OpenRaiser/Intern-Atlas huggingface dataset:
Detecting Object Tracking Failure via Sequential Hypothesis Testing
Venue: arXiv cs.CV 2026
Year: 2026

Real-time online object tracking in videos constitutes a core task in computer vision, with wide-ranging applications including video surveillance, motion capture, and robotics. Deployed tracking systems usually lack formal safety assurances to convey when tracking is reliable and when it may fail, at best relying on heuristic measures of model confidence to raise alerts. To obtain such assurances we propose interpreting object tracking as a sequential hypothesis test, wherein evidence for or against tracking failures is gradually accumulated over time. Leveraging recent advancements in the field, our sequential test (formalized as an e-process) quickly identifies when tracking failures set in whilst provably containing false alerts at a desired rate, and thus limiting potentially costly re-calibration or intervention steps. The approach is computationally light-weight, requires no extra training or fine-tuning, and is in principle model-agnostic. We propose both supervised and unsupervised variants by leveraging either ground-truth or solely internal tracking information, and demonstrate its effectiveness for two established tracking models across four video benchmarks. As such, sequential testing can offer a statistically grounded and efficient mechanism to incorporate safety assurances into real-time tracking systems.
Machine Learning-Based Classification of Jhana Advanced Concentrative Absorption Meditation (ACAM-J) using 7T fMRI
Venue: arXiv cs.LG 2026
Year: 2026

Jhana advanced concentration absorption meditation (ACAM-J) is related to profound changes in consciousness and cognitive processing, making the study of their neural correlates vital for insights into consciousness and well-being. This study evaluates whether functional MRI-derived regional homogeneity (ReHo) can be used to classify ACAM-J using machine-learning approaches. We collected group-level fMRI data from 20 advanced meditators to train the classifiers, and intensive single-case data from an advanced practitioner performing ACAM-J and control tasks to evaluate generalization. ReHo maps were computed, and features were extracted from predefined brain regions of interest. We trained multiple machine learning classifiers using stratified cross-validation to evaluate whether ReHo patterns distinguish ACAM-J from non-meditative states. Ensemble models achieved 66.82% (p < 0.05) accuracy in distinguishing ACAM-J from control conditions. Feature-importance analysis indicated that prefrontal and anterior cingulate areas contributed most to model decisions, aligning with established involvement of these regions in attentional regulation and metacognitive processes. Moreover, moderate agreement reflected in Cohen's kappa supports the feasibility of using machine learning to distinguish ACAM-J from non-meditative states. These findings advocate machine-learning's feasibility in classifying advanced meditation states, future research on neuromodulation and mechanistic models of advanced meditation.
Can we trust AI to detect healthy multilingual English speakers among the cognitively impaired cohort in the UK? An investigation using real-world conversational speech
Venue: arXiv cs.CL 2026
Year: 2026

Conversational speech often reveals early signs of cognitive decline, such as dementia and MCI. In the UK, one in four people belongs to an ethnic minority, and dementia prevalence is expected to rise most rapidly among Black and Asian communities. This study examines the trustworthiness of AI models, specifically the presence of bias, in detecting healthy multilingual English speakers among the cognitively impaired cohort, to make these tools clinically beneficial. For experiments, monolingual participants were recruited nationally (UK), and multilingual speakers were enrolled from four community centres in Sheffield and Bradford. In addition to a non-native English accent, multilinguals spoke Somali, Chinese, or South Asian languages, who were further divided into two Yorkshire accents (West and South) to challenge the efficiency of the AI tools thoroughly. Although ASR systems showed no significant bias across groups, classification and regression models using acoustic and linguistic features exhibited bias against multilingual speakers, particularly in memory, fluency, and reading tasks. This bias was more pronounced when models were trained on the publicly available DementiaBank dataset. Moreover, multilinguals were more likely to be misclassified as having cognitive decline. This study is the first of its kind to discover that, despite their strong overall performance, current AI models show bias against multilingual individuals from ethnic minority backgrounds in the UK, and they are also more likely to misclassify speakers with a certain accent (South Yorkshire) as living with a more severe cognitive decline. In this pilot study, we conclude that the existing AI tools are therefore not yet reliable for diagnostic use in these populations, and we aim to address this in future work by developing more generalisable, bias-mitigated models.
Quantization-Aware Collaborative Inference for Large Embodied AI Models
Venue: arXiv cs.LG 2026
Year: 2026

Large artificial intelligence models (LAIMs) are increasingly regarded as a core intelligence engine for embodied AI applications. However, the massive parameter scale and computational demands of LAIMs pose significant challenges for resource-limited embodied agents. To address this issue, we investigate quantization-aware collaborative inference (co-inference) for embodied AI systems. First, we develop a tractable approximation for quantization-induced inference distortion. Based on this approximation, we derive lower and upper bounds on the quantization rate-inference distortion function, characterizing its dependence on LAIM statistics, including the quantization bit-width. Next, we formulate a joint quantization bit-width and computation frequency design problem under delay and energy constraints, aiming to minimize the distortion upper bound while ensuring tightness through the corresponding lower bound. Extensive evaluations validate the proposed distortion approximation, the derived rate-distortion bounds, and the effectiveness of the proposed joint design. Particularly, simulations and real-world testbed experiments demonstrate the effectiveness of the proposed joint design in balancing inference quality, latency, and energy consumption in edge embodied AI systems.
Bus-Conditioned Zero-Shot Trajectory Generation via Task Arithmetic
Venue: arXiv cs.LG 2026
Year: 2026

Mobility trajectory data provide essential support for smart city applications. However, such data are often difficult to obtain. Meanwhile, most existing trajectory generation methods implicitly assume that at least a subset of real mobility data from target city is available, which limits their applicability in data-inaccessible scenarios. In this work, we propose a new problem setting, called bus-conditioned zero-shot trajectory generation, where no mobility trajectories from a target city are accessible. The generation process relies solely on source city mobility data and publicly available bus timetables from both cities. Under this setting, we propose MobTA, the first approach to introduce task arithmetic into trajectory generation. MobTA models the parameter shift from bus-timetable-based trajectory generation to mobility trajectory generation in source city, and applies this shift to target city through arithmetic operations on task vectors. This enables trajectory generation that reflects target-city mobility patterns without requiring any real mobility data from it. Furthermore, we theoretically analyze MobTA's stability across base and instruction-tuned LLMs. Extensive experiments show that MobTA significantly outperforms existing methods, and achieves performance close to models finetuned using target city mobility trajectories.
Eventizing Traditionally Opaque Binary Neural Networks as 1-safe Petri net Models
Venue: arXiv cs.LG 2026
Year: 2026

Binary Neural Networks (BNNs) offer a low-complexity and energy-efficient alternative to traditional full-precision neural networks by constraining their weights and activations to binary values. However, their discrete, highly non-linear behavior makes them difficult to explain, validate and formally verify. As a result, BNNs remain largely opaque, limiting their suitability in safety-critical domains, where causal transparency and behavioral guarantees are essential. In this work, we introduce a Petri net (PN)-based framework that captures the BNN's internal operations as event-driven processes. By "eventizing" their operations, we expose their causal relationships and dependencies for a fine-grained analysis of concurrency, ordering, and state evolution. Here, we construct modular PN blueprints for core BNN components including activation, gradient computation and weight updates, and compose them into a complete system-level model. We then validate the composed PN against a reference software-based BNN, verify it against reachability and structural checks to establish 1-safeness, deadlock-freeness, mutual exclusion and correct-by-construction causal sequencing, before we assess its scalability and complexity at segment, component, and system levels using the automated measurement tools in Workcraft. Overall, this framework enables causal introspection of transparent and event-driven BNNs that are amenable to formal reasoning and verification.
Bloom Filter Look-Up Tables for Private and Secure Distributed Databases in Web3 (Revised Version)
Venue: arXiv cs.DC 2026
Year: 2026

The rapid growth of decentralized systems in theWeb3 ecosystem has introduced numerous challenges, particularly in ensuring data security, privacy, and scalability [3, 8]. These systems rely heavily on distributed architectures, requiring robust mechanisms to manage data and interactions among participants securely. One critical aspect of decentralized systems is key management, which is essential for encrypting files, securing database segments, and enabling private transactions. However, securely managing cryptographic keys in a distributed environment poses significant risks, especially when nodes in the network can be compromised [9]. This research proposes a decentralized database scheme specifically designed for secure and private key management. Our approach ensures that cryptographic keys are not stored explicitly at any location, preventing their discovery even if an attacker gains control of multiple nodes. Instead of traditional storage, keys are encoded and distributed using the BFLUT (Bloom Filter for Private Look-Up Tables) algorithm [7], which enables secure retrieval without direct exposure. The system leverages OrbitDB [4], IPFS [1], and IPNS [10] for decentralized data management, providing robust support for consistency, scalability, and simultaneous updates. By combining these technologies, our scheme enhances both security and privacy while maintaining high performance and reliability. Our findings demonstrate the system's capability to securely manage keys, prevent unauthorized access, and ensure privacy, making it a foundational solution for Web3 applications requiring decentralized security.
Monocular Markerless Motion Capture Enables Quantitative Assessment of Upper Extremity Reachable Workspace
Venue: arXiv cs.CV 2026
Year: 2026

To validate a clinically accessible approach for quantifying the Upper Extremity Reachable Workspace (UERW) using a single (monocular) camera and Artificial Intelligence (AI)-driven Markerless Motion Capture (MMC) for biomechanical analysis. Objective assessment and validation of these techniques for specific clinically oriented tasks are crucial for their adoption in clinical motion analysis. AI-driven monocular MMC reduces the barriers to adoption in the clinic and has the potential to reduce the overhead for analysis of this common clinical assessment. Nine adult participants with no impairments performed the standardized UERW task, which entails reaching targets distributed across a virtual sphere centered on the torso, with targets displayed in a VR headset. Movements were simultaneously captured using a marker-based motion capture system and a set of eight FLIR cameras. We performed monocular video analysis on two of these video camera views to compare a frontal and offset camera configurations. The frontal camera orientation demonstrated strong agreement with the marker-based reference, exhibiting a minimal mean bias of $0.61 \pm 0.12$ \% reachspace reached per octanct (mean $\pm$ standard deviation). In contrast, the offset camera view underestimated the percent workspace reached ($-5.66 \pm 0.45$ \% reachspace reached). Conclusion: The findings support the feasibility of a frontal monocular camera configuration for UERW assessment, particularly for anterior workspace evaluation where agreement with marker-based motion capture was highest. The overall performance demonstrates clinical potential for practical, single-camera assessments. This study provides the first validation of monocular MMC system for the assessment of the UERW task. By reducing technical complexity, this approach enables broader implementation of quantitative upper extremity mobility assessment.
FlexAM: Flexible Appearance-Motion Decomposition for Versatile Video Generation Control
Venue: arXiv cs.CV 2026
Year: 2026

Effective and generalizable control in video generation remains a significant challenge. While many methods rely on ambiguous or task-specific signals, we argue that a fundamental disentanglement of "appearance" and "motion" provides a more robust and scalable pathway. We propose FlexAM, a unified framework built upon a novel 3D control signal. This signal represents video dynamics as a point cloud, introducing three key enhancements: multi-frequency positional encoding to distinguish fine-grained motion, depth-aware positional encoding, and a flexible control signal for balancing precision and generative quality. This representation allows FlexAM to effectively disentangle appearance and motion, enabling a wide range of tasks including I2V/V2V editing, camera control, and spatial object editing. Extensive experiments demonstrate that FlexAM achieves superior performance across all evaluated tasks.
Imitating What Works: Simulation-Filtered Modular Policy Learning from Human Videos
Venue: arXiv cs.RO 2026
Year: 2026

The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new source of highly scalable data for robot learning. Here, we tackle prehensile manipulation, in which tasks involve grasping an object before performing various post-grasp motions. Human videos offer strong signals for learning the post-grasp motions, but they are less useful for learning the prerequisite grasping behaviors, especially for robots without human-like hands. A promising way forward is to use a modular policy design, leveraging a dedicated grasp generator to produce stable grasps. However, arbitrary stable grasps are often not task-compatible, hindering the robot's ability to perform the desired downstream motion. To address this challenge, we present Perceive-Simulate-Imitate (PSI), a framework for training a modular manipulation policy using human video motion data processed by paired grasp-trajectory filtering in simulation. This simulation step extends the trajectory data with grasp suitability labels, which allows for supervised learning of task-oriented grasping capabilities. We show through real-world experiments that our framework can be used to learn precise manipulation skills efficiently without any robot data, resulting in significantly more robust performance than using a grasp generator naively.
Traffic Simulation in Ad Hoc Network of Flying UAVs with Generative AI Adaptation
Venue: arXiv cs.NI 2026
Year: 2026

The purpose of this paper is to model traffic in Ad Hoc network of Unmanned Aerial Vehicles and demonstrate a way for adapting communication channel using Artificial Intelligence. The modeling was based on the original model of Ad Hoc network including 20 Unmanned Aerial Vehicles. The dependences of packet loss on the packet size for different transmission powers, on the packet size for different frequencies, on Unmanned Aerial Vehicles flight area and on the number of Unmanned Aerial Vehicles were obtained and analyzed. The implementation of adaptive data transmission is presented in the program code. The dependences of packet loss, power and transaction size on time during Artificial Intelligence adaptation are shown.
CLF-ULP: Cross-Layer Fusion-Based Link Prediction in Dynamic Multiplex UAV Networks
Venue: arXiv cs.NI 2026
Year: 2026

In complex Unmanned Aerial Vehicle (UAV) networks, UAVs can establish dynamic and heterogeneous links with one another for various purposes, such as communication coverage, collective sensing, and task collaboration. These interactions give rise to dynamic multiplex UAV networks, where each layer represents a distinct type of interaction among UAVs. Understanding how such links form and evolve is both of theoretical interest and of practical importance for the control and maintenance of networked UAV systems. In this paper, we first develop a dynamic multiplex network model for UAV networks to characterize their dynamic and heterogeneous link properties. We then propose a cross-layer fusion-based deep learning model, termed CLF-ULP, to predict future inter-UAV links based on historical topology data. CLF-ULP incorporates graph attention networks to extract topological features within each layer and perform a cross-layer attention fusion to capture inter-layer dependencies. Furthermore, a shared-parameter long short-term memory network is employed to model the temporal evolution of each layer. To improve embedding quality and link prediction performance, we develop a joint loss function that considers both intra-layer and inter-layer UAV adjacency. Extensive experiments on simulated UAV datasets under diverse mobility patterns demonstrate that CLF-ULP achieves state-of-the-art performance in predicting links within dynamic multiplex UAV networks.
Enhancing NOMA Handover Performance Using Hybrid AI-Driven Modulated Deterministic Sequences
Venue: arXiv cs.NI 2026
Year: 2026

Non-Orthogonal Multiple Access (NOMA) is an information-theoretical approach used in 5G networks to improve spectral efficiency, but it is prone to interference during handovers. In this work, we propose a hybrid method that combines Gold-Walsh modulated sequences with Deep Q-Networks (DQN) to intelligently manage interference during NOMA handovers. This method optimizes sequence selection and power allocation dynamically. As a result, it achieves a 95.2\% handover success rate, which is an improvement of up to 23.1 percentage points. It also delivers up to 28\% throughput gain and reduces interference by up to 41\% in various mobility scenarios. All improvements are statistically significant (\(p < 0.001\)). The DQN trains in \(4{,}200 \pm 400\) episodes with a complexity of \(O(N \log N + d \cdot h + \log B)\) and can be deployed in real-time.
Lang2Act: Fine-Grained Visual Reasoning through Self-Emergent Linguistic Toolchains
Venue: arXiv cs.AI 2026
Year: 2026

Visual Retrieval-Augmented Generation (VRAG) enhances Vision-Language Models (VLMs) by incorporating external visual documents to address a given query. Existing VRAG frameworks usually depend on rigid, pre-defined external tools to extend the perceptual capabilities of VLMs, typically by explicitly separating visual perception from subsequent reasoning processes. However, this decoupled design can lead to unnecessary loss of visual information, particularly when image-based operations such as cropping are applied. In this paper, we propose Lang2Act, which enables fine-grained visual perception and reasoning through self-emergent linguistic toolchains. Rather than invoking fixed external engines, Lang2Act collects self-emergent actions as linguistic tools and leverages them to enhance the visual perception capabilities of VLMs. To support this mechanism, we design a two-stage Reinforcement Learning (RL)-based training framework. Specifically, the first stage optimizes VLMs to self-explore high-quality actions for constructing a reusable linguistic toolbox, and the second stage further optimizes VLMs to exploit these linguistic tools for downstream reasoning effectively. Experimental results demonstrate the effectiveness of Lang2Act in substantially enhancing the visual perception capabilities of VLMs, achieving performance improvements of over 4%. All code and data are available at https://github.com/NEUIR/Lang2Act.
Real-World Design and Deployment of an Embedded GenAI-powered 9-1-1 Calltaking Training System: Experiences and Lessons Learned
Venue: arXiv cs.CY 2026
Year: 2026

Emergency call-takers form the first operational link in public safety response, handling over 240 million calls annually while facing a sustained training crisis: staffing shortages exceed 25\% in many centers, and preparing a single new hire can require up to 720 hours of one-on-one instruction that removes experienced personnel from active duty. Traditional training approaches struggle to scale under these constraints, limiting both coverage and feedback timeliness. In partnership with Metro Nashville Department of Emergency Communications (MNDEC), we designed, developed, and deployed a GenAI-powered call-taking training system under real-world constraints. Over six months, deployment scaled from initial pilot to 190 operational users across 1,120 training sessions, exposing systematic challenges around system delivery, rigor, resilience, and human factors that remain largely invisible in controlled or purely simulated evaluations. By analyzing deployment logs capturing 98,429 user interactions, organizational processes, and stakeholder engagement patterns, we distill four key lessons, each coupled with concrete design and governance practices. These lessons provide grounded guidance for researchers and practitioners seeking to embed AI-driven training systems in safety-critical public sector environments where embedded constraints fundamentally shape socio-technical design.
Global AI Bias Audit for Technical Governance
Venue: arXiv cs.CY 2026
Year: 2026

This paper presents the outputs of the exploratory phase of a global audit of Large Language Models (LLMs) project. In this exploratory phase, I used the Global AI Dataset (GAID) Project as a framework to stress-test the Llama-3 8B model and evaluate geographic and socioeconomic biases in technical AI governance awareness. By stress-testing the model with 1,704 queries across 213 countries and eight technical metrics, I identified a significant digital barrier and gap separating the Global North and South. The results indicate that the model was only able to provide number/fact responses in 11.4% of its query answers, where the empirical validity of such responses was yet to be verified. The findings reveal that AI's technical knowledge is heavily concentrated in higher-income regions, while lower-income countries from the Global South are subject to disproportionate systemic information gaps. This disparity between the Global North and South poses concerning risks for global AI safety and inclusive governance, as policymakers in underserved regions may lack reliable data-driven insights or be misled by hallucinated facts. This paper concludes that current AI alignment and training processes reinforce existing geoeconomic and geopolitical asymmetries, and urges the need for more inclusive data representation to ensure AI serves as a truly global resource.