OpenRaiser/Intern-Atlas huggingface dataset:
E2E-GNet: An End-to-End Skeleton-based Geometric Deep Neural Network for Human Motion Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Geometric deep learning has recently gained significant attention in the computer vision community for its ability to capture meaningful representations of data lying in a non-Euclidean space. To this end, we propose E2E-GNet, an end-to-end geometric deep neural network for skeleton-based human motion recognition. To enhance the discriminative power between different motions in the non-Euclidean space, E2E-GNet introduces a geometric transformation layer that jointly optimizes skeleton motion sequences on this space and applies a differentiable logarithm map activation to project them onto a linear space. Building on this, we further design a distortion-aware optimization layer that limits skeleton shape distortions caused by this projection, enabling the network to retain discriminative geometric cues and achieve a higher motion recognition rate. We demonstrate the impact of each layer through ablation studies and extensive experiments across five datasets spanning three domains show that E2E-GNet outperforms other methods with lower cost.
Instant and Reversible Adhesive-free Bonding Between Silicones and Glossy Papers for Soft Robotics
Venue: arXiv cs.RO 2026
Year: 2026

Integrating silicone with non-extensible materials is a common strategy used in the fabrication of fluidically-driven soft actuators, yet conventional approaches often rely on irreversible adhesives or embedding processes that are labor-intensive and difficult to modify. This work presents silicone-glossy paper bonding (SGB), a rapid, adhesive-free, and solvent-reversible bonding approach that forms robust silicone-paper interfaces simply through contact. The SGB interface withstands high mechanical loads (shear strength > 61 kPa) and can be fully detached and reassembled via ethanol immersion without loss of performance, enabling component reuse and rapid redesign. Characterization studies indicate that surface functional groups primarily govern adhesion on the glossy paper and the modulus of the silicone, while durability and environmental response clarify the conditions for reversible debonding. The results further suggest a synergistic interaction of hydrogen bonding and oligomer diffusion, yielding strong yet reconfigurable adhesion. Soft actuators fabricated using SGB design exhibit equal or greater performance compared to conventional embedded-layer design and enable programmable actuation modes, including contraction, bending, and twisting. By simplifying fabrication while supporting reuse and rapid iteration, SGB offers a scalable and sustainable platform for rapid prototyping in soft robotics.
SGMA: Semantic-Guided Modality-Aware Segmentation for Remote Sensing with Incomplete Multimodal Data
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal semantic segmentation integrates complementary information from diverse sensors for remote sensing Earth observation. However, practical systems often encounter missing modalities due to sensor failures or incomplete coverage, termed Incomplete Multimodal Semantic Segmentation (IMSS). IMSS faces three key challenges: (1) multimodal imbalance, where dominant modalities suppress fragile ones; (2) intra-class variation in scale, shape, and orientation across modalities; and (3) cross-modal heterogeneity with conflicting cues producing inconsistent semantic responses. Existing methods rely on contrastive learning or joint optimization, which risk over-alignment, discarding modality-specific cues or imbalanced training, favoring robust modalities, while largely overlooking intra-class variation and cross-modal heterogeneity. To address these limitations, we propose the Semantic-Guided Modality-Aware (SGMA) framework, which ensures balanced multimodal learning while reducing intra-class variation and reconciling cross-modal inconsistencies through semantic guidance. SGMA introduces two complementary plug-and-play modules: (1) Semantic-Guided Fusion (SGF) module extracts multi-scale, class-wise semantic prototypes that capture consistent categorical representations across modalities, estimates per-modality robustness based on prototype-feature alignment, and performs adaptive fusion weighted by robustness scores to mitigate intra-class variation and cross-modal heterogeneity; (2) Modality-Aware Sampling (MAS) module leverages robustness estimations from SGF to dynamically reweight training samples, prioritizing challenging samples from fragile modalities to address modality imbalance. Extensive experiments across multiple datasets and backbones demonstrate that SGMA consistently outperforms state-of-the-art methods, with particularly significant improvements in fragile modalities.
On Discriminative vs. Generative classifiers: Rethinking MLLMs for Action Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Multimodal Large Language Models (MLLMs) have advanced open-world action understanding and can be adapted as generative classifiers for closed-set settings by autoregressively generating action labels as text. However, this approach is inefficient, and shared subwords across action labels introduce semantic overlap, leading to ambiguity in generation. In contrast, discriminative classifiers learn task-specific representations with clear decision boundaries, enabling efficient one-step classification without autoregressive decoding. We first compare generative and discriminative classifiers with MLLMs for closed-set action understanding, revealing the superior accuracy and efficiency of the latter. To bridge the performance gap, we design strategies that elevate generative classifiers toward performance comparable with discriminative ones. Furthermore, we show that generative modeling can complement discriminative classifiers, leading to better performance while preserving efficiency. To this end, we propose Generation-Assisted Discriminative~(GAD) classifier for closed-set action understanding. GAD operates only during fine-tuning, preserving full compatibility with MLLM pretraining. Extensive experiments on temporal action understanding benchmarks demonstrate that GAD improves both accuracy and efficiency over generative methods, achieving state-of-the-art results on four tasks across five datasets, including an average 2.5% accuracy gain and 3x faster inference on our largest COIN benchmark.
SemGS: Feed-Forward Semantic 3D Gaussian Splatting from Sparse Views for Generalizable Scene Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view inputs and require scene-specific optimization, limiting their practicality and scalability in real-world applications. To address these challenges, we propose SemGS, a feed-forward framework for reconstructing generalizable semantic fields from sparse image inputs. SemGS uses a dual-branch architecture to extract color and semantic features, where the two branches share shallow CNN layers, allowing semantic reasoning to leverage textural and structural cues in color appearance. We also incorporate a camera-aware attention mechanism into the feature extractor to explicitly model geometric relationships between camera viewpoints. The extracted features are decoded into dual-Gaussians that share geometric consistency while preserving branch-specific attributes, and further rasterized to synthesize semantic maps under novel viewpoints. Additionally, we introduce a regional smoothness loss to enhance semantic coherence. Experiments show that SemGS achieves state-of-the-art performance on benchmark datasets, while providing rapid inference and strong generalization capabilities across diverse synthetic and real-world scenarios.
Generalizable Knowledge Distillation from Vision Foundation Models for Semantic Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Knowledge distillation (KD) has been widely applied in semantic segmentation to compress large models, but conventional approaches primarily preserve in-domain accuracy while neglecting out-of-domain generalization, which is essential under distribution shifts. This limitation becomes more severe with the emergence of vision foundation models (VFMs): although VFMs exhibit strong robustness on unseen data, distilling them with conventional KD often compromises this ability. We propose Generalizable Knowledge Distillation (GKD), a multi-stage framework that explicitly enhances generalization. GKD decouples representation learning from task learning. In the first stage, the student acquires domain-agnostic representations through selective feature distillation, and in the second stage, these representations are frozen for task adaptation, thereby mitigating overfitting to visible domains. To further support transfer, we introduce a query-based soft distillation mechanism, where student features act as queries to teacher representations to selectively retrieve transferable spatial knowledge from VFMs. Extensive experiments on five domain generalization benchmarks demonstrate that GKD consistently outperforms existing KD methods, achieving average gains of +1.9% in foundation-to-foundation (F2F) and +10.6% in foundation-to-local (F2L) distillation. The code will be available at https://github.com/Younger-hua/GKD.
Integrating Health Sensing into Cellular Networks: Human Sleep Monitoring Using 5G Signals
Venue: arXiv cs.NI 2026
Year: 2026

Cellular networks offer a unique opportunity to enable device-free and wide-area health monitoring by exploiting the sensitivity of radio-frequency (RF) propagation to human physiological activities. In this paper, we present the first experimental study of human sleep monitoring using realistic 5G signals collected from commercial cellular infrastructure. We investigate a practical scenario in which a smartphone is placed near a bed, and a 5G base station periodically configures uplink sounding reference signal (SRS) transmissions to obtain fine-grained channel state information (CSI). Leveraging uplink CSI measurements, we design a lightweight signal processing pipeline for respiration rate estimation and a CNN model for sleep body movement classification. Through extensive experiments conducted on an indoor private 5G network, our system achieves over 91.2% accuracy in respiration rate estimation and 85.5% accuracy in sleep movement classification.
EdgeFLow: Serverless Federated Learning via Sequential Model Migration in Edge Networks
Venue: arXiv cs.LG 2026
Year: 2026

Federated Learning (FL) has emerged as a transformative distributed learning paradigm in the era of Internet of Things (IoT), reconceptualizing data processing methodologies. However, FL systems face significant communication bottlenecks due to inevitable client-server data exchanges and long-distance transmissions. This work presents EdgeFLow, an innovative FL framework that redesigns the system topology by replacing traditional cloud servers with sequential model migration between edge base stations. By conducting model aggregation and propagation exclusively at edge clusters, EdgeFLow eliminates cloud-based transmissions and substantially reduces global communication overhead. We provide rigorous convergence analysis for EdgeFLow under non-convex objectives and non-IID data distributions, extending classical FL convergence theory. Experimental results across various configurations validate the theoretical analysis, demonstrating that EdgeFLow achieves comparable accuracy improvements while significantly reducing communication costs. As a systemic architectural innovation for communication-efficient FL, EdgeFLow establishes a foundational framework for future developments in IoT and edge-network learning systems.
'Show It, Don't Just Say It': The Complementary Effects of Instruction Multimodality for Software Guidance
Venue: arXiv cs.HC 2026
Year: 2026

Designing adaptive tutoring systems for software learning presents challenges in determining appropriate instructional modalities. To inform the design of such systems, we conducted an observational study of ten human teacher-student pairs (N=10), where experienced design software users taught novices two new graphic design software features through multi-step procedures. These lessons were limited to three communication channels (speech, visual annotations, and remote screen control) to mimic possible AI tutor modalities. We found that annotations complement speech with spatial precision and remote control complements it with spatial and temporal precision, but both cause intrusion to learner agency. Teachers adaptively select modalities to balance the need for instruction progress with students' cognitive engagement and sense of digital territory ownership. Our results provide further support to the contiguity principles and the value of agency in learning, while suggesting precision-agency trade-off and digital territoriality as new design constraints for adaptive software guidance.
Neural Electromagnetic Fields for High-Resolution Material Parameter Reconstruction
Venue: arXiv cs.CV 2026
Year: 2026

Creating functional Digital Twins, simulatable 3D replicas of the real world, is a central challenge in computer vision. Current methods like NeRF produce visually rich but functionally incomplete twins. The key barrier is the lack of underlying material properties (e.g., permittivity, conductivity). Acquiring this information for every point in a scene via non-contact, non-invasive sensing is a primary goal, but it demands solving a notoriously ill-posed physical inversion problem. Standard remote signals, like images and radio frequencies (RF), deeply entangle the unknown geometry, ambient field, and target materials. We introduce NEMF, a novel framework for dense, non-invasive physical inversion designed to build functional digital twins. Our key insight is a systematic disentanglement strategy. NEMF leverages high-fidelity geometry from images as a powerful anchor, which first enables the resolution of the ambient field. By constraining both geometry and field using only non-invasive data, the original ill-posed problem transforms into a well-posed, physics-supervised learning task. This transformation unlocks our core inversion module: a decoder. Guided by ambient RF signals and a differentiable layer incorporating physical reflection models, it learns to explicitly output a continuous, spatially-varying field of the scene's underlying material parameters. We validate our framework on high-fidelity synthetic datasets. Experiments show our non-invasive inversion reconstructs these material maps with high accuracy, and the resulting functional twin enables high-fidelity physical simulation. This advance moves beyond passive visual replicas, enabling the creation of truly functional and simulatable models of the physical world.
Pecker: Bug Localization Framework for Sequential Designs via Causal Chain Reconstruction
Venue: arXiv cs.AR 2026
Year: 2026

Debugging represents a time-consuming and labor-intensive task in hardware design, with bug localization constituting a substantial portion of this process. While spectrum-based bug localization techniques have achieved remarkable success in software domains and shown promise for hardware description languages, their effectiveness severely degrades in sequential designs. Unlike software programs, hardware designs exhibit intrinsic temporal characteristics that create fundamental challenges: timing misalignment between bug activation and observation, and progressive error propagation through state elements that obscures the root cause. To address these limitations, we propose Pecker, a novel bug localization framework that reconstructs the broken causal chain in sequential designs. Our approach introduces two key innovations: temporal backtracking using Estimated Minimal Propagation Cycles to identify potential activation cycles, strategic trace pruning to eliminate state pollution effects. We evaluate Pecker on comprehensive benchmarks comprising both combinational and sequential circuits. Experimental results demonstrate that Pecker effectively localizes 51%/80%/85% bugs within Top-1/3/5 ranks respectively, significantly outperforming state-of-the-art techniques. Notably, Pecker maintains robust performance across circuit complexities while existing methods exhibit severe degradation on sequential designs.
LiveAgentBench: Comprehensive Benchmarking of Agentic Systems Across 104 Real-World Challenges
Venue: arXiv cs.AI 2026
Year: 2026

As large language models grow more capable, general AI agents have become increasingly prevalent in practical applications. However, existing benchmarks face significant limitations, failing to represent real-world user tasks accurately. To address this gap, we present LiveAgentBench, a comprehensive benchmark with 104 scenarios that reflect real user requirements. It is constructed from publicly sourced questions on social media and real-world products. Central to our approach is the Social Perception-Driven Data Generation (SPDG) method, a novel process we developed to ensure each question's real-world relevance, task complexity, and result verifiability. We evaluate various models, frameworks, and commercial products using LiveAgentBench, revealing their practical performance and identifying areas for improvement. This release includes 374 tasks, with 125 for validation and 249 for testing. The SPDG process enables continuous updates with fresh queries from real-world interactions.
Maximizing Generalization: The Effect of Different Augmentation Techniques on Lightweight Vision Transformer for Bengali Character Classification
Venue: arXiv cs.CV 2026
Year: 2026

Deep learning models have proven to be highly effective in computer vision, with deep convolutional neural networks achieving impressive results across various computer vision tasks. However, these models rely heavily on large datasets to avoid overfitting. When a model learns features with either low or high variance, it can lead to underfitting or overfitting on the training data. Unfortunately, large-scale datasets may not be available in many domains, particularly for resource-limited languages such as Bengali. In this experiment, a series of tests were conducted in the field of image data augmentation as an approach to addressing the limited data problem for Bengali handwritten characters. The study also provides an in-depth analysis of the performance of different augmentation techniques. Data augmentation refers to a set of techniques applied to data to increase its size and diversity, making it more suitable for training deep learning models. The image augmentation techniques evaluated in this study include CLAHE, Random Rotation, Random Affine, Color Jitter, and their combinations. The study further explores the use of augmentation methods with a lightweight model such as EfficientViT. Among the different augmentation strategies, the combination of Random Affine and Color Jitter produced the best accuracy on the Ekush [1] and AIBangla [2] datasets, achieving accuracies of 97.48% and 97.57%, respectively. This combination outperformed all other individual and combined augmentation techniques. Overall, this analysis presents a thorough examination of the impact of image data augmentation in resource-scarce languages, particularly in the context of Bengali handwritten character recognition using lightweight models.
AgentAssay: Token-Efficient Regression Testing for Non-Deterministic AI Agent Workflows
Venue: arXiv cs.AI 2026
Year: 2026

Autonomous AI agents are deployed at unprecedented scale, yet no principled methodology exists for verifying that an agent has not regressed after changes to its prompts, tools, models, or orchestration logic. We present AgentAssay, the first token-efficient framework for regression testing non-deterministic AI agent workflows, achieving 78-100% cost reduction while maintaining rigorous statistical guarantees. Our contributions include: (1) stochastic three-valued verdicts (PASS/FAIL/INCONCLUSIVE) grounded in hypothesis testing; (2) five-dimensional agent coverage metrics; (3) agent-specific mutation testing operators; (4) metamorphic relations for agent workflows; (5) CI/CD deployment gates as statistical decision procedures; (6) behavioral fingerprinting that maps execution traces to compact vectors, enabling multivariate regression detection; (7) adaptive budget optimization calibrating trial counts to behavioral variance; and (8) trace-first offline analysis enabling zero-cost testing on production traces. Experiments across 5 models (GPT-5.2, Claude Sonnet 4.6, Mistral-Large-3, Llama-4-Maverick, Phi-4), 3 scenarios, and 7,605 trials demonstrate that behavioral fingerprinting achieves 86% detection power where binary testing has 0%, SPRT reduces trials by 78%, and the full pipeline achieves 100% cost savings through trace-first analysis. Implementation: 20,000+ lines of Python, 751 tests, 10 framework adapters.
VLMFusionOcc3D: VLM Assisted Multi-Modal 3D Semantic Occupancy Prediction
Venue: arXiv cs.CV 2026
Year: 2026

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and performance degradation under adverse weather conditions. To address these challenges, we leverage the rich linguistic priors of Vision-Language Models (VLMs) to anchor ambiguous voxel features to stable semantic concepts. Our framework initiates with a dual-branch feature extraction pipeline that projects multi-view images and LiDAR point clouds into a unified voxel space. We propose Instance-driven VLM Attention (InstVLM), which utilizes gated cross-attention and LoRA-adapted CLIP embeddings to inject high-level semantic and geographic priors directly into the 3D voxels. Furthermore, we introduce Weather-Aware Adaptive Fusion (WeathFusion), a dynamic gating mechanism that utilizes vehicle metadata and weather-conditioned prompts to re-weight sensor contributions based on real-time environmental reliability. To ensure structural consistency, a Depth-Aware Geometric Alignment (DAGA) loss is employed to align dense camera-derived geometry with sparse, spatially accurate LiDAR returns. Extensive experiments on the nuScenes and SemanticKITTI datasets demonstrate that our plug-and-play modules consistently enhance the performance of state-of-the-art voxel-based baselines. Notably, our approach achieves significant improvements in challenging weather scenarios, offering a scalable and robust solution for complex urban navigation.
Undecided State Dynamics with Many Opinions
Venue: arXiv cs.DC 2026
Year: 2026

We study the Undecided-State Dynamics (USD), a fundamental consensus process in which each vertex holds one of $k$ decided opinions or the undecided state. We consider both the gossip model and the population protocol model. Prior work established tight bounds on the consensus time of this process only for the regime $k = O(\sqrt{n}/(\log n)^2)$ (for the population protocol model) and $k = O((n/\log n)^{1/3})$ (for the gossip model), often under restrictive assumptions on the initial configuration. In this paper, we obtain the first consensus-time guarantees for USD that hold for \emph{arbitrary} $2\le k\le n$ and for \emph{arbitrary} initial configurations in both the gossip model and the population protocol model. In the gossip model, USD reaches consensus within $\widetilde O(\min\{k,\sqrt n\})$ synchronous rounds with probability $1-p_{\bot}-n^{-c}$, where $p_{\bot}$ is the gossip-specific probability of collapsing to the all-undecided state in the first round. In the population protocol model, USD reaches consensus within $\widetilde O(\min\{kn,n^{3/2}\})$ asynchronous interactions with high probability. We also present lower bounds that match the upper bounds up to polylogarithmic factors for a specific initial configuration and show that our upper bounds are essentially optimal.