OpenRaiser/Intern-Atlas huggingface dataset:
Efficient Real-World Autonomous Racing via Attenuated Residual Policy Optimization
Venue: arXiv cs.RO 2026
Year: 2026

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in autonomous racing, a domain that serves as a challenging benchmark for real-world DRL. However, deploying RPL-based controllers introduces system complexity and increases inference latency. We address this by introducing an extension of RPL named attenuated residual policy optimization ($α$-RPO). Unlike standard RPL, $α$-RPO yields a standalone neural policy by progressively attenuating the base policy, which initially serves to bootstrap learning. Furthermore, this mechanism enables a form of privileged learning, where the base policy is permitted to use sensor modalities not required for final deployment. We design $α$-RPO to integrate seamlessly with PPO, ensuring that the attenuated influence of the base controller is dynamically compensated during policy optimization. We evaluate $α$-RPO by building a framework for 1:10-scaled autonomous racing around it. In both simulation and zero-shot real-world transfer to Roboracer cars, $α$-RPO not only reduces system complexity but also improves driving performance compared to baselines - demonstrating its practicality for robotic deployment. Our code is available at: https://github.com/raphajaner/arpo_racing.
Retrieval-Enhanced Real Estate Appraisal
Venue: arXiv cs.LG 2026
Year: 2026

The Sales Comparison Approach (SCA) is one of the most popular when it comes to real estate appraisal. Used as a reference in real estate expertise and as one of the major types of Automatic Valuation Models (AVM), it recently gained popularity within machine learning methods. The performance of models able to use data represented as sets and graphs made it possible to adapt this methodology efficiently, yielding substantial results. SCA relies on taking past transactions (comparables) as references, selected according to their similarity with the target property's sale. In this study, we focus on the selection of these comparables for real estate appraisal. We demonstrate that the selection of comparables used in many state-of-the-art algorithms can be significantly improved by learning a selection policy instead of imposing it. Our method relies on a hybrid vector-geographical retrieval module capable of adapting to different datasets and optimized jointly with an estimation module. We further show that the use of carefully selected comparables makes it possible to build models that require fewer comparables and fewer parameters with performance close to state-of-the-art models. All our evaluations are made on five datasets which span areas in the United States, Brazil, and France.
Fair Lung Disease Diagnosis from Chest CT via Gender-Adversarial Attention Multiple Instance Learning
Venue: arXiv cs.CV 2026
Year: 2026

We present a fairness-aware framework for multi-class lung disease diagnosis from chest CT volumes, developed for the Fair Disease Diagnosis Challenge at the PHAROS-AIF-MIH Workshop (CVPR 2026). The challenge requires classifying CT scans into four categories -- Healthy, COVID-19, Adenocarcinoma, and Squamous Cell Carcinoma -- with performance measured as the average of per-gender macro F1 scores, explicitly penalizing gender-inequitable predictions. Our approach addresses two core difficulties: the sparse pathological signal across hundreds of slices, and a severe demographic imbalance compounded across disease class and gender. We propose an attention-based Multiple Instance Learning (MIL) model on a ConvNeXt backbone that learns to identify diagnostically relevant slices without slice-level supervision, augmented with a Gradient Reversal Layer (GRL) that adversarially suppresses gender-predictive structure in the learned scan representation. Training incorporates focal loss with label smoothing, stratified cross-validation over joint (class, gender) strata, and targeted oversampling of the most underrepresented subgroup. At inference, all five-fold checkpoints are ensembled with horizontal-flip test-time augmentation via soft logit voting and out-of-the-fold threshold optimization for robustness. Our model achieves a mean validation competition score of 0.685 (std - 0.030), with the best single fold reaching 0.759. All training and inference code is publicly available at https://github.com/ADE-17/cvpr-fair-chest-ct
Mitigating Collusion in Proofs of Liabilities
Venue: arXiv cs.CR 2026
Year: 2026

Cryptocurrency exchanges use proofs of liabilities (PoLs) to prove to their customers their liabilities committed on-chain, thereby enhancing their trust in the service. Unfortunately, a close examination of currently deployed and academic PoLs reveals significant shortcomings in their designs. For instance, existing schemes cannot resist realistic attack scenarios in which the provider colludes with an existing user. In this paper, we propose a new model, dubbed permissioned PoL, that addresses this gap by not requiring cooperation from users to detect a dishonest provider's potential misbehavior. At the core of our proposal lies a novel primitive, which we call Permissioned Vector Commitment (PVC), to ensure that a committed vector only contains values that users have explicitly signed. We provide an efficient PVC and PoL construction that carefully combines homomorphic properties of KZG commitments and BLS-based signatures. Our prototype implementation shows that, despite the stronger security, our proposal also improves server performance (by up to $10\times$) compared to prior PoLs.
Deconstructing the Failure of Ideal Noise Correction: A Three-Pillar Diagnosis
Venue: arXiv cs.LG 2026
Year: 2026

Statistically consistent methods based on the noise transition matrix ($T$) offer a theoretically grounded solution to Learning with Noisy Labels (LNL), with guarantees of convergence to the optimal clean-data classifier. In practice, however, these methods are often outperformed by empirical approaches such as sample selection, and this gap is usually attributed to the difficulty of accurately estimating $T$. The common assumption is that, given a perfect $T$, noise-correction methods would recover their theoretical advantage. In this work, we put this longstanding hypothesis to a decisive test. We conduct experiments under idealized conditions, providing correction methods with a perfect, oracle transition matrix. Even under these ideal conditions, we observe that these methods still suffer from performance collapse during training. This compellingly demonstrates that the failure is not fundamentally a $T$-estimation problem, but stems from a more deeply rooted flaw. To explain this behaviour, we provide a unified analysis that links three levels: macroscopic convergence states, microscopic optimisation dynamics, and information-theoretic limits on what can be learned from noisy labels. Together, these results give a formal account of why ideal noise correction fails and offer concrete guidance for designing more reliable methods for learning with noisy labels.
Tight (S)ETH-based Lower Bounds for Pseudopolynomial Algorithms for Bin Packing and Multi-Machine Scheduling
Venue: arXiv cs.DS 2026
Year: 2026

Bin Packing with $k$ bins is a fundamental optimisation problem in which we are given a set of $n$ integers and a capacity $T$ and the goal is to partition the set into $k$ subsets, each of total sum at most $T$. Bin Packing is NP-hard already for $k=2$ and a textbook dynamic programming algorithm solves it in pseudopolynomial time $\mathcal O(n T^{k-1})$. Jansen, Kratsch, Marx, and Schlotter [JCSS'13] proved that this time cannot be improved to $(nT)^{o(k / \log k)}$ assuming the Exponential Time Hypothesis (ETH). Their result has become an important building block, explaining the hardness of many problems in parameterised complexity. Note that their result is one log-factor short of being tight. In this paper, we prove a tight ETH-based lower bound for Bin Packing, ruling out time $2^{o(n)} T^{o(k)}$. This answers an open problem of Jansen et al. and yields improved lower bounds for many applications in parameterised complexity. Since Bin Packing is an example of multi-machine scheduling, it is natural to next study other scheduling problems. We prove tight lower bounds based on the Strong Exponential Time Hypothesis (SETH) for several classic $k$-machine scheduling problems, including makespan minimisation with release dates ($P_k|r_j|C_{\max}$), minimizing the number of tardy jobs ($P_k||ΣU_j$), and minimizing the weighted sum of completion times ($P_k || Σw_j C_j$). For all these problems, we rule out time $2^{o(n)} T^{k-1-\varepsilon}$ for any $\varepsilon > 0$ assuming SETH, where $T$ is the total processing time; this matches classic $n^{\mathcal O(1)} T^{k-1}$-time algorithms from the 60s and 70s. Moreover, we rule out time $2^{o(n)} T^{k-\varepsilon}$ for minimizing the total processing time of tardy jobs ($P_k||Σp_jU_j$), which matches a classic $\mathcal O(n T^{k})$-time algorithm and answers an open problem of Fischer and Wennmann [TheoretiCS'25].
daVinci-Env: Open SWE Environment Synthesis at Scale
Venue: arXiv cs.SE 2026
Year: 2026

Training capable software engineering (SWE) agents demands large-scale, executable, and verifiable environments that provide dynamic feedback loops for iterative code editing, test execution, and solution refinement. However, existing open-source datasets remain limited in scale and repository diversity, while industrial solutions are opaque with unreleased infrastructure, creating a prohibitive barrier for most academic research groups. We present OpenSWE, the largest fully transparent framework for SWE agent training in Python, comprising 45,320 executable Docker environments spanning over 12.8k repositories, with all Dockerfiles, evaluation scripts, and infrastructure fully open-sourced for reproducibility. OpenSWE is built through a multi-agent synthesis pipeline deployed across a 64-node distributed cluster, automating repository exploration, Dockerfile construction, evaluation script generation, and iterative test analysis. Beyond scale, we propose a quality-centric filtering pipeline that characterizes the inherent difficulty of each environment, filtering out instances that are either unsolvable or insufficiently challenging and retaining only those that maximize learning efficiency. With $891K spent on environment construction and an additional $576K on trajectory sampling and difficulty-aware curation, the entire project represents a total investment of approximately $1.47 million, yielding about 13,000 curated trajectories from roughly 9,000 quality guaranteed environments. Extensive experiments validate OpenSWE's effectiveness: OpenSWE-32B and OpenSWE-72B achieve 62.4% and 66.0% on SWE-bench Verified, establishing SOTA among Qwen2.5 series. Moreover, SWE-focused training yields substantial out-of-domain improvements, including up to 12 points on mathematical reasoning and 5 points on science benchmarks, without degrading factual recall.
ESPIRE: A Diagnostic Benchmark for Embodied Spatial Reasoning of Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

A recent trend in vision-language models (VLMs) has been to enhance their spatial cognition for embodied domains. Despite progress, existing evaluations have been limited both in paradigm and in coverage, hindering rapid, iterative model development. To address these limitations, we propose ESPIRE, a diagnostic benchmark for embodied spatial reasoning. ESPIRE offers a simulated world that physically grounds VLMs and evaluates them on spatial-reasoning-centric robotic tasks, thus narrowing the gap between evaluation and real-world deployment. To adapt VLMs to robotic tasks, we decompose each task into localization and execution, and frame both as generative problems, in stark contrast to predominant discriminative evaluations (e.g., via visual-question answering) that rely on distractors and discard execution. This decomposition further enables a fine-grained analysis beyond passive spatial reasoning toward reasoning to act. We systematically design ESPIRE both at the instruction level and at the environment level, ensuring broad coverage of spatial reasoning scenarios. We use ESPIRE to diagnose a range of frontier VLMs and provide in-depth analysis of their spatial reasoning behaviors.
3DTCR: A Physics-Based Generative Framework for Vortex-Following 3D Reconstruction to Improve Tropical Cyclone Intensity Forecasting
Venue: arXiv cs.LG 2026
Year: 2026

Tropical cyclone (TC) intensity forecasting remains challenging as current numerical and AI-based weather models fail to satisfactorily represent extreme TC structure and intensity. Although intensity time-series forecasting has achieved significant advances, it outputs intensity sequences rather than the three-dimensional inner-core fine-scale structure and physical mechanisms governing TC evolution. High-resolution numerical simulations can capture these features but remain computationally expensive and inefficient for large-scale operational applications. Here we present 3DTCR, a physics-based generative framework combining physical constraints with generative AI efficiency for 3D TC structure reconstruction. Trained on a six-year, 3-km-resolution moving-domain WRF dataset, 3DTCR enables region-adaptive vortex-following reconstruction using conditional Flow Matching(CFM), optimized via latent domain adaptation and two-stage transfer learning. The framework mitigates limitations imposed by low-resolution targets and over-smoothed forecasts, improving the representation of TC inner-core structure and intensity while maintaining track stability. Results demonstrate that 3DTCR outperforms the ECMWF high-resolution forecasting system (ECMWF-HRES) in TC intensity prediction at nearly all lead times up to 5 days and reduces the RMSE of maximum WS10M by 36.5\% relative to its FuXi inputs. These findings highlight 3DTCR as a physics-based generative framework that efficiently resolves fine-scale structures at lower computational cost, which may offer a promising avenue for improving TC intensity forecasting.
Geometry-Guided Camera Motion Understanding in VideoLLMs
Venue: arXiv cs.CV 2026
Year: 2026

Camera motion is a fundamental geometric signal that shapes visual perception and cinematic style, yet current video-capable vision-language models (VideoLLMs) rarely represent it explicitly and often fail on fine-grained motion primitives. We address this gap with a framework of $\textbf{benchmarking}$, $\textbf{diagnosis}$, and $\textbf{injection}$. We curate $\textbf{CameraMotionDataset}$, a large-scale synthetic dataset with explicit camera control, formulate camera motion as constraint-aware multi-label recognition, and construct a VQA benchmark--$\textbf{CameraMotionVQA}$. Across diverse off-the-shelf VideoLLMs, we observe substantial errors in recognizing camera motion primitives. Probing experiments on a Qwen2.5-VL vision encoder suggest that camera motion cues are weakly represented, especially in deeper ViT blocks, helping explain the observed failure modes. To bridge this gap without costly training or fine-tuning, we propose a lightweight, model-agnostic pipeline that extracts geometric camera cues from 3D foundation models (3DFMs), predicts constrained motion primitives with a temporal classifier, and injects them into downstream VideoLLM inference via structured prompting. Experiments demonstrate improved motion recognition and more camera-aware model responses, highlighting geometry-driven cue extraction and structured prompting as practical steps toward a camera-aware VideoLLM and VLA system. The dataset and benchmark is publicly available at https://hf.co/datasets/fengyee/camera-motion-dataset-and-benchmark.
Reweighted information inequalities
Venue: arXiv cs.IT 2026
Year: 2026

We establish a variant of the log-Sobolev and transport-information inequalities for mixture distributions. If a probability measure $π$ can be decomposed into components that individually satisfy such inequalities, then any measure $μ$ close to $π$ in relative Fisher information is close in relative entropy or transport distance to a reweighted version of $π$ with the same mixture components but possibly different weights. This provides a user-friendly interpretation of Fisher information bounds for non-log-concave measures and explains phenomena observed in the analysis of Langevin Monte Carlo for multimodal distributions.
Critical Sections Are Not Per-Thread: A Trace Semantics for Lock-Based Concurrency
Venue: arXiv cs.PL 2026
Year: 2026

Locks are a standard mechanism for synchronizing concurrent threads. The standard lock set construction assumes that critical sections are confined to a single thread, and therefore only accounts for locks acquired within that thread. The commonly used notion of a critical section implicitly assumes that protected events belong to the same thread. We show that this assumption is not valid for general C/Pthread executions. Using a trace model that captures the essence of C/Pthread programs, we give a trace-based characterization of critical sections that does not impose a per-thread restriction. As a result, critical sections may span multiple threads. Such \emph{multi-thread} critical sections arise naturally in real programs and close a semantic gap in the standard lock set construction.
A common parallel framework for LLP combinatorial problems
Venue: arXiv cs.DC 2026
Year: 2026

Traditional lock-free parallel algorithms for combinatorial optimization problems, such as shortest paths, stable matching, and job scheduling require programmers to write problem-specific routines and synchronization code. We propose a general-purpose lock-free runtime, LLP-FW that can solve all combinatorial optimization problems that can be formulated as a Lattice-Linear Predicate by advancing all forbidden local states in parallel until a solution emerges. The only problem-specific code is a definition of the forbiddenness check and a definition of the advancement. We show that LLP-FW can solve several different combinatorial optimization problems, such as Single Source Shortest Paths (SSSP), Breadth-First Search (BFS), Stable Marriage, Job Scheduling, Transitive Closure, Parallel Reduction, and 0-1 Knapsack. We compare LLP-FW against hand-tuned, custom solutions for these seven problems and show that it compares favorably in the majority of cases.
MXNorm: Reusing MXFP block scales for efficient tensor normalisation
Venue: arXiv cs.LG 2026
Year: 2026

Matrix multiplication performance has long been the major bottleneck to scaling deep learning workloads, which has stimulated the design of new accelerators that use increasingly low-precision number formats. However, improvements in matrix multiplication performance have far outstripped improvements in performance on reductions and elementwise computations, which are still being performed in higher precision. In this work, we propose MXNorm, a drop-in replacement for RMSNorm that estimates the RMS using only the block scales calculated as part of the MXFP8 cast and enables a 32x decrease in the size of reduction needed for normalization. We validate our approximation method on pre-training of Llama 3 models of 125M, 1B and 8B parameters, finding minimal loss of training accuracy compared to a baseline using RMSNorm with MXFP8 matmuls. We also show practical kernel speedups using only torch.compile of up to 2.4x for MXNorm over RMSNorm, corresponding to a 1.3% speedup in Llama 3 8B transformer layers in MXFP8 and a 2.6% speedup in NVFP4.
Verification of Robust Properties for Access Control Policies
Venue: arXiv cs.CR 2026
Year: 2026

Existing methods for verifying access control policies require the policy to be complete and fully determined before verification can proceed, but in practice policies are developed iteratively, composed from independently maintained components, and extended as organisational structures evolve. We introduce robust property verification: the problem of determining what a policy's structure commits it to regardless of how pending decisions are resolved and regardless of subsequent extension. We define a support judgment $\Vdash_{P}ϕ$ stating that policy $P$ has robust property $ϕ$, with connectives for implication, conjunction, disjunction, and negation, prove that it is compositional (verified properties persist under policy extension by a monotonicity theorem), and show that despite quantifying universally over all possible policy extensions the judgment reduces to proof search in a second-order logic programming language. Soundness and completeness of this reduction are established, yielding a finitary and executable verification procedure for robust security properties.
Lattice Discrete Particle Model (LDPM): Comparison of Various Time Integration Solvers and Implementations
Venue: arXiv cs.CE 2026
Year: 2026

This article presents a comparison of various implementations of the Lattice Discrete Particle Model (LDPM) for the numerical simulation of concrete and other heterogeneous quasibrittle materials. The comparison involves the use of transient implicit and explicit solvers and steady-state (static) solvers and implementations for Central Processing Unit (CPU) as well as Graphics Processing Unit (GPU). The various implementations are compared on the basis of a set of benchmarks tests describing behaviors of increasing computational complexity. They include elastic vibrations, confined strain-hardening compressive response, tensile fracture, and unconfined strain-softening compressive response. Metrics of interest extracted from the simulations include macroscopic stress versus strain responses, computational times, number of iterations, and energy balance error. Pairwise comparison of final crack patterns is provided through the correlation coefficient and normalized root mean square error of the crack opening vectors. Moreover, for the most numerically challenging case of unconfined compression with sliding boundary conditions, the stability of the strain-softening response is tested by perturbing the solutions as well as changing the convergence criteria and time step size. Attached to this paper is the complete input data of the benchmark tests; this will allow researchers to run the examples and compare them with their own implementations. In addition, most of the reported implementations are publicly available in open source packages.