OpenRaiser/Intern-Atlas huggingface dataset:
Characterization and Learning of Causal Graphs with Latent Confounders and Post-treatment Selection from Interventional Data
Venue: arXiv cs.LG 2026
Year: 2026

Interventional causal discovery seeks to identify causal relations by leveraging distributional changes introduced by interventions, even in the presence of latent confounders. Beyond the spurious dependencies induced by latent confounders, we highlight a common yet often overlooked challenge in the problem due to post-treatment selection, in which samples are selectively included in datasets after interventions. This fundamental challenge widely exists in biological studies; for example, in gene expression analysis, both observational and interventional samples are retained only if they meet quality control criteria (e.g., highly active cells). Neglecting post-treatment selection may introduce spurious dependencies and distributional changes under interventions, which can mimic causal responses, thereby distorting causal discovery results and challenging existing causal formulations. To address this, we introduce a novel causal formulation that explicitly models post-treatment selection and reveals how its differential reactions to interventions can distinguish causal relations from selection patterns, allowing us to go beyond traditional equivalence classes toward the underlying true causal structure. We then characterize its Markov properties and propose a Fine-grained Interventional equivalence class, named FI-Markov equivalence, represented by a new graphical diagram, F-PAG. Finally, we develop a provably sound and complete algorithm, F-FCI, to identify causal relations, latent confounders, and post-treatment selection up to $\mathcal{FI}$-Markov equivalence, using both observational and interventional data. Experimental results on synthetic and real-world datasets demonstrate that our method recovers causal relations despite the presence of both selection and latent confounders.
Entropy Guided Dynamic Patch Segmentation for Time Series Transformers
Venue: arXiv cs.CV 2026
Year: 2026

Patch-based transformers have emerged as efficient and improved long-horizon modeling architectures for time series modeling. Yet, existing approaches rely on temporally-agnostic patch construction, where arbitrary starting positions and fixed lengths fracture temporal coherence by splitting natural transitions across boundaries. This naive segmentation often disrupts short-term dependencies and weakens representation learning. We propose a novel Entropy-Guided Dynamic Patch Encoder (EntroPE), as a temporally informed framework that dynamically detects transition points via conditional entropy and dynamically places patch boundaries. This preserves temporal structure while retaining the computational benefits of patching. EntroPE consists of two key modules, namely an Entropy-based Dynamic Patcher (EDP) that applies information-theoretic criteria to locate natural temporal shifts and determine patch boundaries, and an Adaptive Patch Encoder (APE) that employs pooling and cross-attention to capture intra-patch dependencies and produce fixed-size latent representations. Extensive experiments on long-term forecasting, classification, and anomaly detection demonstrate that the proposed method improves both accuracy and efficiency, establishing entropy-guided dynamic patching as a promising new paradigm for time series modeling. Code is available at https://github.com/Sachithx/EntroPE.
Latent Thinking Optimization: Your Latent Reasoning Language Model Secretly Encodes Reward Signals in Its Latent Thoughts
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) excel at problem solving by generating chain of thoughts in natural language, but such verbal thinking is computationally costly and prone to overthinking. A recent work instead proposes a latent thinking architecture, Huginn-3.5B, which represents intermediate reasoning steps as a sequence of latent representations. However, latent thoughts lack interpretability and are difficult to supervise, raising concerns about the correctness and reliability of the model's latent thinking processes. In this paper, we provide a systematic study of how Huginn-3.5B thinks in the latent space and how external supervision signals can improve its latent thinking processes. We show that latent thoughts leading to correct versus incorrect answers exhibit highly distinguishable patterns, and that a latent classifier can reliably predict answer correctness directly from latent thoughts. Leveraging these insights, we propose Latent Thinking Optimization (LTO), a probabilistic algorithm that employs the latent classifier as a Latent Reward Model (LRM) to optimize the latent thinking processes. Extensive experiments across diverse reasoning tasks demonstrate that LRM is highly effective in detecting incorrect latent thinking patterns, and LTO can significantly improve the latent thinking processes. Furthermore, we show that LRM can generalize across diverse domains, and LTO can be seamlessly applied to general LLMs to improve their thinking processes. In contrast to verbal thinking, our method demonstrates that reward modeling and scaling test-time thinking with supervision can be performed directly in the latent space, highlighting its potential as a general, efficient, and domain-agnostic approach to improving the thinking processes of LLMs.
UniSage: A Unified and Post-Analysis-Aware Sampling for Microservices
Venue: arXiv cs.SE 2026
Year: 2026

Traces and logs serve as the backbone of observability in microservice architectures, yet their sheer volume imposes prohibitive storage and computational burdens. To reduce overhead, operators rely on sampling; however, current frameworks generally employ a sample-before-analysis strategy. This approach creates a fundamental trade-off: to save space, systems must discard data before knowing its diagnostic value, often losing critical context required for troubleshooting anomalies and latency spikes. In this paper, we propose UniSage, a unified sampling framework that addresses this trade-off by adopting a post-analysis-aware paradigm. Unlike prior works that focus solely on tracing, UniSageintegrates both traces and logs, leveraging a lightweight anomaly detection and root cause analysis module to scan the full data stream before sampling decisions are made. This pre-computation enables a dual-pillar strategy: an analysis-guided sampler that retains high-value data associated with detected anomalies, and an edge-case sampler that preserves rare but critical behaviors to ensure diversity. Evaluation on three datasets confirms that UniSage achieves superior data retention. At a 2.5% sampling rate, UniSage captures 71% of critical traces and 96.25% of relevant logs, substantially exceeding the best existing methods (which achieve 42.9% and 1.95%, respectively). Moreover, evaluations on a real-world dataset demonstrate UniSage's efficiency; it processes a 20-minute multi-modal data block in an average of 10 seconds, making it practical for production environments.
Go with Your Gut: Scaling Confidence for Autoregressive Image Generation
Venue: arXiv cs.CV 2026
Year: 2026

Test-time scaling (TTS) has demonstrated remarkable success in enhancing large language models, yet its application to next-token prediction (NTP) autoregressive (AR) image generation remains largely uncharted. Existing TTS approaches for visual AR (VAR), which rely on frequent partial decoding and external reward models, are ill-suited for NTP-based image generation due to the inherent incompleteness of intermediate decoding results. To bridge this gap, we introduce ScalingAR, the first TTS framework specifically designed for NTP-based AR image generation that eliminates the need for early decoding or auxiliary rewards. ScalingAR leverages token entropy as a novel signal in visual token generation and operates at two complementary scaling levels: (i) Profile Level, which streams a calibrated confidence state by fusing intrinsic and conditional signals; and (ii) Policy Level, which utilizes this state to adaptively terminate low-confidence trajectories and dynamically schedule guidance for phase-appropriate conditioning strength. Experiments on both general and compositional benchmarks show that ScalingAR (1) improves base models by 12.5% on GenEval and 15.2% on TIIF-Bench, (2) efficiently reduces visual token consumption by 62.0% while outperforming baselines, and (3) successfully enhances robustness, mitigating performance drops by 26.0% in challenging scenarios.
Memory-Efficient 2D/3D Shape Assembly of Robot Swarms
Venue: arXiv cs.RO 2026
Year: 2026

Mean-shift-based approaches have recently emerged as a representative class of methods for robot swarm shape assembly. They rely on image-based target-shape representations to compute local density gradients and perform mean-shift exploration, which constitute their core mechanism. However, such representations incur substantial memory overhead, especially for high-resolution or 3D shapes. To address this limitation, we propose a memory-efficient tree representation that hierarchically encodes user-specified shapes in both 2D and 3D. Based on this representation, we design a behavior-based distributed controller for assignment-free shape assembly. Comparative 2D and 3D simulations against a state-of-the-art mean-shift algorithm show one to two orders of magnitude lower memory usage and two to four times faster shape entry. Physical experiments with 6 to 7 UAVs further validate real-world practicality.
Radio-based Multi-Robot Odometry and Relative Localization
Venue: arXiv cs.RO 2026
Year: 2026

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental conditions and cluttered environments. This work proposes a multi-robot UGV-UAV localization system that leverages the two technologies with inexpensive and readily-available sensors, such as Inertial Measurement Units (IMUs) and wheel encoders, to estimate the relative position of an aerial robot with respect to a ground robot. The first stage of the system pipeline includes a nonlinear optimization framework to trilaterate the location of the aerial platform based on UWB range data, and a radar pre-processing module with loosely coupled ego-motion estimation which has been adapted for a multi-robot scenario. Then, the pre-processed radar data as well as the relative transformation are fed to a pose-graph optimization framework with odometry and inter-robot constraints. The system, implemented for the Robotic Operating System (ROS 2) with the Ceres optimizer, has been validated in Software-in-the-Loop (SITL) simulations and in a real-world dataset. The proposed relative localization module outperforms state-of-the-art closed-form methods which are less robust to noise. Our SITL environment includes a custom Gazebo plugin for generating realistic UWB measurements modeled after real data. Conveniently, the proposed factor graph formulation makes the system readily extensible to full Simultaneous Localization And Mapping (SLAM). Finally, all the code and experimental data is publicly available to support reproducibility and to serve as a common open dataset for benchmarking.
Recursive Self-Aggregation Unlocks Deep Thinking in Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Test-time scaling methods improve the capabilities of large language models (LLMs) by increasing the amount of compute used during inference to make a prediction. Inference-time compute can be scaled in parallel by choosing among multiple independent solutions or sequentially through self-refinement. We propose Recursive Self-Aggregation (RSA), a test-time scaling method inspired by evolutionary methods that combines the benefits of both parallel and sequential scaling. Each step of RSA refines a population of candidate reasoning chains through aggregation of subsets to yield a population of improved solutions, which are then used as the candidate pool for the next iteration. Empirically, RSA delivers substantial performance gains with increasing compute budgets across diverse tasks, model families and sizes. Notably, RSA with Gemini 3 Flash attains performance near the top of the ARC-AGI-2 public leaderboard. RSA also enables Qwen3-4B-Instruct-2507 to achieve competitive performance with larger reasoning models, including DeepSeek-R1 and o3-mini (high), outperforming purely parallel and sequential scaling strategies across AIME-25, HMMT-25, Reasoning Gym, LiveCodeBench-v6, and SuperGPQA. We further propose a novel aggregation-aware reinforcement learning approach that yields significant performance gains by training the model to combine solutions.
EpidemIQs: Prompt-to-Paper LLM Agents for Epidemic Modeling and Analysis
Venue: arXiv cs.SI 2026
Year: 2026

Large Language Models (LLMs) offer new opportunities to accelerate complex interdisciplinary research domains. Epidemic modeling, characterized by its complexity and reliance on network science, dynamical systems, epidemiology, and stochastic simulations, represents a prime candidate for leveraging LLM-driven automation. We introduce EpidemIQs, a novel multi-agent LLM framework that integrates user inputs and autonomously conducts literature review, analytical derivation, network modeling, mechanistic modeling, stochastic simulations, data visualization and analysis, and finally documentation of findings in a structured manuscript, through five predefined research phases. We introduce two types of agents: a scientist agent for planning, coordination, reflection, and generation of final results, and a task-expert agent to focus exclusively on one specific duty serving as a tool to the scientist agent. The framework consistently generated complete reports in scientific article format. Specifically, using GPT 4.1 and GPT 4.1 Mini as backbone LLMs for scientist and task-expert agents, respectively, the autonomous process completes with average total token usage 870K at a cost of about $1.57 per study, successfully executing all phases and final report. We evaluate EpidemIQs across several different epidemic scenarios, measuring computational cost, workflow reliability, task success rate, and LLM-as-Judge and human expert reviews to estimate the overall quality and technical correctness of the generated results. Through our experiments, the framework consistently addresses evaluation scenarios with an average task success rate of 79%. We compare EpidemIQs to an iterative single-agent LLM, benefiting from the same system prompts and tools, iteratively planning, invoking tools, and revising outputs until task completion. The comparisons suggest a consistently higher performance of EpidemIQs.
Thoughtbubbles: an Unsupervised Method for Parallel Thinking in Latent Space
Venue: arXiv cs.LG 2026
Year: 2026

Current approaches for scaling inference-time compute in transformers train them to emit explicit chain-of-thought tokens before producing an answer. While these methods are powerful, they are limited because they cannot be applied during pretraining and rely solely on serially-generated, natural-language verbalization. In this work, we propose Thoughtbubbles, a transformer variant that natively performs parallel adaptive computation in latent space by learning to fork or delete residual streams. Thus, tokens requiring more computation can form a "bubble" of cloned residuals in the middle of the network. Crucially, this behavior is learned during pretraining with only language modeling loss. Using half of the training budget, Thoughtbubbles outperforms the perplexity and zero-shot evals of both standard decoder LMs and those using non-adaptive parallel computation approaches. These results hold across model sizes from 150M to 1.9B. Thoughtbubbles achieves competitive GSM8K results using half of the baseline's token budget. The implicit nature of our method enables models to begin learning adaptive computation at pretraining time, paving the way to unified train-time and test-time scaling behaviors.
SLogic: Subgraph-Informed Logical Rule Learning for Knowledge Graph Completion
Venue: arXiv cs.LG 2026
Year: 2026

Logical rule-based methods offer an interpretable approach to knowledge graph completion (KGC) by capturing compositional relationships in the form of human-readable inference rules. While existing logical rule-based methods learn rule confidence scores, they typically assign a global weight to each rule schema, applied uniformly across the graph. This is a significant limitation, as a rule's importance often varies depending on the specific query instance. To address this, we introduce SLogic (Subgraph-Informed Logical Rule learning), a novel framework that assigns query-dependent scores to logical rules. The core of SLogic is a context-aware scoring function. This function determines the importance of a rule by analyzing the subgraph locally defined by the query's head entity, thereby enabling a differentiated weighting of rules specific to their local query contexts. Extensive experiments on benchmark datasets show that SLogic outperforms existing rule-based methods and achieves competitive performance against state-of-the-art baselines. It also generates query-dependent, human-readable logical rules that serve as explicit explanations for its inferences.
Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks
Venue: arXiv cs.MA 2026
Year: 2026

Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different robots to effectively move in a shared environment, given that each robot may have its own independent motion planning system? This work shows how we can get efficient collision-free movements between algorithmically heterogeneous agents by using Conflict-Based Search (Sharon et al. 2015) as a protocol. At its core, the CBS Protocol requires one specific single-agent motion planning API; finding a collision-free path that satisfies certain space-time constraints. Given such an API, CBS uses a central planner to find collision-free paths - independent of how the API is implemented. We demonstrate how this protocol enables multi-agent motion planning for a heterogeneous team of agents completing independent tasks with a variety of single-agent planners including: Heuristic Search (e.g., A*), Sampling Based Search (e.g., RRT), Optimization (e.g., Direct Collocation), Diffusion, and Reinforcement Learning.
Capital Games and Growth Equilibria
Venue: arXiv cs.GT 2026
Year: 2026

We introduce capital games, which generalize the definition of standard games to incorporate dynamics. In capital games, payoffs are in units of capital which are not assumed to be units of utility. The dynamics allow us to infer player utilities from their individual payoffs and linearizable capital dynamics under the assumption that players aim to maximize the time-average growth rate of their capital.
PyTrim: A Practical Tool for Reducing Python Dependency Bloat
Venue: arXiv cs.SE 2026
Year: 2026

Dependency bloat is a persistent challenge in Python projects, which increases maintenance costs and security risks. While numerous tools exist for detecting unused dependencies in Python, removing these dependencies across the source code and configuration files of a project requires manual effort and expertise. To tackle this challenge we introduce PYTRIM, an end-to-end system to automate this process. PYTRIM eliminates unused imports and package declarations across a variety of file types, including Python source and configuration files such as requirements.txt and setup.py. PYTRIM's modular design makes it agnostic to the source of dependency bloat information, enabling integration with any detection tool. Beyond its contribution when it comes to automation, PYTRIM also incorporates a novel dynamic analysis component that improves dependency detection recall. Our evaluation of PYTRIM's end-to-end effectiveness on a ground-truth dataset of 37 merged pull requests from prior work, shows that PYTRIM achieves 98.3% accuracy in replicating human-made changes. To show its practical impact, we run PYTRIM on 971 open-source packages, identifying and trimming bloated dependencies in 39 of them. For each case, we submit a corresponding pull request, 6 of which have already been accepted and merged. PYTRIM is available as an open-source project, encouraging community contributions and further development. Video demonstration: https://youtu.be/LqTEdOUbJRI Code repository: https://github.com/TrimTeam/PyTrim
Can Emulating Semantic Translation Help LLMs with Code Translation? A Study Based on Pseudocode
Venue: arXiv cs.SE 2026
Year: 2026

Although large language models (LLMs) show promising potential in code translation, they still struggle to generate accurate translations using the commonly adopted direct code-to-code translation approach, which converts an original program into the target programming language (PL) in a single step. Inspired by the success of incorporating intermediate steps to guide LLMs in resolving challenging tasks, in this study, we explore pseudocode-based code translation. This approach emulates human semantic translation by first interpreting the original program's intent and logic into pseudocode and then implementing it in the target PL. To understand the effectiveness of this underexplored approach, we present a systematic empirical study on pseudocode-based code translation, aiming to investigate its helpfulness in enhancing the direct translation approach, illuminate its effective usage, and identify its limitations. By comparing direct and pseudocode-based translation on 9,690 translation tasks across six PLs with five popular LLMs, we found that pseudocode-based translation can effectively complement direct translation, particularly when translating from flexible to rigid PLs and handling a low-training-resource PL. Based on the findings, we suggest combining the translation results of both approaches for test-based selection to leverage their complementary strengths. We also reveal the advantages of pseudocode-based translation in decoupling the code understanding and generation burden on complicated programs and mitigating distractions from PL-specific implementations in original programs, as well as its limitations due to incorrect, incomplete, or ambiguous pseudocode. Our study sheds light on the effective use of pseudocode-based translation and provides evidence to help enhance LLMs in code translation.