OpenRaiser/Intern-Atlas huggingface dataset:
P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents P2U-SLAM, a visual Simultaneous Localization And Mapping (SLAM) system with a wide Field of View (FoV) camera, which utilizes pose uncertainty and point uncertainty. While the wide FoV enables considerable repetitive observations of historical map points for matching cross-view features, the data properties of the historical map points and the poses of historical keyframes have changed during the optimization process. The neglect of data property changes results in the lack of partial information matrices in optimization, increasing the risk of long-term positioning performance degradation. The purpose of our research is to mitigate the risks posed by wide-FoV visual input to the SLAM system. Based on the conditional probability model, this work reveals the definite impacts of the above data properties changes on the optimization process, concretizes these impacts as point uncertainty and pose uncertainty, and gives their specific mathematical form. P2U-SLAM embeds point uncertainty into the tracking module and pose uncertainty into the local mapping module respectively, and updates these uncertainties after each optimization operation including local mapping, map merging, and loop closing. We present an exhaustive evaluation on 27 sequences from two popular public datasets with wide-FoV visual input. P2U-SLAM shows excellent performance compared with other state-of-the-art methods. The source code will be made publicly available at https://github.com/BambValley/P2U-SLAM.
DynamicNER: A Dynamic, Multilingual, and Fine-Grained Dataset for LLM-based Named Entity Recognition
Venue: arXiv cs.CL 2026
Year: 2026

The advancements of Large Language Models (LLMs) have spurred a growing interest in their application to Named Entity Recognition (NER) methods. However, existing datasets are primarily designed for traditional machine learning methods and are inadequate for LLM-based methods, in terms of corpus selection and overall dataset design logic. Moreover, the prevalent fixed and relatively coarse-grained entity categorization in existing datasets fails to adequately assess the superior generalization and contextual understanding capabilities of LLM-based methods, thereby hindering a comprehensive demonstration of their broad application prospects. To address these limitations, we propose DynamicNER, the first NER dataset designed for LLM-based methods with dynamic categorization, introducing various entity types and entity type lists for the same entity in different context, leveraging the generalization of LLM-based NER better. The dataset is also multilingual and multi-granular, covering 8 languages and 155 entity types, with corpora spanning a diverse range of domains. Furthermore, we introduce CascadeNER, a novel NER method based on a two-stage strategy and lightweight LLMs, achieving higher accuracy on fine-grained tasks while requiring fewer computational resources. Experiments show that DynamicNER serves as a robust and effective benchmark for LLM-based NER methods. Furthermore, we also conduct analysis for traditional methods and LLM-based methods on our dataset. Our code and dataset are openly available at https://github.com/Astarojth/DynamicNER.
Impacts of aspect ratio on task accuracy in parallel coordinates
Venue: arXiv cs.HC 2026
Year: 2026

Parallel coordinates plots (PCPs) are a widely used visualization method, particularly for exploratory analysis. Previous studies show that PCPs perform much more poorly for estimating positive correlation than for estimating negative correlation, but it is not clear if this is affected by the aspect ratio (AR) of the axes pairs. In this paper, we present the results from an evaluation of the effect of the aspect ratio of axes in static (non-interactive) PCPs for two tasks: a) linear correlation estimation and b) value tracing. For both tasks we find strong evidence that AR influences accuracy, including ARs greater than 1:1 being much more performant for estimation of positive correlations. We provide a set of recommendations for visualization designers using PCPs for correlation or value-tracing tasks, based on the data characteristics and expected use cases.
Comparing the Hardness of Online Minimization and Maximization Problems with Predictions
Venue: arXiv cs.DS 2026
Year: 2026

We build on the work of Berg, Boyar, Favrholdt, and Larsen, who developed a complexity theory for online problems with and without predictions (IJTCS-FAW, volume 15828 of LNCS, Springer, 2025) where they define a hierarchy of complexity classes that classifies online problems based on the competitiveness of best possible deterministic online algorithms for each problem. Their work focused on online minimization problems and we continue their work by considering online maximization problems. We compare the competitiveness of the base online minimization problem from Berg, Boyar, Favrholdt, and Larsen, Asymmetric String Guessing, to the competitiveness of Online Bounded Degree Independent Set. Formally, we show that there exists algorithms of any given competitiveness for Asymmetric String Guessing if and only if there exists algorithms of the same competitiveness for Online Bounded Degree Independent Set, while respecting that the competitiveness of algorithms is measured differently for minimization and maximization problems. Beyond this, we give several hardness preserving reductions between different online maximization problems, which imply new membership, hardness, and completeness results for the complexity classes. Finally, we show new positive and negative algorithmic results for (among others) Online Bounded Degree Independent Set, Online Interval Scheduling, Online Set Packing, and Online Bounded Degree Clique.
FPBoost: Fully Parametric Gradient Boosting for Survival Analysis
Venue: arXiv cs.LG 2026
Year: 2026

Survival analysis is a statistical framework for modeling time-to-event data. It plays a pivotal role in medicine, reliability engineering, and social science research, where understanding event dynamics even with few data samples is critical. Recent advancements in machine learning, particularly those employing neural networks and decision trees, have introduced sophisticated algorithms for survival modeling. However, many of these methods rely on restrictive assumptions about the underlying event-time distribution, such as proportional hazard, time discretization, or accelerated failure time. In this study, we propose FPBoost, a survival model that combines a weighted sum of fully parametric hazard functions with gradient boosting. Distribution parameters are estimated with decision trees trained by maximizing the full survival likelihood. We show how FPBoost is a universal approximator of hazard functions, offering full event-time modeling flexibility while maintaining interpretability through the use of well-established parametric distributions. We evaluate concordance and calibration of FPBoost across multiple benchmark datasets, showcasing its robustness and versatility as a new tool for survival estimation.
Lightweight and Resilient Signatures for Cloud-Assisted Embedded IoT Systems
Venue: arXiv cs.CR 2026
Year: 2026

Digital signatures provide scalable authentication with non-repudiation and are vital tools for the Internet of Things (IoT). Many IoT applications harbor vast quantities of resource-limited devices often used with cloud computing. However, key compromises (e.g., physical, malware) pose a significant threat to IoTs due to increased attack vectors and open operational environments. Forward security and distributed key management are critical breach-resilient countermeasures to mitigate such threats. Yet forward-secure signatures are exorbitantly costly for low-end IoTs, while cloud-assisted approaches suffer from centrality or non-colluding semi-honest servers. In this work, we create two novel digital signatures called Lightweight and Resilient Signatures with Hardware Assistance (LRSHA) and its Forward-secure version (FLRSHA). They offer a near-optimally efficient signing with small keys and signature sizes. We synergize various design strategies, such as commitment separation to eliminate costly signing operations and hardware-assisted distributed servers to enable breach-resilient verification. Our schemes achieve magnitudes of faster forward-secure signing and compact key/signature sizes without suffering from strong security assumptions (non-colluding, central servers) or a heavy burden on the verifier (extreme storage, computation). We formally prove the security of our schemes and validate their performance with full-fledged open-source implementations on both commodity hardware and 8-bit AVR microcontrollers.
One Model, Any Conjunctive Query: Graph Neural Networks for Answering Queries over Incomplete Knowledge Graphs
Venue: arXiv cs.LG 2026
Year: 2026

Motivated by the incompleteness of modern knowledge graphs, a new setup for query answering has emerged, where the goal is to predict answers that do not necessarily appear in the knowledge graph, but are present in its completion. In this paper, we formally introduce and study two query answering problems, namely, query answer classification and query answer retrieval. To solve these problems, we propose AnyCQ, a model that can classify answers to any conjunctive query on any knowledge graph. At the core of our framework lies a graph neural network trained using a reinforcement learning objective to answer Boolean queries. Trained only on simple, small instances, AnyCQ generalizes to large queries of arbitrary structure, reliably classifying and retrieving answers to queries that existing approaches fail to handle. This is empirically validated through our newly proposed, challenging benchmarks. Finally, we empirically show that AnyCQ can effectively transfer to completely novel knowledge graphs when equipped with an appropriate link prediction model, highlighting its potential for querying incomplete data.
An Uncertainty-Aware Generalization Framework for Cardiovascular Image Segmentation
Venue: arXiv cs.AI 2026
Year: 2026

Deep learning models have achieved significant success in segmenting cardiovascular structures, but there is a growing need to improve their generalization and robustness. Current methods often face challenges such as overfitting and limited accuracy, largely due to their reliance on large annotated datasets and limited optimization techniques. This paper introduces the UU-Mamba model, an extension of the U-Mamba architecture, designed to address these challenges in both cardiac and vascular segmentation. By incorporating Sharpness-Aware Minimization (SAM), the model enhances generalization by seeking flatter minima in the loss landscape. Additionally, we propose an uncertainty-aware loss function that integrates region-based, distribution-based, and pixel-based components, improving segmentation accuracy by capturing both local and global features. We expand our evaluations on the ImageCAS (coronary artery) and Aorta (aortic branches and zones) datasets, which present more complex segmentation challenges than the ACDC dataset (left and right ventricles) used in prior work, showcasing the model's adaptability and resilience. Our results confirm UU-Mamba's superior performance compared to leading models such as TransUNet, Swin-Unet, nnUNet, and nnFormer. We also provide a more in-depth assessment of the model's robustness and segmentation accuracy through extensive experiments.
D2D Coded Caching from Two Classes of Optimal DPDAs using Cross Resolvable Designs
Venue: arXiv cs.IT 2026
Year: 2026

Device to device (D2D) communication is one of the most promising techniques for fifth-generation and beyond wireless communication systems. This paper considers coded caching in a wireless D2D network, in which a central server initially places the data in the user cache memories, and all user demands are served through inter-user coded multicast transmissions. D2D placement delivery array (DPDA) was proposed as a tool for designing coded caching schemes with reduced subpacketization levels in a D2D network. In this paper, we first constructed three classes of DPDAs using a cross resolvable design, a group divisible design, and a newly developed block design. The resulting D2D schemes achieve low subpacketization levels while meeting the known lower bound on the transmission load of a DPDA. These classes of constructed DPDAs either simplify or generalize all existing DPDA constructions that achieve the known lower bound and have low subpacketization levels. Furthermore, a new lower bound on the transmission load of a DPDA is proposed. Two new classes of DPDAs are then constructed using a cross resolvable design and a newly developed block design, respectively. These constructions yield low-subpacketization D2D schemes and achieve the proposed lower bound on the transmission load. Compared to existing schemes with the same system parameters as those obtained from the proposed DPDAs, the proposed schemes have an advantage in either transmission load or subpacketization level or both.
Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
Venue: arXiv cs.RO 2026
Year: 2026

Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under simple velocity commands, as their actual dynamics are governed by complex whole-body movements and discrete contacts. In this work, we propose a safe navigation framework inspired by Koopman operator theory. We first train a low-level locomotion policy using deep reinforcement learning, and then capture its low-frequency, base-level dynamics by learning linearized dynamics in a high-dimensional lifted space. Then, our model-predictive controller (MPC) efficiently optimizes control signals via a standard quadratic objective and the linear dynamics constraint in the lifted space. We demonstrate that the Koopman model more accurately predicts bipedal robot trajectories than baseline approaches. We also show that the proposed navigation framework achieves improved safety with better success rates in dense environments with narrow passages.
Large-scale Benchmarks for Multimodal Recommendation with Ducho
Venue: arXiv cs.IR 2026
Year: 2026

The common multimodal recommendation pipeline involves (i) extracting multimodal features, (ii) refining their high-level representations to suit the recommendation task, (iii) optionally fusing all multimodal features, and (iv) predicting the user-item score. Although great effort has been put into designing optimal solutions for (ii-iv), to the best of our knowledge, very little attention has been devoted to exploring procedures for (i) in a rigorous way. In this respect, the existing literature outlines the large availability of multimodal datasets and the ever-growing number of large models accounting for multimodal-aware tasks, but (at the same time) an unjustified adoption of limited standardized solutions. As very recent works from the literature have begun to conduct empirical studies to assess the contribution of multimodality in recommendation, we decide to follow and complement this same research direction. To this end, this paper settles as the first attempt to offer a large-scale benchmarking for multimodal recommender systems, with a specific focus on multimodal extractors. Specifically, we take advantage of three popular and recent frameworks for multimodal feature extraction and reproducibility in recommendation, Ducho, and MMRec/Elliot, respectively, to offer a unified and ready-to-use experimental environment able to run extensive benchmarking analyses leveraging novel multimodal feature extractors. Results, largely validated under different extractors, hyper-parameters of the extractors, domains, and modalities, provide important insights on how to train and tune the next generation of multimodal recommendation algorithms.
ARLBench: Flexible and Efficient Benchmarking for Hyperparameter Optimization in Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Hyperparameters are a critical factor in reliably training well-performing reinforcement learning (RL) agents. Unfortunately, developing and evaluating automated approaches for tuning such hyperparameters is both costly and time-consuming. As a result, such approaches are often only evaluated on a single domain or algorithm, making comparisons difficult and limiting insights into their generalizability. We propose ARLBench, a benchmark for hyperparameter optimization (HPO) in RL that allows comparisons of diverse HPO approaches while being highly efficient in evaluation. To enable research into HPO in RL, even in settings with low compute resources, we select a representative subset of HPO tasks spanning a variety of algorithm and environment combinations. This selection allows for generating a performance profile of an automated RL (AutoRL) method using only a fraction of the compute previously necessary, enabling a broader range of researchers to work on HPO in RL. With the extensive and large-scale dataset on hyperparameter landscapes that our selection is based on, ARLBench is an efficient, flexible, and future-oriented foundation for research on AutoRL. Both the benchmark and the dataset are available at https://github.com/automl/arlbench.
Polynomial Universes in Homotopy Type Theory
Venue: arXiv cs.LO 2026
Year: 2026

Awodey, later with Newstead, showed how polynomial functors with extra structure (termed ``natural models'') hold within them the categorical semantics for dependent type theory. Their work presented these ideas clearly but ultimately led them outside of the usual category of polynomial functors to a particular \emph{tricategory} of polynomials in order to explain all of the structure possessed by such models. This paper builds off that work -- explicating the categorical semantics of dependent type theory by axiomatizing them entirely in terms of the usual category of polynomial functors. In order to handle the higher-categorical coherences required for such an explanation, we work with polynomial functors in the language of Homotopy Type Theory (HoTT), which allows for higher-dimensional structures to be expressed purely within this category. The move to HoTT moreover enables us to express a key additional condition on polynomial functors -- \emph{univalence} -- which is sufficient to guarantee that models of type theory expressed as univalent polynomials satisfy all higher coherences of their corresponding algebraic structures, purely in virtue of being closed under the usual constructors of dependent type theory. We call polynomial functors satisfying this condition \emph{polynomial universes}. As an example of the simplification to the theory of natural models this enables, we highlight the fact that a polynomial universe being closed under dependent product types implies the existence of a distributive law of monads, which witnesses the usual distributivity of dependent products over dependent sums.
A Photorealistic Dataset and Vision-Based Algorithm for Anomaly Detection During Proximity Operations in Lunar Orbit
Venue: arXiv cs.RO 2026
Year: 2026

NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. One key challenge is enabling the Canadarm3, the Gateway's external robotic system, to detect hazards in its environment using its onboard inspection cameras. This task is complicated by the extreme and variable lighting conditions in space. In this paper, we introduce the visual anomaly detection and localization task for the space domain and establish a benchmark based on a synthetic dataset called ALLO (Anomaly Localization in Lunar Orbit). We show that state-of-the-art visual anomaly detection methods often fail in the space domain, motivating the need for new approaches. To address this, we propose MRAD (Model Reference Anomaly Detection), a statistical algorithm that leverages the known pose of the Canadarm3 and a CAD model of the Gateway to generate reference images of the expected scene appearance. Anomalies are then identified as deviations from this model-generated reference. On the ALLO dataset, MRAD surpasses state-of-the-art anomaly detection algorithms, achieving an AP score of 62.9% at the pixel level and an AUROC score of 75.0% at the image level. Given the low tolerance for risk in space operations and the lack of domain-specific data, we emphasize the need for novel, robust, and accurate anomaly detection methods to handle the challenging visual conditions found in lunar orbit and beyond.
Probabilistic Analysis of Copyright Disputes and Generative AI Safety
Venue: arXiv cs.CY 2026
Year: 2026

This paper presents a probabilistic approach to analyzing copyright infringement disputes. Evidentiary principles shaped by case law are formalized in probabilistic terms, and the ``inverse ratio rule'' -- a controversial legal doctrine adopted by some courts -- is examined. Although this rule has faced significant criticism, a formal proof demonstrates its validity, provided it is properly defined. The probabilistic approach is further employed to study the copyright safety of generative AI. Specifically, the Near Access-Free (NAF) condition, previously proposed as a strategy for mitigating the heightened copyright infringement risks of generative AI, is evaluated. The analysis reveals limitations in its justifiability and efficacy.
CktGen: Automated Analog Circuit Design with Generative Artificial Intelligence
Venue: arXiv cs.LG 2026
Year: 2026

The automatic synthesis of analog circuits presents significant challenges. Most existing approaches formulate the problem as a single-objective optimization task, overlooking that design specifications for a given circuit type vary widely across applications. To address this, we introduce specification-conditioned analog circuit generation, a task that directly generates analog circuits based on target specifications. The motivation is to leverage existing well-designed circuits to improve automation in analog circuit design. Specifically, we propose CktGen, a simple yet effective variational autoencoder that maps discretized specifications and circuits into a joint latent space and reconstructs the circuit from that latent vector. Notably, as a single specification may correspond to multiple valid circuits, naively fusing specification information into the generative model does not capture these one-to-many relationships. To address this, we decouple the encoding of circuits and specifications and align their mapped latent space. Then, we employ contrastive training with a filter mask to maximize differences between encoded circuits and specifications. Furthermore, classifier guidance along with latent feature alignment promotes the clustering of circuits sharing the same specification, avoiding model collapse into trivial one-to-one mappings. By canonicalizing the latent space with respect to specifications, we can search for an optimal circuit that meets valid target specifications. We conduct comprehensive experiments on the open circuit benchmark and introduce metrics to evaluate cross-model consistency. Experimental results demonstrate that CktGen achieves substantial improvements over state-of-the-art methods.