with noise decoupling, which establishes clean SOMs directly from noisy measurements. AMID introduces a measurement-integrated strategy aligning measurement noise with the diffusion trajectory, and explicitly models coupling between measurement and diffusion noise across steps, an ambient loss is thus designed base on it to learn clean SOMs. Experiments on real CT and mammography datasets show that AMID outperforms existing methods in generation fidelity and yields more reliable task-based IQ evaluation, demonstrating its potential for unsupervised medical imaging analysis.