OpenRaiser/Intern-Atlas huggingface dataset:
Geometric Observability Index: An Operator-Theoretic Framework for Per-Feature Sensitivity, Weak Observability, and Dynamic Effects in SE(3) Pose Estimation
Venue: arXiv cs.CV 2026
Year: 2026

We present a unified operator-theoretic framework for analyzing per-feature sensitivity in camera pose estimation on the Lie group SE(3). Classical sensitivity tools - conditioning analyses, Euclidean perturbation arguments, and Fisher information bounds - do not explain how individual image features influence the pose estimate, nor why dynamic or inconsistent observations can disproportionately distort modern SLAM and structure-from-motion systems. To address this gap, we extend influence function theory to matrix Lie groups and derive an intrinsic perturbation operator for left-trivialized M-estimators on SE(3). The resulting Geometric Observability Index (GOI) quantifies the contribution of a single measurement through the curvature operator and the Lie algebraic structure of the observable subspace. GOI admits a spectral decomposition along the principal directions of the observable curvature, revealing a direct correspondence between weak observability and amplified sensitivity. In the population regime, GOI coincides with the Fisher information geometry on SE(3), yielding a single-measurement analogue of the Cramer-Rao bound. The same spectral mechanism explains classical degeneracies such as pure rotation and vanishing parallax, as well as dynamic feature amplification along weak curvature directions. Overall, GOI provides a geometrically consistent description of measurement influence that unifies conditioning analysis, Fisher information geometry, influence function theory, and dynamic scene detectability through the spectral geometry of the curvature operator. Because these quantities arise directly within Gauss-Newton pipelines, the curvature spectrum and GOI also yield lightweight, training-free diagnostic signals for identifying dynamic features and detecting weak observability configurations without modifying existing SLAM architectures.
Mode-Dependent Rectification for Stable PPO Training
Venue: arXiv cs.LG 2026
Year: 2026

Mode-dependent architectural components (layers that behave differently during training and evaluation, such as Batch Normalization or dropout) are commonly used in visual reinforcement learning but can destabilize on-policy optimization. We show that in Proximal Policy Optimization (PPO), discrepancies between training and evaluation behavior induced by Batch Normalization lead to policy mismatch, distributional drift, and reward collapse. We propose Mode-Dependent Rectification (MDR), a lightweight dual-phase training procedure that stabilizes PPO under mode-dependent layers without architectural changes. Experiments across procedurally generated games and real-world patch-localization tasks demonstrate that MDR consistently improves stability and performance, and extends naturally to other mode-dependent layers.
Reactive Knowledge Representation and Asynchronous Reasoning
Venue: arXiv cs.AI 2026
Year: 2026

Exact inference in complex probabilistic models often incurs prohibitive computational costs. This challenge is particularly acute for autonomous agents in dynamic environments that require frequent, real-time belief updates. Existing methods are often inefficient for ongoing reasoning, as they re-evaluate the entire model upon any change, failing to exploit that real-world information streams have heterogeneous update rates. To address this, we approach the problem from a reactive, asynchronous, probabilistic reasoning perspective. We first introduce Resin (Reactive Signal Inference), a probabilistic programming language that merges probabilistic logic with reactive programming. Furthermore, to provide efficient and exact semantics for Resin, we propose Reactive Circuits (RCs). Formulated as a meta-structure over Algebraic Circuits and asynchronous data streams, RCs are time-dynamic Directed Acyclic Graphs that autonomously adapt themselves based on the volatility of input signals. In high-fidelity drone swarm simulations, our approach achieves several orders of magnitude of speedup over frequency-agnostic inference. We demonstrate that RCs' structural adaptations successfully capture environmental dynamics, significantly reducing latency and facilitating reactive real-time reasoning. By partitioning computations based on the estimated Frequency of Change in the asynchronous inputs, large inference tasks can be decomposed into individually memoized sub-problems. This ensures that only the specific components of a model affected by new information are re-evaluated, drastically reducing redundant computation in streaming contexts.
Rewards as Labels: Revisiting RLVR from a Classification Perspective
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards has recently advanced the capabilities of Large Language Models in complex reasoning tasks by providing explicit rule-based supervision. Among RLVR methods, GRPO and its variants have achieved strong empirical performance. Despite their success, we identify that they suffer from Gradient Misassignment in Positives and Gradient Domination in Negatives, which lead to inefficient and suboptimal policy updates. To address these issues, we propose Rewards as Labels (REAL), a novel framework that revisits verifiable rewards as categorical labels rather than scalar weights, thereby reformulating policy optimization as a classification problem. Building on this, we further introduce anchor logits to enhance policy learning. Our analysis reveals that REAL induces a monotonic and bounded gradient weighting, enabling balanced gradient allocation across rollouts and effectively mitigating the identified mismatches. Extensive experiments on mathematical reasoning benchmarks show that REAL improves training stability and consistently outperforms GRPO and strong variants such as DAPO. On the 1.5B model, REAL improves average Pass@1 over DAPO by 6.7%. These gains further scale to 7B model, REAL continues to outperform DAPO and GSPO by 6.2% and 1.7%, respectively. Notably, even with a vanilla binary cross-entropy, REAL remains stable and exceeds DAPO by 4.5% on average.
Joint Embedding Variational Bayes
Venue: arXiv cs.LG 2026
Year: 2026

We introduce Variational Joint Embedding (VJE), a framework that synthesizes joint embedding and variational inference to enable self-supervised learning of probabilistic representations in a reconstruction-free, non-contrastive setting. Compared to energy-based predictive objectives that optimize pointwise discrepancies, VJE maximizes a symmetric conditional evidence lower bound (ELBO) for a latent-variable model defined directly on encoder embeddings. We instantiate the conditional likelihood with a heavy-tailed Student-$t$ model using a polar decomposition that explicitly decouples directional and radial factors to prevent norm-induced instabilities during training. VJE employs an amortized inference network to parameterize a diagonal Gaussian variational posterior whose feature-wise variances are shared with the likelihood scale to capture anisotropic uncertainty without auxiliary projection heads. Across ImageNet-1K, CIFAR-10/100, and STL-10, VJE achieves performance comparable to standard non-contrastive baselines under linear and k-NN evaluation. We further validate these probabilistic semantics through one-class CIFAR-10 anomaly detection, where likelihood-based scoring under the proposed model outperforms comparable self-supervised baselines.
Empowering Time Series Analysis with Large-Scale Multimodal Pretraining
Venue: arXiv cs.LG 2026
Year: 2026

While existing time series foundation models primarily rely on large-scale unimodal pretraining, they lack complementary modalities to enhance time series understanding. Building multimodal foundation models is a natural next step, but it faces key challenges: 1) lack of a unified multimodal pretraining paradigm and large-scale multimodal corpora for time series analysis; 2) how to effectively integrate heterogeneous modalities and enhance model generalization. To address these challenges, we take an early step toward multimodal foundation models for time series analysis. We first propose a multimodal pretraining paradigm that leverages time series with endogenous modalities (derived images and text) and exogenous knowledge (real-world news), providing a comprehensive multi-view perspective for time series analysis. To support this, we develop an automated data construction pipeline to curate MM-TS, the first large-scale multimodal time series dataset spanning six domains, with up to one billion points. Then we propose HORAI, a frequency-enhanced multimodal foundation model. It integrates two core components: the Frequency-enhanced Cross-Modality Encoder and the Time-Frequency Decoder, designed to effectively fuse multimodal features and enhance model generalization across modalities and domains. After pretraining on MM-TS, HORAI achieves state-of-the-art zero-shot performance on time series forecasting and anomaly detection tasks, demonstrating strong generalization.
End-to-End Compression for Tabular Foundation Models
Venue: arXiv cs.LG 2026
Year: 2026

The long-standing dominance of gradient-boosted decision trees for tabular data has recently been challenged by in-context learning tabular foundation models. In-context learning methods fit and predict in one forward pass without parameter updates by leveraging the training data as context for predicting on query test points. While recent tabular foundation models achieve state-of-the-art performance, their transformer architecture based on the attention mechanism has quadratic complexity regarding dataset size, which in turn increases the overhead on training and inference time, and limits the capacity of the models to handle large-scale datasets. In this work, we propose TACO, an end-to-end tabular compression model that compresses the training dataset in a latent space. We test our method on the TabArena benchmark, where our proposed method is up to 94x faster in inference time, while consuming up to 97\% less memory compared to the state-of-the-art tabular transformer architecture, all while retaining performance without significant degradation. Lastly, our method not only scales better with increased dataset sizes, but it also achieves better performance compared to other baselines.
Fast Private Adaptive Query Answering for Large Data Domains
Venue: arXiv cs.DB 2026
Year: 2026

Privately releasing marginals of a tabular dataset is a foundational problem in differential privacy. However, state-of-the-art mechanisms suffer from a computational bottleneck when marginal estimates are reconstructed from noisy measurements. Recently, residual queries were introduced and shown to lead to highly efficient reconstruction in the batch query answering setting. We introduce new techniques to integrate residual queries into state-of-the-art adaptive mechanisms such as AIM. Our contributions include a novel conceptual framework for residual queries using multi-dimensional arrays, lazy updating strategies, and adaptive optimization of the per-round privacy budget allocation. Together these contributions reduce error, improve speed, and simplify residual query operations. We integrate these innovations into a new mechanism (AIM+GReM), which improves AIM by using fast residual-based reconstruction instead of a graphical model approach. Our mechanism is orders of magnitude faster than the original framework and demonstrates competitive error and greatly improved scalability.
Perception-Based Beliefs for POMDPs with Visual Observations
Venue: arXiv cs.LG 2026
Year: 2026

Partially observable Markov decision processes (POMDPs) are a principled planning model for sequential decision-making under uncertainty. Yet, real-world problems with high-dimensional observations, such as camera images, remain intractable for traditional belief- and filtering-based solvers. To tackle this problem, we introduce the Perception-based Beliefs for POMDPs framework (PBP), which complements such solvers with a perception model. This model takes the form of an image classifier which maps visual observations to probability distributions over states. PBP incorporates these distributions directly into belief updates, so the underlying solver does not need to reason explicitly over high-dimensional observation spaces. We show that the belief update of PBP coincides with the standard belief update if the image classifier is exact. Moreover, to handle classifier imprecision, we incorporate uncertainty quantification and introduce two methods to adjust the belief update accordingly. We implement PBP using two traditional POMDP solvers and empirically show that (1) it outperforms existing end-to-end deep RL methods and (2) uncertainty quantification improves robustness of PBP against visual corruption.
FedRandom: Sampling Consistent and Accurate Contribution Values in Federated Learning
Venue: arXiv cs.LG 2026
Year: 2026

Federated Learning is a privacy-preserving decentralized approach for Machine Learning tasks. In industry deployments characterized by a limited number of entities possessing abundant data, the significance of a participant's role in shaping the global model becomes pivotal given that participation in a federation incurs costs, and participants may expect compensation for their involvement. Additionally, the contributions of participants serve as a crucial means to identify and address potential malicious actors and free-riders. However, fairly assessing individual contributions remains a significant hurdle. Recent works have demonstrated a considerable inherent instability in contribution estimations across aggregation strategies. While employing a different strategy may offer convergence benefits, this instability can have potentially harming effects on the willingness of participants in engaging in the federation. In this work, we introduce FedRandom, a novel mitigation technique to the contribution instability problem. Tackling the instability as a statistical estimation problem, FedRandom allows us to generate more samples than when using regular FL strategies. We show that these additional samples provide a more consistent and reliable evaluation of participant contributions. We demonstrate our approach using different data distributions across CIFAR-10, MNIST, CIFAR-100 and FMNIST and show that FedRandom reduces the overall distance to the ground truth by more than a third in half of all evaluated scenarios, and improves stability in more than 90% of cases.
SweetSpot: An Analytical Model for Predicting Energy Efficiency of LLM Inference
Venue: arXiv cs.AI 2026
Year: 2026

Large Language Models (LLMs) inference is central to modern AI applications, dominating worldwide datacenter workloads, making it critical to predict its energy footprint. Existing approaches estimate energy consumption as a simple linear function of input and output sequence. However, by analyzing the autoregressive structure of Transformers, which implies a fundamentally non-linear relationship between input and output sequence lengths and energy consumption, we demonstrate the existence of a generation energy minima. Peak efficiency occurs with short-to-moderate inputs and medium-length outputs, while efficiency drops sharply for long inputs or very short outputs. Consequently, we propose SweetSpot, an analytical model derived from the computational and memory-access complexity of the Transformer architecture, which accurately characterizes the efficiency curve as a function of input and output lengths. To assess accuracy, we measure energy consumption using TensorRT-LLM on NVIDIA H100 GPUs across a diverse set of LLMs ranging from 1B to 9B parameters, including OPT, LLaMA, Gemma, Falcon, Qwen2, and Granite. We test input and output lengths from 64 to 4096 tokens and achieve a mean MAPE of 1.79%. Our results show that aligning sequence lengths with these efficiency "sweet spots" reduce energy usage, up to 33.41x, enabling informed truncation, summarization, and adaptive generation strategies in production systems.
Limitations of SGD for Multi-Index Models Beyond Statistical Queries
Venue: arXiv cs.LG 2026
Year: 2026

Understanding the limitations of gradient methods, and stochastic gradient descent (SGD) in particular, is a central challenge in learning theory. To that end, a commonly used tool is the Statistical Queries (SQ) framework, which studies performance limits of algorithms based on noisy interaction with the data. However, it is known that the formal connection between the SQ framework and SGD is tenuous: Existing results typically rely on adversarial or specially-structured gradient noise that does not reflect the noise in standard SGD, and (as we point out here) can sometimes lead to incorrect predictions. Moreover, many analyses of SGD for challenging problems rely on non-trivial algorithmic modifications, such as restricting the SGD trajectory to the sphere or using very small learning rates. To address these shortcomings, we develop a new, non-SQ framework to study the limitations of standard vanilla SGD, for single-index and multi-index models (namely, when the target function depends on a low-dimensional projection of the inputs). Our results apply to a broad class of settings and architectures, including (potentially deep) neural networks.
Poster: Camera Tampering Detection for Outdoor IoT Systems
Venue: arXiv cs.CV 2026
Year: 2026

Recently, the use of smart cameras in outdoor settings has grown to improve surveillance and security. Nonetheless, these systems are susceptible to tampering, whether from deliberate vandalism or harsh environmental conditions, which can undermine their monitoring effectiveness. In this context, detecting camera tampering is more challenging when a camera is capturing still images rather than video as there is no sequence of continuous frames over time. In this study, we propose two approaches for detecting tampered images: a rule-based method and a deep-learning-based method. The aim is to evaluate how each method performs in terms of accuracy, computational demands, and the data required for training when applied to real-world scenarios. Our results show that the deep-learning model provides higher accuracy, while the rule-based method is more appropriate for scenarios where resources are limited and a prolonged calibration phase is impractical. We also offer publicly available datasets with normal, blurred, and rotated images to support the development and evaluation of camera tampering detection methods, addressing the need for such resources.
Anchored Policy Optimization: Mitigating Exploration Collapse Via Support-Constrained Rectification
Venue: arXiv cs.AI 2026
Year: 2026

Reinforcement Learning with Verifiable Rewards (RLVR) is increasingly viewed as a tree pruning mechanism. However, we identify a systemic pathology termed Recursive Space Contraction (RSC), an irreversible collapse driven by the combined dynamics of positive sharpening and negative squeezing, where the sampling probability of valid alternatives vanishes. While Kullback-Leibler (KL) regularization aims to mitigate this, it imposes a rigid Shape Matching constraint that forces the policy to mimic the reference model's full density, creating a gradient conflict with the sharpening required for correctness. We propose Anchored Policy Optimization (APO), shifting the paradigm from global Shape Matching to Support Coverage. By defining a Safe Manifold based on the reference model's high-confidence support, APO permits aggressive sharpening for efficiency while selectively invoking a restorative force during error correction to prevent collapse. We theoretically derive that APO serves as a gradient-aligned mechanism to maximize support coverage, enabling an Elastic Recovery that re-inflates valid branches. Empirical evaluations on mathematical benchmarks demonstrate that APO breaks the accuracy-diversity trade-off, significantly improving Pass@1 while restoring the Pass@K diversity typically lost by standard policy gradient methods.
Exploring the Temporal Consistency for Point-Level Weakly-Supervised Temporal Action Localization
Venue: arXiv cs.CV 2026
Year: 2026

Point-supervised Temporal Action Localization (PTAL) adopts a lightly frame-annotated paradigm (\textit{i.e.}, labeling only a single frame per action instance) to train a model to effectively locate action instances within untrimmed videos. Most existing approaches design the task head of models with only a point-supervised snippet-level classification, without explicit modeling of understanding temporal relationships among frames of an action. However, understanding the temporal relationships of frames is crucial because it can help a model understand how an action is defined and therefore benefits localizing the full frames of an action. To this end, in this paper, we design a multi-task learning framework that fully utilizes point supervision to boost the model's temporal understanding capability for action localization. Specifically, we design three self-supervised temporal understanding tasks: (i) Action Completion, (ii) Action Order Understanding, and (iii) Action Regularity Understanding. These tasks help a model understand the temporal consistency of actions across videos. To the best of our knowledge, this is the first attempt to explicitly explore temporal consistency for point supervision action localization. Extensive experimental results on four benchmark datasets demonstrate the effectiveness of the proposed method compared to several state-of-the-art approaches.
Neuro-Inspired Visual Pattern Recognition via Biological Reservoir Computing
Venue: arXiv cs.CV 2026
Year: 2026

In this paper, we present a neuro-inspired approach to reservoir computing (RC) in which a network of in vitro cultured cortical neurons serves as the physical reservoir. Rather than relying on artificial recurrent models to approximate neural dynamics, our biological reservoir computing (BRC) system leverages the spontaneous and stimulus-evoked activity of living neural circuits as its computational substrate. A high-density multi-electrode array (HD-MEA) provides simultaneous stimulation and readout across hundreds of channels: input patterns are delivered through selected electrodes, while the remaining ones capture the resulting high-dimensional neural responses, yielding a biologically grounded feature representation. A linear readout layer (single-layer perceptron) is then trained to classify these reservoir states, enabling the living neural network to perform static visual pattern-recognition tasks within a computer-vision framework. We evaluate the system across a sequence of tasks of increasing difficulty, ranging from pointwise stimuli to oriented bars, clock-digit-like shapes, and handwritten digits from the MNIST dataset. Despite the inherent variability of biological neural responses-arising from noise, spontaneous activity, and inter-session differences-the system consistently generates high-dimensional representations that support accurate classification. These results demonstrate that in vitro cortical networks can function as effective reservoirs for static visual pattern recognition, opening new avenues for integrating living neural substrates into neuromorphic computing frameworks. More broadly, this work contributes to the effort to incorporate biological principles into machine learning and supports the goals of neuro-inspired vision by illustrating how living neural systems can inform the design of efficient and biologically grounded computational models.