OpenRaiser/Intern-Atlas huggingface dataset:
ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
Venue: arXiv cs.RO 2026
Year: 2026

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only PD control, resulting in substantial latency that severely limits responsiveness and prevents tasks requiring rapid feedback and fast reactions. To address this problem, we propose ExtremControl, a low latency whole-body control framework that: (1) operates directly on SE(3) poses of selected rigid links, primarily humanoid extremities, to avoid full-body retargeting; (2) utilizes a Cartesian-space mapping to directly convert human motion to humanoid link targets; and (3) incorporates velocity feedforward control at low level to support highly responsive behavior under rapidly changing control interfaces. We further provide a unified theoretical formulation of ExtremControl and systematically validate its effectiveness through experiments in both simulation and real-world environments. Building on ExtremControl, we implement a low-latency humanoid teleoperation system that supports both optical motion capture and VR-based motion tracking, achieving end-to-end latency as low as 50ms and enabling highly responsive behaviors such as ping-pong ball balancing, juggling, and real-time return, thereby substantially surpassing the 200ms latency limit observed in prior work.
MDE-VIO: Enhancing Visual-Inertial Odometry Using Learned Depth Priors
Venue: arXiv cs.CV 2026
Year: 2026

Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To address this, dense Monocular Depth Estimation (MDE) has been widely explored as a complementary information source. While recent Vision Transformer (ViT) based complex foundational models offer dense, geometrically consistent depth, their computational demands typically preclude them from real-time edge deployment. Our work bridges this gap by integrating learned depth priors directly into the VINS-Mono optimization backend. We propose a novel framework that enforces affine-invariant depth consistency and pairwise ordinal constraints, explicitly filtering unstable artifacts via variance-based gating. This approach strictly adheres to the computational limits of edge devices while robustly recovering metric scale. Extensive experiments on the TartanGround and M3ED datasets demonstrate that our method prevents divergence in challenging scenarios and delivers significant accuracy gains, reducing Absolute Trajectory Error (ATE) by up to 28.3%. Code will be made available.
Exploring Real-Time Super-Resolution: Benchmarking and Fine-Tuning for Streaming Content
Venue: arXiv cs.CV 2026
Year: 2026

Recent advancements in real-time super-resolution have enabled higher-quality video streaming, yet existing methods struggle with the unique challenges of compressed video content. Commonly used datasets do not accurately reflect the characteristics of streaming media, limiting the relevance of current benchmarks. To address this gap, we introduce a comprehensive dataset - StreamSR - sourced from YouTube, covering a wide range of video genres and resolutions representative of real-world streaming scenarios. We benchmark 11 state-of-the-art real-time super-resolution models to evaluate their performance for the streaming use-case. Furthermore, we propose EfRLFN, an efficient real-time model that integrates Efficient Channel Attention and a hyperbolic tangent activation function - a novel design choice in the context of real-time super-resolution. We extensively optimized the architecture to maximize efficiency and designed a composite loss function that improves training convergence. EfRLFN combines the strengths of existing architectures while improving both visual quality and runtime performance. Finally, we show that fine-tuning other models on our dataset results in significant performance gains that generalize well across various standard benchmarks. We made the dataset, the code, and the benchmark available at https://github.com/EvgeneyBogatyrev/EfRLFN.
AgentNoiseBench: Benchmarking Robustness of Tool-Using LLM Agents Under Noisy Condition
Venue: arXiv cs.AI 2026
Year: 2026

Recent advances in large language models have enabled LLM-based agents to achieve strong performance on a variety of benchmarks. However, their performance in real-world deployments often that observed on benchmark settings, especially in complex and imperfect environments. This discrepancy largely arises because prevailing training and evaluation paradigms are typically built on idealized assumptions, overlooking the inherent stochasticity and noise present in real-world interactions. To bridge this gap, we introduce AgentNoiseBench, a framework for systematically evaluating the robustness of agentic models under noisy environments. We first conduct an in-depth analysis of biases and uncertainties in real-world scenarios and categorize environmental noise into two primary types: user-noise and tool-noise. Building on this analysis, we develop an automated pipeline that injects controllable noise into existing agent-centric benchmarks while preserving task solvability. Leveraging this pipeline, we perform extensive evaluations across a wide range of models with diverse architectures and parameter scales. Our results reveal consistent performance variations under different noise conditions, highlighting the sensitivity of current agentic models to realistic environmental perturbations.
Bootstrapping-based Regularisation for Reducing Individual Prediction Instability in Clinical Risk Prediction Models
Venue: arXiv cs.LG 2026
Year: 2026

Clinical prediction models are increasingly used to support patient care, yet many deep learning-based approaches remain unstable, as their predictions can vary substantially when trained on different samples from the same population. Such instability undermines reliability and limits clinical adoption. In this study, we propose a novel bootstrapping-based regularisation framework that embeds the bootstrapping process directly into the training of deep neural networks. This approach constrains prediction variability across resampled datasets, producing a single model with inherent stability properties. We evaluated models constructed using the proposed regularisation approach against conventional and ensemble models using simulated data and three clinical datasets: GUSTO-I, Framingham, and SUPPORT. Across all datasets, our model exhibited improved prediction stability, with lower mean absolute differences (e.g., 0.019 vs. 0.059 in GUSTO-I; 0.057 vs. 0.088 in Framingham) and markedly fewer significantly deviating predictions. Importantly, discriminative performance and feature importance consistency were maintained, with high SHAP correlations between models (e.g., 0.894 for GUSTO-I; 0.965 for Framingham). While ensemble models achieved greater stability, we show that this came at the expense of interpretability, as each constituent model used predictors in different ways. By regularising predictions to align with bootstrapped distributions, our approach allows prediction models to be developed that achieve greater robustness and reproducibility without sacrificing interpretability. This method provides a practical route toward more reliable and clinically trustworthy deep learning models, particularly valuable in data-limited healthcare settings.
The Manifold of the Absolute: Religious Perennialism as Generative Inference
Venue: arXiv cs.CY 2026
Year: 2026

This paper formalizes religious epistemology through the mathematics of Variational Autoencoders. We model religious traditions as distinct generative mappings from a shared, low-dimensional latent space to the high-dimensional space of observable cultural forms, and define three competing generative configurations corresponding to exclusivism, universalism, and perennialism, alongside syncretism as direct mixing in observable space. Through abductive comparison, we argue that exclusivism cannot parsimoniously account for cross-traditional contemplative convergence, that syncretism fails because combining the outputs of distinct generative processes produces incoherent artifacts, and that universalism suffers from posterior collapse: stripping traditions to a common core discards the structural information necessary for inference. The perennialist configuration provides the best explanatory fit. Within this framework, strict orthodoxy emerges not as a cultural constraint but as a structural necessity: the contemplative practices that recover the latent source must be matched to the specific tradition whose forms they take as input. The unity of religions, if it exists, is real but inaccessible by shortcut: one must go deep rather than wide.
Modelling Trust and Trusted Systems: A Category Theoretic Approach
Venue: arXiv cs.CR 2026
Year: 2026

We introduces a category-theoretic framework for modelling trust as applied to trusted computation systems and remote attestation. By formalizing elements, claims, results, and decisions as objects within a category, and the processes of attestation, verification, and decision-making as morphisms, the framework provides a rigorous approach to understanding trust establishment and provides a well-defined semantics for terms such as `trustworthiness' and 'justification'/forensics. The trust decision space is formalized using a Heyting Algebra, allowing nuanced trust levels that extend beyond binary trusted/untrusted states. We then present additional structures and in particular utilise exponentiation in a category theoretic sense to define compositions of attestation operations and provide the basis of a measurement for the expressibility of an attestation environment. We present a number of worked examples including boot-run-shutdown sequences, Evil Maid attacks and the specification of an attestation environment based upon this model. We then address challenges in modelling dynamic and larger systems made of multiple compositions.
WSBD: Freezing-Based Optimizer for Quantum Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

The training of Quantum Neural Networks (QNNs) is hindered by the high computational cost of gradient estimation and the barren plateau problem, where optimization landscapes become intractably flat. To address these challenges, we introduce Weighted Stochastic Block Descent (WSBD), a novel optimizer with a dynamic, parameter-wise freezing strategy. WSBD intelligently focuses computational resources by identifying and temporarily freezing less influential parameters based on a gradient-derived importance score. This approach significantly reduces the number of forward passes required per training step and helps navigate the optimization landscape more effectively. Unlike pruning or layer-wise freezing, WSBD maintains full expressive capacity while adapting throughout training. Our extensive evaluation shows that WSBD converges on average 63.9% faster than Adam for the popular ground-state-energy problem, an advantage that grows with QNN size. We provide a formal convergence proof for WSBD and show that parameter-wise freezing outperforms traditional layer-wise approaches in QNNs. Project page: https://github.com/Damrl-lab/WSBD-Stochastic-Freezing-Optimizer.
Provably Efficient Algorithms for S- and Non-Rectangular Robust MDPs with General Parameterization
Venue: arXiv cs.LG 2026
Year: 2026

We study robust Markov decision processes (RMDPs) with general policy parameterization under s-rectangular and non-rectangular uncertainty sets. Prior work is largely limited to tabular policies, and hence either lacks sample complexity guarantees or incurs high computational cost. Our method reduces the average reward RMDPs to entropy-regularized discounted robust MDPs, restoring strong duality and enabling tractable equilibrium computation. We prove novel Lipschitz and Lipschitz-smoothness properties for general policy parameterizations that extends to infinite state spaces. To address infinite-horizon gradient estimation, we introduce a multilevel Monte Carlo gradient estimator with $\tilde{\mathcal{O}}(ε^{-2})$ sample complexity, a factor of $\mathcal{O}(ε^{-2})$ improvement over prior work. Building on this, we design a projected gradient descent algorithm for s-rectangular uncertainty ($\mathcal{O}(ε^{-5})$) and a Frank--Wolfe algorithm for non-rectangular uncertainty ($\mathcal{O}(ε^{-4})$ discounted, $\mathcal{O}(ε^{-10.5})$ average reward), significantly improving prior results in both the discounted setting and average reward setting. Our work is the first one to provide sample complexity guarantees for RMDPs with general policy parameterization beyond $(s, a)$-rectangularity. It also provides the first such guarantees in the average reward setting and improves existing bounds for discounted robust MDPs.
Filmsticking++: Rapid Film Sticking for Explicit Surface Reconstruction
Venue: arXiv cs.GR 2026
Year: 2026

Explicit surface reconstruction aims to generate a surface mesh that exactly interpolates a given point cloud. This requirement is crucial when the point cloud must lie non-negotiably on the final surface to preserve sharp features and fine geometric details. However, the task becomes substantially challenging with low-quality point clouds, due to inherent reconstruction ambiguities compounded by combinatorial complexity. A previous method using filmsticking technique by iteratively compute restricted Voronoi diagram to address these issues, ensures to produce a watertight manifold, setting a new benchmark as the state-of-the-art (SOTA) technique. Unfortunately, RVD-based filmsticking is inability to interpolate all points in the case of deep internal cavities, resulting in very likely is the generation of faulty topology. The cause of this issue is that RVD-based filmsticking has inherent limitations due to Euclidean distance metrics. In this paper, we extend the filmsticking technique, named Filmsticking++. Filmsticking++ reconstructing an explicit surface from points without normals. On one hand, Filmsticking++ break through the inherent limitations of Euclidean distance by employing a weighted-distance-based Restricted Power Diagram, which guarantees that all points are interpolated. On the other hand, we observe that as the guiding surface increasingly approximates the target shape, the external medial axis is gradually expelled outside the guiding surface. Building on this observation, we propose placing virtual sites inside the guiding surface to accelerate the expulsion of the external medial axis from its interior. To summarize, contrary to the SOTA method, Filmsticking++ demonstrates multiple benefits, including decreases computational cost, improved robustness and scalability.
Credit Where It is Due: Cross-Modality Connectivity Drives Precise Reinforcement Learning for MLLM Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards (RLVR) has significantly advanced the reasoning capabilities of Multimodal Large Language Models (MLLMs), yet how visual evidence is integrated during reasoning remains poorly understood. We explore multimodal RLVR through the lens of cross-modal attention connectivity and find that only a small fraction of tokens (approximately 15%) exhibit strong visual-textual coupling. These high-connectivity tokens act as anchors that ground reasoning in the image, while the majority follow linguistic patterns. During RLVR training, credit assignment naturally concentrates on these anchors, sharpening their visual grounding over time. Building on this insight, we propose Anchor-Token Reinforcement Learning (AT-RL), a lightweight framework that selectively reinforces high-connectivity tokens via graph-based clustering of attention topology. Evaluated across the series (3B-32B), AT-RL introduces only 1.2% overhead yet enables the 32B model to surpass the 72B-Instruct baseline on MathVista (80.2), with consistent gains observed across STEM, video and general tasks. Conversely, training solely on low-connectivity tokens causes severe degradation, confirming that effective multimodal RL hinges on precise credit assignment to visual anchors. Our work reveals that reasoning quality is governed not by token quantity but by the fidelity of cross-modal anchoring.
ADRD-Bench: A Preliminary LLM Benchmark for Alzheimer's Disease and Related Dementias
Venue: arXiv cs.CL 2026
Year: 2026

Large language models (LLMs) have shown great potential for healthcare applications. However, existing evaluation benchmarks provide minimal coverage of Alzheimer's Disease and Related Dementias (ADRD). To address this gap, we introduce ADRD-Bench, the first ADRD-specific benchmark dataset designed for rigorous evaluation of LLMs. ADRD-Bench has two components: 1) ADRD Unified QA, a synthesis of 1,352 questions consolidated from seven established medical benchmarks, providing a unified assessment of clinical knowledge; and 2) ADRD Caregiving QA, a novel set of 149 questions derived from the Aging Brain Care (ABC) program, a widely used, evidence-based brain health management program. Guided by a program with national expertise in comprehensive ADRD care, this new set was designed to mitigate the lack of practical caregiving context in existing benchmarks. We evaluated 33 state-of-the-art LLMs on the proposed ADRD-Bench. Results showed that the accuracy of open-weight general models ranged from 0.63 to 0.93 (mean: 0.78; std: 0.09). The accuracy of open-weight medical models ranged from 0.48 to 0.93 (mean: 0.82; std: 0.13). The accuracy of closed-source general models ranged from 0.83 to 0.91 (mean: 0.89; std: 0.03). While top-tier models achieved high accuracies (>0.9), case studies revealed that inconsistent reasoning quality and stability limit their reliability, highlighting a critical need for domain-specific improvement to enhance LLMs' knowledge and reasoning grounded in daily caregiving data. The entire dataset is available at https://github.com/IIRL-ND/ADRD-Bench.
EM-Aware Physical Synthesis: Neural Inductor Modeling and Intelligent Placement & Routing for RF Circuits
Venue: arXiv cs.AR 2026
Year: 2026

This paper presents an ML-driven framework for automated RF physical synthesis that transforms circuit netlists into manufacturable GDSII layouts. While recent ML approaches demonstrate success in topology selection and parameter optimization, they fail to produce manufacturable layouts due to oversimplified component models and lack of routing capabilities. Our framework addresses these limitations through three key innovations: (1) a neural network framework trained on 18,210 inductor geometries with frequency sweeps from 1-100 GHz, generating 7.5 million training samples, that predicts inductor Q-factor with less than 2% error and enables fast gradient-based layout optimization with a 93.77% success rate in producing high-Q layouts; (2) an intelligent P-Cell optimizer that reduces layout area while maintaining design-rule-check (DRC) compliance; and (3) a complete placement and routing engine with frequency-dependent EM spacing rules and DRC-aware synthesis. The neural inductor model demonstrates superior accuracy across 1-100 GHz, enabling EM-accurate component synthesis with real-time inference. The framework successfully generates DRC-aware GDSII layouts for RF circuits, representing a significant step toward automated RF physical design.
EasyMimic: A Low-Cost Framework for Robot Imitation Learning from Human Videos
Venue: arXiv cs.RO 2026
Year: 2026

Robot imitation learning is often hindered by the high cost of collecting large-scale, real-world data. This challenge is especially significant for low-cost robots designed for home use, as they must be both user-friendly and affordable. To address this, we propose the EasyMimic framework, a low-cost and replicable solution that enables robots to quickly learn manipulation policies from human video demonstrations captured with standard RGB cameras. Our method first extracts 3D hand trajectories from the videos. An action alignment module then maps these trajectories to the gripper control space of a low-cost robot. To bridge the human-to-robot domain gap, we introduce a simple and user-friendly hand visual augmentation strategy. We then use a co-training method, fine-tuning a model on both the processed human data and a small amount of robot data, enabling rapid adaptation to new tasks. Experiments on the low-cost LeRobot platform demonstrate that EasyMimic achieves high performance across various manipulation tasks. It significantly reduces the reliance on expensive robot data collection, offering a practical path for bringing intelligent robots into homes. Project website: https://zt375356.github.io/EasyMimic-Project/.
Cachemir: Fully Homomorphic Encrypted Inference of Generative Large Language Model with KV Cache
Venue: arXiv cs.CR 2026
Year: 2026

Generative large language models (LLMs) have revolutionized multiple domains. Modern LLMs predominantly rely on an autoregressive decoding strategy, which generates output tokens sequentially and employs a key-value cache (KV cache) to avoid redundant computation. However, the widespread deployment of LLMs has raised serious privacy concerns, as users are feeding all types of data into the model, motivating the development of secure inference frameworks based on fully homomorphic encryption (FHE). A major limitation of existing FHE-based frameworks is their inability to effectively integrate the KV cache, resulting in prohibitively high latency for autoregressive decoding. In this paper, we propose Cachemir, a KV Cache Accelerated Homomorphic Encrypted LLM Inference Regime to overcome this limitation. Cachemir comprises three key technical contributions: 1) a set of novel HE packing algorithms specifically designed to leverage the computational advantages of the KV cache; 2) an interleaved replicated packing algorithm to efficiently compute the vector-matrix multiplications that result from using the KV cache in Transformer linear layers; and 3) an augmented bootstrapping placement strategy that accounts for the KV cache to minimize bootstrapping cost. We demonstrate that Cachemir achieves $48.83\times$ and $67.16\times$ speedup over MOAI (ICML'25) and THOR (CCS'25) respectively on CPU and consumes less than 100 seconds on GPU to generate an output token for Llama-3-8B.
RooflineBench: A Benchmarking Framework for On-Device LLMs via Roofline Analysis
Venue: arXiv cs.LG 2026
Year: 2026

The transition toward localized intelligence through Small Language Models (SLMs) has intensified the need for rigorous performance characterization on resource-constrained edge hardware. However, objectively measuring the theoretical performance ceilings of diverse architectures across heterogeneous platforms remains a formidable challenge. In this work, we propose a systematic framework based on the Roofline model that unifies architectural primitives and hardware constraints through the lens of operational intensity (OI). By defining an inference-potential region, we introduce the Relative Inference Potential as a novel metric to compare efficiency differences between Large Language Models (LLMs) on the same hardware substrate. Extensive empirical analysis across diverse compute tiers reveals that variations in performance and OI are significantly influenced by sequence length. We further identify a critical regression in OI as model depth increases. Additionally, our findings highlight an efficiency trap induced by hardware heterogeneity and demonstrate how structural refinements, such as Multi-head Latent Attention (M LA), can effectively unlock latent inference potential across various hardware substrates. These insights provide actionable directions for hardware-software co-design to align neural structures with physical constraints in on-device intelligence. The released code is available in the Appendix C.