OpenRaiser/Intern-Atlas huggingface dataset:
HumanHalo - Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Venue: arXiv cs.RO 2026
Year: 2026

Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation and fail to account for the full complexity of human body dynamics beyond root motion. We present HumanMPC, a Model Predictive Control (MPC) framework for 3D Micro Air Vehicle (MAV) navigation among humans that combines theoretical safety guarantees with data-driven models for realistic human motion forecasting. Our approach introduces a novel twist to reachability-based safety formulation that constrains only the initial control input for safety while modeling its effects over the entire planning horizon, enabling safe yet efficient navigation. We validate HumanMPC in both simulated experiments using real human trajectories and in the real-world, demonstrating its effectiveness across tasks ranging from goal-directed navigation to visual servoing for human tracking. While we apply our method to MAVs in this work, it is generic and can be adapted by other platforms. Our results show that the method ensures safety without excessive conservatism and outperforms baseline approaches in both efficiency and reliability.
Low-dimensional semi-supervised latent Bayesian optimization for designing antimicrobial peptides
Venue: arXiv cs.LG 2026
Year: 2026

Antimicrobial peptides (AMPs) are a promising class of therapeutics to treat bacterial infections. Discovering and designing such peptides is difficult because of the vast number of possible sequences of amino acids. Deep generative models, such as variational autoencoders, have shown value in peptide design due to their ability to model sequence space with a continuous-valued latent space. Although such models have already been used to great effect in biomolecular design, they still suffer from a lack of interpretability and rigorous quantification of latent space quality as a search space. We investigate (1) whether searching through a dimensionally-reduced variant of the latent design space may facilitate optimization, (2) how organizing latent spaces with physicochemical properties may improve the efficiency of optimizing antimicrobial activity, and (3) the interpretability of the spaces. We find that employing a dimensionally-reduced version of the latent space is more interpretable and can be advantageous, while we can organize the latent space with different physicochemical properties even at different percentages of available labels. This work lays crucial groundwork for biophysically-motivated peptide design procedures.
MT-Video-Bench: A Holistic Video Understanding Benchmark for Evaluating Multimodal LLMs in Multi-Turn Dialogues
Venue: arXiv cs.CV 2026
Year: 2026

The recent development of Multimodal Large Language Models (MLLMs) has significantly advanced AI's ability to understand visual modalities. However, existing evaluation benchmarks remain limited to single-turn question answering, overlooking the complexity of multi-turn dialogues in real-world scenarios. To bridge this gap, we introduce MT-Video-Bench, a holistic video understanding benchmark for evaluating MLLMs in multi-turn dialogues. Specifically, our MT-Video-Bench mainly assesses 6 core competencies that focus on perceptivity and interactivity, encompassing 1,000 meticulously curated multi-turn dialogues from diverse domains. These capabilities are rigorously aligned with real-world applications, such as interactive sports analysis and multi-turn video-based intelligent tutoring. With MT-Video-Bench, we extensively evaluate various state-of-the-art open-source and closed-source MLLMs, revealing their significant performance discrepancies and limitations in handling multi-turn video dialogues. The benchmark will be publicly available to foster future research.
Functional Distribution Networks (FDN)
Venue: arXiv cs.LG 2026
Year: 2026

Modern probabilistic regressors often remain overconfident under distribution shift. Functional Distribution Networks (FDN) place input-conditioned distributions over network weights, producing predictive mixtures whose dispersion adapts to the input; we train them with a Monte Carlo beta-ELBO objective. We pair FDN with an evaluation protocol that separates interpolation from extrapolation and emphasizes simple OOD sanity checks. On controlled 1D tasks and small/medium UCI-style regression benchmarks, FDN remains competitive in accuracy with strong Bayesian, ensemble, dropout, and hypernetwork baselines, while providing strongly input-dependent, shift-aware uncertainty and competitive calibration under matched parameter and update budgets.
NeuCo-Bench: A Novel Benchmark Framework for Neural Embeddings in Earth Observation
Venue: arXiv cs.LG 2026
Year: 2026

We introduce NeuCo-Bench, a novel benchmark framework for evaluating (lossy) neural compression and representation learning in the context of Earth Observation (EO). Our approach builds on fixed-size embeddings that act as compact, task-agnostic representations applicable to a broad range of downstream tasks. NeuCo-Bench comprises three components: (i) an evaluation pipeline built around embeddings, (ii) a challenge mode with a hidden-task leaderboard designed to mitigate pretraining bias, and (iii) a scoring system that balances accuracy and stability. To support reproducibility, we release SSL4EO-S12-downstream, a curated multispectral, multitemporal EO dataset. We present results from a public challenge at the 2025 CVPR EARTHVISION workshop and conduct ablations with state-of-the-art foundation models. NeuCo-Bench provides a step towards community-driven, standardized evaluation of neural embeddings for EO and beyond.
LIME: Link-based user-item Interaction Modeling with decoupled xor attention for Efficient test time scaling
Venue: arXiv cs.IR 2026
Year: 2026

Scaling large recommendation systems requires advancing three major frontiers: processing longer user histories, expanding candidate sets, and increasing model capacity. While promising, transformers' computational cost scales quadratically with the user sequence length and linearly with the number of candidates. This trade-off makes it prohibitively expensive to expand candidate sets or increase sequence length at inference, despite the significant performance improvements. We introduce \textbf{LIME}, a novel architecture that resolves this trade-off. Through two key innovations, LIME fundamentally reduces computational complexity. First, low-rank ``link embeddings" enable pre-computation of attention weights by decoupling user and candidate interactions, making the inference cost nearly independent of candidate set size. Second, a linear attention mechanism, \textbf{LIME-XOR}, reduces the complexity with respect to user sequence length from quadratic ($O(N^2)$) to linear ($O(N)$). Experiments on public and industrial datasets show LIME achieves near-parity with state-of-the-art transformers but with a 10$\times$ inference speedup on large candidate sets or long sequence lengths. When tested on a major recommendation platform, LIME improved user engagement while maintaining minimal inference costs with respect to candidate set size and user history length, establishing a new paradigm for efficient and expressive recommendation systems.
Physics-Informed Parametric Bandits for Beam Alignment in mmWave Communications
Venue: arXiv cs.LG 2026
Year: 2026

In millimeter wave (mmWave) communications, beam alignment and tracking are crucial to combat the significant path loss. As scanning the entire directional space is inefficient, designing an efficient and robust method to identify the optimal beam directions is essential. Since traditional bandit algorithms require a long time horizon to converge under large beam spaces, many existing works propose efficient bandit algorithms for beam alignment by relying on unimodality or multimodality assumptions on the reward function's structure. However, such assumptions often do not hold (or cannot be strictly satisfied) in practice, which causes such algorithms to converge to choosing suboptimal beams. In this work, we propose two physics-informed bandit algorithms \textit{pretc} and \textit{prgreedy} that exploit the sparse multipath property of mmWave channels - a generic but realistic assumption - which is connected to the Phase Retrieval Bandit problem. Our algorithms treat the parameters of each path as black boxes and maintain optimal estimates of them based on sampled historical rewards. \textit{pretc} starts with a random exploration phase and then commits to the optimal beam under the estimated reward function. \textit{prgreedy} performs such estimation in an online manner and chooses the best beam under current estimates. Our algorithms can also be easily adapted to beam tracking in the mobile setting. Through experiments using both the synthetic DeepMIMO dataset and the real-world DeepSense6G dataset, we demonstrate that both algorithms outperform existing approaches in a wide range of scenarios across diverse channel environments, showing their generalizability and robustness.
Investigating LLM Capabilities on Long Context Comprehension for Medical Question Answering
Venue: arXiv cs.CL 2026
Year: 2026

This study is the first to investigate LLM comprehension capabilities over long-context (LC), clinically relevant medical Question Answering (QA) beyond MCQA. Our comprehensive approach considers a range of settings based on content inclusion of varying size and relevance, LLM models of different capabilities and a variety of datasets across task formulations. We reveal insights on model size effects and their limitations, underlying memorization issues and the benefits of reasoning models, while demonstrating the value and challenges of leveraging the full long patient's context. Importantly, we examine the effect of Retrieval Augmented Generation (RAG) on medical LC comprehension, showcasing best settings in single versus multi-document QA datasets. We shed light into some of the evaluation aspects using a multi-faceted approach uncovering common metric challenges. Our quantitative analysis reveals challenging cases where RAG excels while still showing limitations in cases requiring temporal reasoning.
PLANA3R: Zero-shot Metric Planar 3D Reconstruction via Feed-Forward Planar Splatting
Venue: arXiv cs.CV 2026
Year: 2026

This paper addresses metric 3D reconstruction of indoor scenes by exploiting their inherent geometric regularities with compact representations. Using planar 3D primitives - a well-suited representation for man-made environments - we introduce PLANA3R, a pose-free framework for metric Planar 3D Reconstruction from unposed two-view images. Our approach employs Vision Transformers to extract a set of sparse planar primitives, estimate relative camera poses, and supervise geometry learning via planar splatting, where gradients are propagated through high-resolution rendered depth and normal maps of primitives. Unlike prior feedforward methods that require 3D plane annotations during training, PLANA3R learns planar 3D structures without explicit plane supervision, enabling scalable training on large-scale stereo datasets using only depth and normal annotations. We validate PLANA3R on multiple indoor-scene datasets with metric supervision and demonstrate strong generalization to out-of-domain indoor environments across diverse tasks under metric evaluation protocols, including 3D surface reconstruction, depth estimation, and relative pose estimation. Furthermore, by formulating with planar 3D representation, our method emerges with the ability for accurate plane segmentation. The project page is available at https://lck666666.github.io/plana3r
Hazel: Secure and Efficient Disaggregated Storage
Venue: arXiv cs.CR 2026
Year: 2026

Disaggregated storage with NVMe-over-Fabrics (NVMe-oF) has emerged as the standard solution in modern supercomputers and data center clusters, achieving superior performance, resource utilization, and power efficiency. Simultaneously, confidential computing (CC) is becoming the de facto security paradigm, enforcing stronger isolation and protection for sensitive workloads. However, securing state-of-the-art storage with traditional CC methods struggles to scale and compromises performance or security. To address these issues, we introduce Hazel, a storage management system that extends the NVMe-oF protocol capabilities and adheres to the CC threat model, providing confidentiality, integrity, and freshness guarantees. Hazel offers an appropriate control path with novel concepts such as counter-leasing. Hazel also optimizes data path performance by leveraging NVMe metadata and introducing a new disaggregated Hazel Merkle Tree (HMT), all while remaining compatible with NVMe-oF. For additional efficiency, Hazel also supports offloading to CC-capable smart NIC accelerators. We prototype Hazel on an NVIDIA BlueField-3 and demonstrate that it can achieve as little as 1-2% performance degradation for synthetic patterns, AI training, IO500, and YCSB.
Does Feedback Alignment Work at Biological Timescales?
Venue: arXiv cs.LG 2026
Year: 2026

Feedback alignment and related weight-transport-free algorithms are often proposed as biologically plausible alternatives to backpropagation, yet they are typically formulated in discrete phases with implicitly synchronized forward and error signals. We develop a continuous-time model of feedback-alignment-type learning in which neural activities and synaptic weights evolve together under coupled first-order dynamics with distinct propagation, plasticity, and decay time constants. We show that learning is governed by the temporal overlap between presynaptic drive and a locally projected error signal, providing an analytic explanation for robustness to moderate timing mismatch and for failure when mismatch eliminates overlap. Our results show that in order for feedback-alignment-type algorithms to work at biological timescales, they must obey the same temporal overlap principle that applies to other biological processes like eligibility traces.
How Do LLMs Use Their Depth?
Venue: arXiv cs.CL 2026
Year: 2026

Growing evidence suggests that large language models do not use their depth uniformly, yet we still lack a fine-grained understanding of their layer-wise prediction dynamics. In this paper, we trace the intermediate representations of several open-weight models during inference and reveal a structured and nuanced use of depth. Specifically, we propose a "Guess-then-Refine" framework that explains how LLMs internally structure their computations to make predictions. We first show that the top-ranked predictions in early LLM layers are composed primarily of high-frequency tokens, which act as statistical guesses proposed by the model due to the lack of contextual information. As contextual information develops deeper into the model, these initial guesses get refined into contextually appropriate tokens. We then examine the dynamic usage of layer depth through three case studies. (i) Multiple-choice task analysis shows that the model identifies appropriate options within the first half of the model and finalizes the response in the latter half. (ii) Fact recall task analysis shows that in a multi-token answer, the first token requires more computational depth than the rest. (iii) Part-of-speech analysis shows that function words are, on average, the earliest to be predicted correctly. To validate our results, we supplement probe-based analyses with causal manipulations in the form of activation patching and early-exiting experiments. Together, our results provide a detailed view of depth usage in LLMs, shedding light on the layer-by-layer computations that underlie successful predictions and providing insights for future works to improve computational efficiency in transformer-based models.
ADPO: Anchored Direct Preference Optimization
Venue: arXiv cs.LG 2026
Year: 2026

We present Anchored Direct Preference Optimization (ADPO), a policy alignment method derived from first principles of KL-regularized reinforcement learning. Unlike standard approaches that treat the reference policy merely as a regularizer, we show that the optimal policy in reinforcement learning from human feedback inherently operates in a differential coordinate system, optimizing relative advantage in the form of log ratios rather than absolute probabilities. ADPO explicitly parameterizes this optimal structure through anchored logits, effectively decoupling response quality from prior popularity and creating an implicit trust region through curvature scaling. We show that this formulation unifies supervised fine-tuning, reinforcement learning, and ranking-based objectives under a single geometric perspective. Theoretically, ADPO resolves the probability smearing problem of supervised fine-tuning while avoiding the mode-seeking instability characteristic of reverse-KL methods. Empirically, the listwise ranking variant of ADPO achieves state-of-the-art performance on reasoning tasks, outperforming GRPO by 30.9 percent on Qwen3-1.7B and demonstrating superior robustness under distribution shift.
Context-aware Fairness Evaluation and Mitigation in LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Large language models often display undesirable behaviors embedded in their internal representations, undermining fairness, inconsistency drift, amplification of harmful content, and the propagation of unwanted patterns during extended dialogue and conversations. Although training-time or data-centric methods attempt to reduce these effects, they are computationally expensive, irreversible once deployed, and slow to adapt to new conversational contexts. Pruning-based methods provide a flexible and transparent way to reduce bias by adjusting the neurons responsible for certain behaviors. However, most existing approaches are static; once a neuron is removed, the model loses the ability to adapt when the conversation or context changes. To address this, we propose a dynamic, reversible, pruning-based framework that detects context-aware neuron activations and applies adaptive masking to modulate their influence during generation. Our inference-time solution provides fine-grained, memory-aware mitigation with knowledge-preserved, more coherent behavior across multilingual single- and multi-turn dialogues, enabling dynamic fairness control in real-world conversational AI.
Position: Many generalization measures for deep learning are fragile
Venue: arXiv cs.LG 2026
Year: 2026

In this position paper, we argue that many post-mortem generalization measures -- those computed on trained networks -- are \textbf{fragile}: small training modifications that barely affect the performance of the underlying deep neural network can substantially change a measure's value, trend, or scaling behavior. For example, minor hyperparameter changes, such as learning rate adjustments or switching between SGD variants, can reverse the slope of a learning curve in widely used generalization measures such as the path norm. We also identify subtler forms of fragility. For instance, the PAC-Bayes origin measure is regarded as one of the most reliable, and is indeed less sensitive to hyperparameter tweaks than many other measures. However, it completely fails to capture differences in data complexity across learning curves. This data fragility contrasts with the function-based marginal-likelihood PAC-Bayes bound, which does capture differences in data-complexity, including scaling behavior, in learning curves, but which is not a post-mortem measure. Beyond demonstrating that many post-mortem bounds are fragile, this position paper also argues that developers of new measures should explicitly audit them for fragility.
CoRECT: A Framework for Evaluating Embedding Compression Techniques at Scale
Venue: arXiv cs.IR 2026
Year: 2026

Dense retrieval systems have proven to be effective across various benchmarks, but require substantial memory to store large search indices. Recent advances in embedding compression show that index sizes can be greatly reduced with minimal loss in ranking quality. However, existing studies often overlook the role of corpus complexity -- a critical factor, as recent work shows that both corpus size and document length strongly affect dense retrieval performance. In this paper, we introduce CoRECT (Controlled Retrieval Evaluation of Compression Techniques), a framework for large-scale evaluation of embedding compression methods, supported by a newly curated dataset collection. To demonstrate its utility, we benchmark eight representative types of compression methods. Notably, we show that non-learned compression achieves substantial index size reduction, even on up to 100M passages, with statistically insignificant performance loss. However, selecting the optimal compression method remains challenging, as performance varies across models. Such variability highlights the necessity of CoRECT to enable consistent comparison and informed selection of compression methods. All code, data, and results are available on GitHub and HuggingFace.
LLM Unlearning with LLM Beliefs
Venue: arXiv cs.LG 2026
Year: 2026

Large language models trained on vast corpora inherently risk memorizing sensitive or harmful content, which may later resurface in their outputs. Prevailing unlearning methods generally rely on gradient ascent and its variants to lower the probability of specific target responses. However, we find that this strategy induces a critical side effect: probability mass is redistributed into high-likelihood regions, often corresponding to semantically related rephrasings of the targets. We refer to this as the squeezing effect, which explains why many methods yield merely spurious unlearning, a problem further obscured by automated metrics (e.g., ROUGE, truth ratio) that misreport actual success. To address this, we propose a bootstrapping (BS) framework that explicitly links the squeezing effect with the model's own high-confidence generations, namely its model beliefs. Since model beliefs inherently capture the very high-likelihood regions where probability mass is squeezed, incorporating them into the unlearning objective directly counters the squeezing effect. By jointly suppressing both target responses and model beliefs, BS-T (token) attenuates high-probability tokens, whereas BS-S (sequence) removes entire high-confidence generations, together achieving more thorough forgetting while preserving utility. Extensive experiments across diverse benchmarks with various model families confirm the effectiveness of our approach.
ELUTQ: Optimizing Quantization Accuracy under LUT-Based Computation for Edge LLMs
Venue: arXiv cs.LG 2026
Year: 2026

Weight quantization effectively reduces memory consumption and enable the deployment of Large Language Models on edge devices, yet existing hardware-friendly methods often rely on uniform quantization, which suffers from poor weight-distribution fitting and high dequantization overhead under low-bit settings. In this paper, we propose ELUTQ, an efficient quantization framework featuring a novel quantization format termed Hierarchical Linear Quantization (HLQ). HLQ is designed to better capture the statistical characteristics of weights and eliminate dequantization overhead using Bit-serial LUT-based GEMM operations. HLQ significantly improves model accuracy under low-bit settings and achieves performance comparable to QAT methods without any retraining of the weights. Moreover, an optimized quantization pipeline is integrated into ELUTQ, enabling it to complete the quantization of LLaMA 3.1-70B using only 64 GB of CPU memory and 48 GB of VRAM, reducing the hardware requirements for large-scale model quantization. To enable efficient deployment on edge devices, ELUTQ designs high-performance kernels to support end-to-end inference. Our 2-bit LLaMA3.1-8B achieves 1.5x speedup over AWQ on RTX 3090. Code is available at https://github.com/Nkniexin/ELUTQ.