OpenRaiser/Intern-Atlas huggingface dataset:
PhyG-MoE: A Physics-Guided Mixture-of-Experts Framework for Energy-Efficient GNSS Interference Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Complex electromagnetic interference increasingly compromises Global Navigation Satellite Systems (GNSS), threatening the reliability of Space-Air-Ground Integrated Networks (SAGIN). Although deep learning has advanced interference recognition, current static models suffer from a \textbf{fundamental limitation}: they impose a fixed computational topology regardless of the input's physical entropy. This rigidity leads to severe resource mismatch, where simple primitives consume the same processing cost as chaotic, saturated mixtures. To resolve this, this paper introduces PhyG-MoE (Physics-Guided Mixture-of-Experts), a framework designed to \textbf{dynamically align model capacity with signal complexity}. Unlike static architectures, the proposed system employs a spectrum-based gating mechanism that routes signals based on their spectral feature entanglement. A high-capacity TransNeXt expert is activated on-demand to disentangle complex features in saturated scenarios, while lightweight experts handle fundamental signals to minimize latency. Evaluations on 21 jamming categories demonstrate that PhyG-MoE achieves an overall accuracy of 97.58\%. By resolving the intrinsic conflict between static computing and dynamic electromagnetic environments, the proposed framework significantly reduces computational overhead without performance degradation, offering a viable solution for resource-constrained cognitive receivers.
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
Venue: arXiv cs.RO 2026
Year: 2026

Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present FRoM-W1, an open-source framework designed to achieve general humanoid whole-body motion control using natural language. To universally understand natural language and generate corresponding motions, as well as enable various humanoid robots to stably execute these motions in the physical world under gravity, FRoM-W1 operates in two stages: (a) H-GPT: utilizing massive human data, a large-scale language-driven human whole-body motion generation model is trained to generate diverse natural behaviors. We further leverage the Chain-of-Thought technique to improve the model's generalization in instruction understanding. (b) H-ACT: After retargeting generated human whole-body motions into robot-specific actions, a motion controller that is pretrained and further fine-tuned through reinforcement learning in physical simulation enables humanoid robots to accurately and stably perform corresponding actions. It is then deployed on real robots via a modular simulation-to-reality module. We extensively evaluate FRoM-W1 on Unitree H1 and G1 robots. Results demonstrate superior performance on the HumanML3D-X benchmark for human whole-body motion generation, and our introduced reinforcement learning fine-tuning consistently improves both motion tracking accuracy and task success rates of these humanoid robots. We open-source the entire FRoM-W1 framework and hope it will advance the development of humanoid intelligence.
CSGaussian: Progressive Rate-Distortion Compression and Segmentation for 3D Gaussian Splatting
Venue: arXiv cs.CV 2026
Year: 2026

We present the first unified framework for rate-distortion-optimized compression and segmentation of 3D Gaussian Splatting (3DGS). While 3DGS has proven effective for both real-time rendering and semantic scene understanding, prior works have largely treated these tasks independently, leaving their joint consideration unexplored. Inspired by recent advances in rate-distortion-optimized 3DGS compression, this work integrates semantic learning into the compression pipeline to support decoder-side applications--such as scene editing and manipulation--that extend beyond traditional scene reconstruction and view synthesis. Our scheme features a lightweight implicit neural representation-based hyperprior, enabling efficient entropy coding of both color and semantic attributes while avoiding costly grid-based hyperprior as seen in many prior works. To facilitate compression and segmentation, we further develop compression-guided segmentation learning, consisting of quantization-aware training to enhance feature separability and a quality-aware weighting mechanism to suppress unreliable Gaussian primitives. Extensive experiments on the LERF and 3D-OVS datasets demonstrate that our approach significantly reduces transmission cost while preserving high rendering quality and strong segmentation performance.
A Generalist Foundation Model for Total-body PET/CT Enables Diagnostic Reporting and System-wide Metabolic Profiling
Venue: arXiv cs.CV 2026
Year: 2026

Total-body PET/CT enables system-wide molecular imaging, but heterogeneous anatomical and metabolic signals, approximately 2 m axial coverage, and structured radiology semantics challenge existing medical AI models that assume single-modality inputs, localized fields of view, and coarse image-text alignment. We introduce SDF-HOLO (Systemic Dual-stream Fusion Holo Model), a multimodal foundation model for holistic total-body PET/CT, pre-trained on more than 10,000 patients. SDF-HOLO decouples CT and PET representation learning with dual-stream encoders and couples them through a cross-modal interaction module, allowing anatomical context to refine PET aggregation while metabolic saliency guides subtle morphological reasoning. To model long-range dependencies across the body, hierarchical context modeling combines efficient local windows with global attention. To bridge voxels and clinical language, we use anatomical segmentation masks as explicit semantic anchors and perform voxel-mask-text alignment during pre-training. Across tumor segmentation, low-dose lesion detection, and multilingual diagnostic report generation, SDF-HOLO outperforms strong task-specific and clinical-reference baselines while reducing localization errors and hallucinated findings. Beyond focal interpretation, the model enables system-wide metabolic profiling and reveals tumor-associated fingerprints of inter-organ metabolic network interactions, providing a scalable computational foundation for total-body PET/CT diagnostics and system-level precision oncology.
On Resilient and Efficient Linear Secure Aggregation in Hierarchical Federated Learning
Venue: arXiv cs.DC 2026
Year: 2026

In this paper, we study the fundamental limits of hierarchical secure aggregation under unreliable communication. We consider a hierarchical network where each client connects to multiple relays, and both client-to-relay and relay-to-server links are intermittent. Under this setting, we characterize the minimum communication and randomness costs required to achieve robust secure aggregation. We then propose an optimal protocol that attains these minimum costs, and establish its optimality through a matching converse proof. In addition, we introduce an improved problem formulation that bridges the gap between existing information-theoretic secure aggregation protocols and practical real-world federated learning problems.
SWORD: A Secure LoW-Latency Offline-First Authentication and Data Sharing Scheme for Resource Constrained Distributed Networks
Venue: arXiv cs.CR 2026
Year: 2026

While many resource-constrained networks, such as Internet of Things (IoT) and Internet of Vehicles (IoV), are inherently distributed, the majority still rely on central servers for fast authentication and data sharing. Blockchain-based solutions offer decentralized alternatives but often struggle to meet the stringent latency requirements of real-time applications. Even with the rollout of 5G, network latency between servers and peers remains a significant challenge. To address this, we introduce SWORD, a novel offline-first authentication and data-sharing scheme designed specifically for resource-constrained networks. SWORD utilizes a proximity-based clustering approach to enable offline authentication and data sharing, ensuring low-latency, secure operations even in intermittently connected scenarios. Our experimental results show that SWORD outperforms traditional blockchain-based solutions while offering similar resource efficiency and authentication latency to central-server-based solutions. Additionally, we provide a comprehensive security analysis, demonstrating that SWORD is resilient against spoofing, impersonation, replay, and man-in-the-middle attacks.
Exploring Talking Head Models With Adjacent Frame Prior for Speech-Preserving Facial Expression Manipulation
Venue: arXiv cs.CV 2026
Year: 2026

Speech-Preserving Facial Expression Manipulation (SPFEM) is an innovative technique aimed at altering facial expressions in images and videos while retaining the original mouth movements. Despite advancements, SPFEM still struggles with accurate lip synchronization due to the complex interplay between facial expressions and mouth shapes. Capitalizing on the advanced capabilities of audio-driven talking head generation (AD-THG) models in synthesizing precise lip movements, our research introduces a novel integration of these models with SPFEM. We present a new framework, Talking Head Facial Expression Manipulation (THFEM), which utilizes AD-THG models to generate frames with accurately synchronized lip movements from audio inputs and SPFEM-altered images. However, increasing the number of frames generated by AD-THG models tends to compromise the realism and expression fidelity of the images. To counter this, we develop an adjacent frame learning strategy that finetunes AD-THG models to predict sequences of consecutive frames. This strategy enables the models to incorporate information from neighboring frames, significantly improving image quality during testing. Our extensive experimental evaluations demonstrate that this framework effectively preserves mouth shapes during expression manipulations, highlighting the substantial benefits of integrating AD-THG with SPFEM.
Simultaneous Detection of LSD and FMD in Cattle Using Ensemble Deep Learning
Venue: arXiv cs.CV 2026
Year: 2026

Lumpy Skin Disease (LSD) and Foot-and-Mouth Disease (FMD) are highly contagious viral diseases affecting cattle, causing significant economic losses and welfare challenges. Their visual diagnosis is complicated by significant symptom overlap with each other and with benign conditions like insect bites or chemical burns, hindering timely control measures. Leveraging a comprehensive dataset of 10,516 expert-annotated images from 18 farms across India, Brazil, and the USA, this study presents a novel Ensemble Deep Learning framework integrating VGG16, ResNet50, and InceptionV3 with optimized weighted averaging for simultaneous LSD and FMD detection. The model achieves a state-of-the-art accuracy of 98.2\%, with macro-averaged precision of 98.2\%, recall of 98.1\%, F1-score of 98.1\%, and an AUC-ROC of 99.5\%. This approach uniquely addresses the critical challenge of symptom overlap in multi-disease detection, enabling early, precise, and automated diagnosis. This tool has the potential to enhance disease management, support global agricultural sustainability, and is designed for future deployment in resource-limited settings.
Efficient Code Analysis via Graph-Guided Large Language Models
Venue: arXiv cs.SE 2026
Year: 2026

Large Language Models (LLMs) have significantly advanced code analysis tasks, yet they struggle to detect malicious behaviors fragmented across files, whose intricate dependencies easily get lost in the vast amount of benign code. We therefore propose a graph-centric attention acquisition pipeline that enhances LLMs' ability to localize malicious behavior. The approach parses a project into a code graph, uses an LLM to encode nodes with semantic and structural signals, and trains a Graph Neural Network (GNN) under sparse supervision. The GNN performs an initial detection, and by interpreting these predictions, identifies key code sections that are most likely to contain malicious behavior. These influential regions are then used to guide the LLM's attention for in-depth analysis. This strategy significantly reduces interference from irrelevant context while maintaining low annotation costs. Extensive experiments show that the method consistently outperforms existing approaches on multiple public and custom datasets, highlighting its potential for practical deployment in software security scenarios.
Sparse ActionGen: Accelerating Diffusion Policy with Real-time Pruning
Venue: arXiv cs.RO 2026
Year: 2026

Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing caching-based acceleration methods typically rely on $\textit{static}$ schedules that fail to adapt to the $\textit{dynamics}$ of robot-environment interactions, thereby leading to suboptimal performance. In this paper, we propose $\underline{\textbf{S}}$parse $\underline{\textbf{A}}$ction$\underline{\textbf{G}}$en ($\textbf{SAG}$) for extremely sparse action generation. To accommodate the iterative interactions, SAG customizes a rollout-adaptive prune-then-reuse mechanism that first identifies prunable computations globally and then reuses cached activations to substitute them during action diffusion. To capture the rollout dynamics, SAG parameterizes an observation-conditioned diffusion pruner for environment-aware adaptation and instantiates it with a highly parameter- and inference-efficient design for real-time prediction. Furthermore, SAG introduces a one-for-all reusing strategy that reuses activations across both timesteps and blocks in a zig-zag manner, minimizing the global redundancy. Extensive experiments on multiple robotic benchmarks demonstrate that SAG achieves up to 4$\times$ generation speedup without sacrificing performance. Project Page: https://sparse-actiongen.github.io/.
Dynamic Hand Gesture Recognition for Robot Manipulator Tasks
Venue: arXiv cs.RO 2026
Year: 2026

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence, several gestures. These gestures may be prone to several dynamic variations. All such variations for different gestures shown to the robot are accurately recognized in real-time using the proposed unsupervised model based on the Gaussian Mixture model. The accuracy during training and real-time testing prove the efficacy of this methodology.
Injecting Knowledge from Social Science Journals to Improve Indonesian Cultural Understanding by LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Recently there have been intensifying efforts to improve the understanding of Indonesian cultures by large language models (LLMs). An attractive source of cultural knowledge that has been largely overlooked is local journals of social science, which likely contain substantial cultural studies from a native perspective. We present a novel text dataset of journal article passages, created from 151 open-source Indonesian social science journals, called IndoSoSci. We demonstrate an effective recipe for injecting Indonesian cultural knowledge therein into LLMs: extracting the facts related to Indonesian culture, and apply retrieval-augmented generation (RAG) with LLM-generated hypothetical documents as queries during retrieval. The proposed recipe yields strong performance gains over several strong baselines on the IndoCulture benchmark. Additionally, by combining IndoSoSci with Indonesian Wikipedia, we set a new state-of-the-art accuracy on the IndoCulture benchmark.
ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing baseline models decreases considerably. Analysis indicates that current diffusion strategies are confronted with two limitations. First, these strategies only rely on short-term observations as conditions. Second, the training objective remains limited to a single denoising loss, which leads to error accumulation and causes grasping deviations. To address these limitations, this paper proposes Foresight-Conditioned Diffusion (ForeDiffusion), by injecting the predicted future view representation into the diffusion process. As a result, the policy is guided to be forward-looking, enabling it to correct trajectory deviations. Following this design, ForeDiffusion employs a dual loss mechanism, combining the traditional denoising loss and the consistency loss of future observations, to achieve the unified optimization. Extensive evaluation on the Adroit suite and the MetaWorld benchmark demonstrates that ForeDiffusion achieves an average success rate of 80% for the overall task, significantly outperforming the existing mainstream diffusion methods by 23% in complex tasks, while maintaining more stable performance across the entire tasks.
A Benchmark for Language Models in Real-World System Building
Venue: arXiv cs.SE 2026
Year: 2026

During migration across instruction set architectures (ISAs), software package build repair is a critical task for ensuring the reliability of software deployment and the stability of modern operating systems. While Large Language Models (LLMs) have shown promise in tackling this challenge, prior work has primarily focused on single instruction set architecture (ISA) and homogeneous programming languages. To address this limitation, we introduce a new benchmark designed for software package build repair across diverse architectures and languages. Comprising 268 real-world software package build failures, the benchmark provides a standardized evaluation pipeline. We evaluate six state-of-the-art LLMs on the benchmark, and the results show that cross-ISA software package repair remains difficult and requires further advances. By systematically exposing this challenge, the benchmark establishes a foundation for advancing future methods aimed at improving software portability and bridging architectural gaps.
On the Evidentiary Limits of Membership Inference for Copyright Auditing
Venue: arXiv cs.CR 2026
Year: 2026

As large language models (LLMs) are trained on increasingly opaque corpora, membership inference attacks (MIAs) have been proposed to audit whether copyrighted texts were used during training, despite growing concerns about their reliability under realistic conditions. We ask whether MIAs can serve as admissible evidence in adversarial copyright disputes where an accused model developer may obfuscate training data while preserving semantic content, and formalize this setting through a judge-prosecutor-accused communication protocol. To test robustness under this protocol, we introduce SAGE (Structure-Aware SAE-Guided Extraction), a paraphrasing framework guided by Sparse Autoencoders (SAEs) that rewrites training data to alter lexical structure while preserving semantic content and downstream utility. Our experiments show that state-of-the-art MIAs degrade when models are fine-tuned on SAGE-generated paraphrases, indicating that their signals are not robust to semantics-preserving transformations. While some leakage remains in certain fine-tuning regimes, these results suggest that MIAs are brittle in adversarial settings and insufficient, on their own, as a standalone mechanism for copyright auditing of LLMs.
Beyond Accuracy: Characterizing Code Comprehension Capabilities in (Large) Language Models
Venue: arXiv cs.SE 2026
Year: 2026

Large Language Models (LLMs) are increasingly integrated into software engineering workflows, yet current benchmarks provide only coarse performance summaries that obscure the diverse capabilities and limitations of these models. This paper investigates whether LLMs' code-comprehension performance aligns with traditional human-centric software metrics or instead reflects distinct, non-human regularities. We introduce a diagnostic framework that reframes code understanding as a binary input-output consistency task, enabling the evaluation of classification and generative models. Using a large-scale dataset, we correlate model performance with traditional, human-centric complexity metrics, such as lexical size, control-flow complexity, and abstract syntax tree structure. Our analyses reveal minimal correlation between human-defined metrics and LLM success (AUROC 0.63), while shadow models achieve substantially higher predictive performance (AUROC 0.86), capturing complex, partially predictable patterns beyond traditional software measures. These findings suggest that LLM comprehension reflects model-specific regularities only partially accessible through either human-designed or learned features, emphasizing the need for benchmark methodologies that move beyond aggregate accuracy and toward instance-level diagnostics, while acknowledging fundamental limits in predicting correct outcomes.
Imitation learning-based spacecraft rendezvous and docking method with Expert Demonstration
Venue: arXiv cs.RO 2026
Year: 2026

Existing spacecraft rendezvous and docking control methods largely rely on predefined dynamic models and often exhibit limited robustness in realistic on-orbit environments. To address this issue, this paper proposes an Imitation Learning-based spacecraft rendezvous and docking control framework (IL-SRD) that directly learns control policies from expert demonstrations, thereby reducing dependence on accurate modeling. We propose an anchored decoder target mechanism, which conditions the decoder queries on state-related anchors to explicitly constrain the control generation process. This mechanism enforces physically consistent control evolution and effectively suppresses implausible action deviations in sequential prediction, enabling reliable six-degree-of-freedom (6-DOF) rendezvous and docking control. To further enhance stability, a temporal aggregation mechanism is incorporated to mitigate error accumulation caused by the sequential prediction nature of Transformer-based models, where small inaccuracies at each time step can propagate and amplify over long horizons. Extensive simulation results demonstrate that the proposed IL-SRD framework achieves accurate and energy-efficient model-free rendezvous and docking control. Robustness evaluations further confirm its capability to maintain competitive performance under significant unknown disturbances. The source code is available at https://github.com/Dongzhou-1996/IL-SRD.