OpenRaiser/Intern-Atlas huggingface dataset:
Stable Multi-Drone GNSS Tracking System for Marine Robots
Venue: arXiv cs.RO 2026
Year: 2026

Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational demands, or infrastructure dependence. In this work, we present a multi-drone GNSS-based tracking system for surface and near-surface marine robots. Our approach combines efficient visual detection, lightweight multi-object tracking, GNSS-based triangulation, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable GNSS estimation in real time. We further introduce a cross-drone tracking ID alignment algorithm that enforces global consistency across views, enabling robust multi-robot tracking with cooperative aerial coverage. We validate our system in diversified complex settings to show the accuracy and robustness of the proposed algorithm.
Zero-Shot Context-Aware ASR for Diverse Arabic Varieties
Venue: arXiv cs.CL 2026
Year: 2026

Zero-shot ASR for Arabic remains challenging: while multilingual models perform well on Modern Standard Arabic (MSA), error rates rise sharply on dialectal and accented speech due to linguistic mismatch and scarce labeled data. We study context-aware decoding as a lightweight test-time adaptation paradigm that conditions inference on external side information without parameter updates. For promptable encoder-decoder ASR (e.g., Whisper), we incorporate context through (i) decoder prompting with first-pass hypotheses and (ii) encoder/decoder prefixing with retrieved speech-text exemplars, complemented by simple prompt reordering and optional speaker-matched synthetic exemplars to improve robustness in informal and multi-speaker settings. To extend contextual adaptation beyond promptable architectures, we introduce proxy-guided n-best selection for CTC ASR: given one or more external proxy hypotheses, we select from a model's n-best list by minimizing text-level distance to the proxies, enabling contextual inference without direct prompting. Across ten Arabic conditions spanning MSA, accented MSA, and multiple dialects, context-aware decoding yields average relative WER reductions of 22.29% on MSA, 20.54 on accented MSA, and 9.15% on dialectal Arabic. For CTC models, proxy-guided selection reduces WER by 15.6% relative on MSA and recovers a substantial fraction of oracle n-best gains, demonstrating that context-aware inference generalizes beyond encoder-decoder ASR.
RoguePrompt: Dual-Layer Ciphering for Self-Reconstruction to Circumvent LLM Moderation
Venue: arXiv cs.CR 2026
Year: 2026

Large language models (LLMs) are becoming increasingly integrated into mainstream development platforms and daily technological workflows, typically behind moderation and safety controls. Despite these controls, preventing prompt-based policy evasion remains challenging, and adversaries continue to jailbreak LLMs by crafting prompts that circumvent implemented safety mechanisms. While prior jailbreak techniques have explored obfuscation and contextual manipulation, many operate as single-step transformations, and their effectiveness is inconsistent across current state-of-the-art models. This leaves a limited understanding of multistage prompt-transformation attacks that evade moderation, reconstruct forbidden intent, and elicit policy-violating outputs. This paper introduces RoguePrompt, an automated jailbreak pipeline that leverages dual-layer prompt transformations to convert forbidden prompts into safety-evading queries. By partitioning the forbidden prompts and applying two nested encodings (ROT-13 and Vigenère) along with natural-language decoding instructions, it produces benign-looking prompts that evade filters and induce the model to execute the original prompt within a single query. RoguePrompt was developed and evaluated under a black-box threat model, with only API and UI access to the LLMs, and tested on 313 real-world hard-rejected prompts. Success was measured in terms of moderation bypass, instruction reconstruction, and execution, using both automated and human evaluation. It achieved an average of 93.93% filter bypass, 79.02% reconstruction, and 70.18% execution success across multiple frontier LLMs. These results demonstrate the effectiveness of layered prompt encoding and highlight the need for innovative defenses to detect and mitigate self-reconstructing jailbreaks.
NEZHA: A Zero-sacrifice and Hyperspeed Decoding Architecture for Generative Recommendations
Venue: arXiv cs.AI 2026
Year: 2026

Generative Recommendation (GR), powered by Large Language Models (LLMs), represents a promising new paradigm for industrial recommender systems. However, their practical application is severely hindered by high inference latency, which makes them infeasible for high-throughput, real-time services and limits their overall business impact. While Speculative Decoding (SD) has been proposed to accelerate the autoregressive generation process, existing implementations introduce new bottlenecks: they typically require separate draft models and model-based verifiers, requiring additional training and increasing the latency overhead. In this paper, we address these challenges with NEZHA, a novel architecture that achieves hyperspeed decoding for GR systems without sacrificing recommendation quality. Specifically, NEZHA integrates a nimble autoregressive draft head directly into the primary model, enabling efficient self-drafting. This design, combined with a specialized input prompt structure, preserves the integrity of sequence-to-sequence generation. Furthermore, to tackle the critical problem of hallucination, a major source of performance degradation, we introduce an efficient, model-free verifier based on a hash set. We demonstrate the effectiveness of NEZHA through extensive experiments on public datasets and have successfully deployed the system on Taobao since October 2025, driving the billion-level advertising revenue and serving hundreds of millions of daily active users.
UNeMo: Collaborative Visual-Language Reasoning and Navigation via a Multimodal World Model
Venue: arXiv cs.AI 2026
Year: 2026

Vision-and-Language Navigation (VLN) requires agents to autonomously navigate complex environments via visual images and natural language instructions--remains highly challenging. Recent research on enhancing language-guided navigation reasoning using pre-trained large language models (LLMs) has shown promising prospects. However, the reasoning of such methods is limited to the linguistic modality, lacking visual reasoning capabilities. Moreover, existing reasoning modules are optimized separately from navigation policies, leading to incompatibility and potential conflicts in optimization objectives.To tackle these challenges, we introduce UNeMo, a novel framework designed for the collaborative optimization of visual state reasoning and navigational decision-making. It introduces a Multimodal World Model (MWM) that takes visual features, language instructions, and navigational actions as inputs to jointly predict subsequent visual states, enabling cross-modal reasoning. Via a Hierarchical Prediction-Feedback (HPN) mechanism, MWM collaborates with navigation policies: the first layer generates actions using current vision-and-language features; MWM then infers post-action visual states to guide the second layer's fine-grained decisions. This forms a dynamic bidirectional promotion mechanism where MWM reasoning optimizes navigation policies, while policy decisions feedback to improve MWM's reasoning accuracy. Experiments on R2R and REVERIE datasets show UNeMo outperforms state-of-the-art methods by 2.1% and 0.7% in navigation accuracy for unseen scenes, validating its effectiveness.
Reference-Free Sampling-Based Model Predictive Control
Venue: arXiv cs.RO 2026
Year: 2026

We present a sampling-based model predictive control (MPC) framework that enables emergent locomotion without relying on handcrafted gait patterns or predefined contact sequences. Our method discovers diverse motion patterns, ranging from trotting to galloping, robust standing policies, jumping, and handstand balancing, purely through the optimization of high-level objectives. Building on model predictive path integral (MPPI), we propose a cubic Hermite spline parameterization that operates on position and velocity control points. Our approach enables contact-making and contact-breaking strategies that adapt automatically to task requirements, requiring only a limited number of sampled trajectories. This sample efficiency enables real-time control on standard CPU hardware, eliminating the GPU acceleration typically required by other state-of-the-art MPPI methods. We validate our approach on the Go2 quadrupedal robot, demonstrating a range of emergent gaits and basic jumping capabilities. In simulation, we further showcase more complex behaviors, such as backflips, dynamic handstand balancing and locomotion on a Humanoid, all without requiring reference tracking or offline pre-training.
Bipartiteness in Progressive Second-Price Multi-Auction Networks with Perfect Substitute
Venue: arXiv cs.GT 2026
Year: 2026

We consider a bipartite network of buyers and sellers, where the sellers run locally independent Progressive Second-Price (PSP) auctions, and buyers may participate in multiple auctions, forming a multi-auction market with perfect substitute. The paper develops a projection-based influence framework for decentralized PSP auctions. We formalize primary and expanded influence sets using projections on the active bid index set and show how partial orders on bid prices govern allocation, market shifts, and the emergence of saturated one-hop shells. Our results highlight the robustness of PSP auctions in decentralized environments by introducing saturated components and a structured framework for phase transitions in multi-auction dynamics. This structure ensures deterministic coverage of the strategy space, enabling stable and truthful embedding in the larger game. We further model intra-round dynamics using an index to capture coordinated asynchronous seller updates coupled through buyers' joint constraints. Together, these constructions explain how local interactions propagate across auctions and gives premise for coherent equilibria--without requiring global information or centralized control.
MapFormer: Self-Supervised Learning of Cognitive Maps with Input-Dependent Positional Embeddings
Venue: arXiv cs.LG 2026
Year: 2026

A cognitive map is an internal model which encodes the abstract relationships among entities in the world, giving humans and animals the flexibility to adapt to new situations, with a strong out-of-distribution (OOD) generalization that current AI systems still do not possess. To bridge this gap, we introduce MapFormers, new architectures based on Transformer models, which can learn cognitive maps from observational data and perform path integration in parallel, in a self-supervised manner. Cognitive maps are learned in the model by disentangling structural relationships in the inputs from their specific content, a property that can be achieved naturally by updating the positional encoding in Transformers with input-dependent matrices. We developed two variants of MapFormers that unify absolute and relative positional encoding to model episodic (EM) and working memory (WM), respectively. We tested MapFormers on several tasks, including a classic 2D navigation task, showing that our models can learn a cognitive map of the underlying space and generalize OOD (e.g., to longer sequences) with near-perfect performance, unlike current architectures. Together, these results demonstrate the superiority of models designed to learn a cognitive map, and the importance of introducing a structural bias for structure-content disentanglement, which can be achieved in Transformers with input-dependent positional encoding. MapFormers have broad applications in both neuroscience and AI, by explaining the neural mechanisms giving rise to cognitive maps, while allowing these relation models to be learned at scale.
Strategy-robust Online Learning in Contextual Pricing
Venue: arXiv cs.GT 2026
Year: 2026

Learning effective pricing strategies is crucial in digital marketplaces, especially when buyers' valuations are unknown and must be inferred through interaction. We study the online contextual pricing problem, where a seller observes a stream of context-valuation pairs and dynamically sets prices. Moreover, departing from traditional online learning frameworks, we consider a strategic setting in which buyers may misreport valuations to influence future prices, a challenge known as strategic overfitting (Amin et al. 2013). We introduce a strategy-robust notion of regret for multi-buyer online environments, capturing worst-case strategic behavior in the spirit of the Price of Anarchy. Our first contribution is a polynomial-time approximation scheme (PTAS) for learning linear pricing policies in adversarial, adaptive environments, enabled by a novel online sketching technique. Building on this result, we propose our main construction: the Sparse Update Mechanism (SUM), a simple yet effective sequential mechanism that ensures robustness to all Nash equilibria among buyers. Moreover, our construction yields a black-box reduction from online expert algorithms to strategy-robust learners.
The Ghosts of Empires: Extracting Modularity from Interleaving-Based Proofs (Extended Version)
Venue: arXiv cs.PL 2026
Year: 2026

Implementation bugs threaten the soundness of algorithmic software verifiers. Generating correctness certificates for correct programs allows for efficient independent validation of verification results, and thus helps to reveal such bugs. Automatic generation of small, compact correctness proofs for concurrent programs is challenging, as the correctness arguments may depend on the particular interleaving, which can lead to exponential explosion. We present an approach that converts an interleaving-based correctness proof, as generated by many algorithmic verifiers, into a thread-modular correctness proof in the style of Owicki and Gries. We automatically synthesize ghost variables that capture the relevant interleaving information, and abstract away irrelevant details. Our evaluation shows that the approach is efficient in practice and generates compact proofs, compared to a baseline.
Feature-Modulated UFNO for Improved Prediction of Multiphase Flow in Porous Media
Venue: arXiv cs.LG 2026
Year: 2026

The UNet-enhanced Fourier Neural Operator (UFNO) extends the Fourier Neural Operator (FNO) by incorporating a parallel UNet pathway, enabling the retention of both high- and low-frequency components. While UFNO improves predictive accuracy over FNO, it inefficiently treats scalar inputs (e.g., temperature, injection rate) as spatially distributed fields by duplicating their values across the domain. This forces the model to process redundant constant signals within the frequency domain. Additionally, its standard loss function does not account for spatial variations in error sensitivity, limiting performance in regions of high physical importance. We introduce UFNO-FiLM, an enhanced architecture that incorporates two key innovations. First, we decouple scalar inputs from spatial features using a Feature-wise Linear Modulation (FiLM) layer, allowing the model to modulate spatial feature maps without introducing constant signals into the Fourier transform. Second, we employ a spatially weighted loss function that prioritizes learning in critical regions. Our experiments on subsurface multiphase flow demonstrate a 21\% reduction in gas saturation Mean Absolute Error (MAE) compared to UFNO, highlighting the effectiveness of our approach in improving predictive accuracy.
PILOT: Command-line Interface Fuzzing via Path-Guided, Iterative Large Language Model Prompting
Venue: arXiv cs.CR 2026
Year: 2026

Command-line interface (CLI) fuzzing tests programs by mutating both command-line options and input file contents, thus enabling discovery of vulnerabilities that only manifest under specific option-input combinations. Prior works of CLI fuzzing face the challenges of generating semantics-rich option strings and input files, which cannot reach deeply embedded target functions. This often leads to a misdetection of such a deep vulnerability using existing CLI fuzzing techniques. In this paper, we design a novel Path-guided, Iterative LLM-Orchestrated Testing framework, called PILOT, to fuzz CLI applications. The key insight is to provide potential call paths to target functions as context to LLM so that it can better generate CLI option strings and input files. Then, PILOT iteratively repeats the process, and provides reached functions as additional context so that target functions are reached. Our evaluation on real-world CLI applications demonstrates that PILOT achieves higher coverage than state-of-the-art fuzzing approaches and discovers 51 zero-day vulnerabilities. We responsibly disclosed all the vulnerabilities to their developers and so far 41 have been confirmed by their developers with 33 being fixed and three assigned CVE identifiers.
Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning
Venue: arXiv cs.RO 2026
Year: 2026

Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper, we propose Safe and Stable Neural Network Dynamical Systems S$^2$-NNDS, a learning-from-demonstration framework that simultaneously learns expressive neural dynamical systems alongside neural Lyapunov stability and barrier safety certificates. Unlike traditional approaches with restrictive polynomial parameterizations, S$^2$-NNDS leverages neural networks to capture complex robot motions, providing probabilistic guarantees through split conformal prediction in learned certificates. Experimental results in various 2D and 3D datasets -- including LASA handwriting and demonstrations recorded kinesthetically from the Franka Emika Panda robot -- validate the effectiveness of S$^2$-NNDS in learning robust, safe, and stable motions from potentially unsafe demonstrations. The source code, supplementary material and experiment videos can be accessed via https://github.com/allemmbinn/S2NNDS
Computing Evolutionarily Stable Strategies in Multiplayer Games
Venue: arXiv cs.GT 2026
Year: 2026

We present an algorithm for computing all evolutionarily stable strategies in nondegenerate normal-form games with three or more players.
Self-Guided Defense: Adaptive Safety Alignment for Reasoning Models via Synthesized Guidelines
Venue: arXiv cs.CL 2026
Year: 2026

Reasoning models have demonstrated remarkable capabilities in complex reasoning tasks. However, ensuring their safety against adversarial jailbreak prompts remains a critical challenge. Due to the covert and deceptive nature of such prompts, they can often evade built-in safety mechanisms and lead to the generation of harmful content. This underscores the need for an adaptive safety alignment approach that enables models to autonomously reinforce their defenses in response to adversarial inputs. This paper introduces the Synthesized Guideline-based Adaptive Safety Alignment (SGASA) framework, which internalizes model-generated safety guidelines to strengthen models' ability to enhance robustness against harmful adversarial prompts while minimizing unnecessary refusals of benign requests. SGASA consists of two key stages: Data Pre-synthesis, which generates safety guidelines and augmented prompts; and Alignment Fine-tuning, which leverages Supervised Fine-tuning (SFT) and Direct Preference Optimization (DPO) to embed these guidelines into the model. Extensive experiments across multiple datasets demonstrate that SGASA significantly improves model safety, validating its adaptive and scalable effectiveness.
Co-Training Vision Language Models for Remote Sensing Multi-task Learning
Venue: arXiv cs.CV 2026
Year: 2026

With Transformers achieving outstanding performance on individual remote sensing (RS) tasks, we are now approaching the realization of a unified model that excels across multiple tasks through multi-task learning (MTL). Compared to single-task approaches, MTL methods offer improved generalization, enhanced scalability, and greater practical applicability. Recently, vision language models (VLMs) have achieved promising results in RS image understanding, grounding, and ultra-high-resolution (UHR) image reasoning, respectively. Moreover, the unified text-based interface demonstrates significant potential for MTL. Hence, in this work, we present RSCoVLM, a simple yet flexible VLM baseline for RS MTL. Firstly, we create the data curation engine, including data acquisition, offline processing and integrating, as well as online loading and weighting. This data engine effectively addresses complex RS data enviroment and generates flexible vision-language conversations. Furthermore, we propose a unified dynamic-resolution strategy to address the diverse image scales inherent in RS imagery. For UHR images, we introduce the Zoom-in Chain mechanism together with its corresponding dataset, LRS-VQA-Zoom. The strategies are flexible and effectively mitigate the computational burdens. Additionally, we significantly enhance the model's object detection capability and propose a novel evaluation protocol that ensures fair comparison between VLMs and conventional detection models. Extensive experiments demonstrate that RSCoVLM achieves state-of-the-art performance across diverse tasks, outperforming existing RS VLMs and even rivaling specialized expert models. All the training and evaluating tools, model weights, and datasets have been fully open-sourced to support reproducibility. We expect that this baseline will promote further progress toward general-purpose RS models.
A physics-informed U-Net-LSTM network for nonlinear structural response under seismic excitation
Venue: arXiv cs.LG 2026
Year: 2026

Accurate and efficient seismic response prediction is essential for the design of resilient structures. While the Finite Element Method (FEM) remains the standard for nonlinear seismic analysis, its high computational demands limit its scalability and real-time applicability. Recent developments in deep learning - particularly Convolutional Neural Networks (CNNs), Recurrent Neural Networks (RNNs), and Long Short-Term Memory (LSTM) models - have shown promise in reducing the computational cost of the nonlinear seismic analysis of structures. However, these data-driven models often struggle to generalize and capture the underlying physics, leading to reduced reliability. We propose a novel Physics-Informed U-Net-LSTM framework that integrates physical laws with deep learning to enhance both accuracy and efficiency. The proposed 1D U-Net captures the underlying latent features of the long-term input sequences. By embedding domain-specific constraints into the learning process, the proposed model achieves improved predictive performance over conventional Machine Learning (ML) architectures. This approach bridges the gap between purely data-driven methods and physics-based modeling, offering a robust and computationally efficient alternative for predicting the seismic response of structures.