OpenRaiser/Intern-Atlas huggingface dataset:
Be Your Own Red Teamer: Safety Alignment via Self-Play and Reflective Experience Replay
Venue: arXiv cs.CR 2026
Year: 2026

Large Language Models (LLMs) have achieved remarkable capabilities but remain vulnerable to adversarial ``jailbreak'' attacks designed to bypass safety guardrails. Current safety alignment methods depend heavily on static external red teaming, utilizing fixed defense prompts or pre-collected adversarial datasets. This leads to a rigid defense that overfits known patterns and fails to generalize to novel, sophisticated threats. To address this critical limitation, we propose empowering the model to be its own red teamer, capable of achieving autonomous and evolving adversarial attacks. Specifically, we introduce Safety Self- Play (SSP), a system that utilizes a single LLM to act concurrently as both the Attacker (generating jailbreaks) and the Defender (refusing harmful requests) within a unified Reinforcement Learning (RL) loop, dynamically evolving attack strategies to uncover vulnerabilities while simultaneously strengthening defense mechanisms. To ensure the Defender effectively addresses critical safety issues during the self-play, we introduce an advanced Reflective Experience Replay Mechanism, which uses an experience pool accumulated throughout the process. The mechanism employs a Upper Confidence Bound (UCB) sampling strategy to focus on failure cases with low rewards, helping the model learn from past hard mistakes while balancing exploration and exploitation. Extensive experiments demonstrate that our SSP approach autonomously evolves robust defense capabilities, significantly outperforming baselines trained on static adversarial datasets and establishing a new benchmark for proactive safety alignment.
Improved Constructions of Reed-Solomon Codes with Optimal Repair Bandwidth
Venue: arXiv cs.IT 2026
Year: 2026

Maximum-distance-separable (MDS) codes are widely used in distributed storage, yet naive repair of a single erasure in an $[n,k]$ MDS code downloads the entire contents of $k$ nodes. Minimum Storage Regenerating (MSR) codes (Dimakis et al., 2010) minimize repair bandwidth by contacting $d>k$ helpers and downloading only a fraction of data from each. Guruswami and Wootters first proposed a linear repair scheme for Reed-Solomon (RS) codes, showing that they can be repaired with lower bandwidth than the naive approach. The existence of RS codes achieving the MSR point (RS-MSR codes) nevertheless remained open until the breakthrough construction of Tamo, Barg, and Ye, which yields RS-MSR codes with subpacketization $\ell = s \prod_{i=1}^n p_i$, where $p_i$ are distinct primes satisfying $p_i \equiv 1 \pmod{s}$ and $s=d+1-k$. In this paper, we present an improved construction of RS-MSR codes by eliminating the congruence condition $p_i \equiv 1 \pmod{s}$. Consequently, our construction reduces the subpacketization by a multiplicative factor of $ϕ(s)^n$ ( $ϕ(\cdot)$ is Euler's totient function) and broadens the range of feasible parameters for RS-MSR codes.
A continental-scale dataset of ground beetles with high-resolution images and validated morphological trait measurements
Venue: arXiv cs.CV 2026
Year: 2026

Despite the ecological significance of invertebrates, global trait databases remain heavily biased toward vertebrates and plants, limiting comprehensive ecological analyses of high-diversity groups like ground beetles. Ground beetles (Coleoptera: Carabidae) serve as critical bioindicators of ecosystem health, providing valuable insights into biodiversity shifts driven by environmental changes. While the National Ecological Observatory Network (NEON) maintains an extensive collection of carabid specimens from across the United States, these primarily exist as physical collections, restricting widespread research access and large-scale analysis. To address these gaps, we present a multimodal dataset digitizing over 13,200 NEON carabids from 30 sites spanning the continental US and Hawaii through high-resolution imaging, enabling broader access and computational analysis. The dataset includes digitally measured elytra length and width of each specimen, establishing a foundation for automated trait extraction using AI. Validated against manual measurements, our digital trait extraction achieves sub-millimeter precision, ensuring reliability for ecological and computational studies. By addressing invertebrate under-representation in trait databases, this work supports AI-driven tools for automated species identification and trait-based research, fostering advancements in biodiversity monitoring and conservation.
Data-driven stochastic reduced-order modeling of parametrized dynamical systems
Venue: arXiv cs.LG 2026
Year: 2026

Modeling complex dynamical systems under varying conditions is computationally intensive, often rendering high-fidelity simulations intractable. Although reduced-order models (ROMs) offer a promising solution, current methods often struggle with stochastic dynamics and fail to quantify prediction uncertainty, limiting their utility in robust decision-making contexts. To address these challenges, we introduce a data-driven framework for learning continuous-time stochastic ROMs that generalize across parameter spaces and forcing conditions. Our approach, based on amortized stochastic variational inference, leverages a reparametrization trick for Markov Gaussian processes to eliminate the need for computationally expensive forward solvers during training. This enables us to jointly learn a probabilistic autoencoder and stochastic differential equations governing the latent dynamics, at a computational cost that is independent of the dataset size and system stiffness. Additionally, our approach offers the flexibility of incorporating physics-informed priors if available. Numerical studies are presented for three challenging test problems, where we demonstrate excellent generalization to unseen parameter combinations and forcings, and significant efficiency gains compared to existing approaches.
See Less, Drive Better: Generalizable End-to-End Autonomous Driving via Foundation Models Stochastic Patch Selection
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in end-to-end autonomous driving show that policies trained on patch-aligned features extracted from foundation models generalize better to Out-of-Distribution (OOD). We hypothesize that due to the self-attention mechanism, each patch feature implicitly embeds/contains information from all other patches, represented in a different way and intensity, making these descriptors highly redundant. We quantify redundancy in such (BLIP2) features via PCA and cross-patch similarity: $90$% of variance is captured by $17/64$ principal components, and strong inter-token correlations are pervasive. Training on such overlapping information leads the policy to overfit spurious correlations, hurting OOD robustness. We present Stochastic-Patch-Selection (SPS), a simple yet effective approach for learning policies that are more robust, generalizable, and efficient. For every frame, SPS randomly masks a fraction of patch descriptors, not feeding them to the policy model, while preserving the spatial layout of the remaining patches. Thus, the policy is provided with different stochastic but complete views of the (same) scene: every random subset of patches acts like a different, yet still sensible, coherent projection of the world. The policy thus bases its decisions on features that are invariant to which specific tokens survive. Extensive experiments confirm that across all OOD scenarios, our method outperforms the state of the art (SOTA), achieving a $6.2$% average improvement and up to $20.4$% in closed-loop simulations, while being $2.4\times$ faster. We conduct ablations over masking rates and patch-feature reorganization, training and evaluating 9 systems, with 8 of them surpassing prior SOTA. Finally, we show that the same learned policy transfers to a physical, real-world car without any tuning.
Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Exploration
Venue: arXiv cs.AI 2026
Year: 2026

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but also to leverage long-term episodic memory to optimize decision-making. However, existing mainstream one-shot embodied tasks primarily focus on task completion results, neglecting the crucial process of exploration and memory utilization. To address this, we propose Long-term Memory Embodied Exploration (LMEE), which aims to unify the agent's exploratory cognition and decision-making behaviors to promote lifelong learning.We further construct a corresponding dataset and benchmark, LMEE-Bench, incorporating multi-goal navigation and memory-based question answering to comprehensively evaluate both the process and outcome of embodied exploration. To enhance the agent's memory recall and proactive exploration capabilities, we propose MemoryExplorer, a novel method that fine-tunes a multimodal large language model through reinforcement learning to encourage active memory querying. By incorporating a multi-task reward function that includes action prediction, frontier selection, and question answering, our model achieves proactive exploration. Extensive experiments against state-of-the-art embodied exploration models demonstrate that our approach achieves significant advantages in long-horizon embodied tasks.
Unified Optimization of Source Weights and Transfer Quantities in Multi-Source Transfer Learning: An Asymptotic Framework
Venue: arXiv cs.LG 2026
Year: 2026

Transfer learning plays a vital role in improving model performance in data-scarce scenarios. However, naive uniform transfer from multiple source tasks may result in negative transfer, highlighting the need to properly balance the contributions of heterogeneous sources. Moreover, existing transfer learning methods typically focus on optimizing either the source weights or the amount of transferred samples, while largely neglecting the joint consideration of the other. In this work, we propose a theoretical framework, Unified Optimization of Weights and Quantities (UOWQ), which formulates multi-source transfer learning as a parameter estimation problem grounded in an asymptotic analysis of a Kullback-Leibler divergence-based generalization error measure. The proposed framework jointly determines the optimal source weights and optimal transfer quantities for each source task. Firstly, we prove that using all available source samples is always optimal once the weights are properly adjusted, and we provide a theoretical explanation for this phenomenon. Moreover, to determine the optimal transfer weights, our analysis yields closed-form solutions in the single-source setting and develops a convex optimization-based numerical procedure for the multi-source case. Building on the theoretical results, we further propose practical algorithms for both multi-source transfer learning and multi-task learning settings. Extensive experiments on real-world benchmarks, including DomainNet and Office-Home, demonstrate that UOWQ consistently outperforms strong baselines. The results validate both the theoretical predictions and the practical effectiveness of our framework.
BYOL: Bring Your Own Language Into LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) exhibit strong multilingual capabilities, yet remain fundamentally constrained by the severe imbalance in global language resources. While over 7,000 languages are spoken worldwide, only a small subset (fewer than 100) has sufficient digital presence to meaningfully influence modern LLM training. This disparity leads to systematic underperformance, cultural misalignment, and limited accessibility for speakers of low-resource and extreme-low-resource languages. To address this gap, we introduce Bring Your Own Language (BYOL), a unified framework for scalable, language-aware LLM development tailored to each language's digital footprint. BYOL begins with a language resource classification that maps languages into four tiers (Extreme-Low, Low, Mid, High) using curated web-scale corpora, and uses this classification to select the appropriate integration pathway. For low-resource languages, we propose a full-stack data refinement and expansion pipeline that combines corpus cleaning, synthetic text generation, continual pretraining, and supervised finetuning. Applied to Chichewa and Maori, this pipeline yields language-specific LLMs that achieve approximately 12 percent average improvement over strong multilingual baselines across 12 benchmarks, while preserving English and multilingual capabilities via weight-space model merging. For extreme-low-resource languages, we introduce a translation-mediated inclusion pathway, and show on Inuktitut that a tailored machine translation system improves over a commercial baseline by 4 BLEU, enabling high-accuracy LLM access when direct language modeling is infeasible. Finally, we release human-translated versions of the Global MMLU-Lite benchmark in Chichewa, Maori, and Inuktitut, and make our codebase and models publicly available at https://github.com/microsoft/byol .
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Venue: arXiv cs.RO 2026
Year: 2026

Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation on land, computing depth from image pairs in underwater scenes remains challenging. In underwater environments, images are degraded by light attenuation, visual artifacts, and dynamic lighting conditions. Furthermore, real-world underwater scenes frequently lack rich texture useful for stereo depth estimation and 3D reconstruction. As a result, stereo estimation networks trained on in-air data cannot transfer directly to the underwater domain. In addition, there is a lack of real-world underwater stereo datasets for supervised training of neural networks. Poor underwater depth estimation is compounded in stereo-based Simultaneous Localization and Mapping (SLAM) algorithms, making it a fundamental challenge for underwater robot perception. To address these challenges, we propose a novel framework that enables sim-to-real training of underwater stereo disparity estimation networks using simulated data and self-supervised finetuning. We leverage our learned depth predictions to develop SurfSLAM, a novel framework for real-time underwater SLAM that fuses stereo cameras with IMU, barometric, and Doppler Velocity Log (DVL) measurements. Lastly, we collect a challenging real-world dataset of shipwreck surveys using an underwater robot. Our dataset features over 24,000 stereo pairs, along with high-quality, dense photogrammetry models and reference trajectories for evaluation. Through extensive experiments, we demonstrate the advantages of the proposed training approach on real-world data for improving stereo estimation in the underwater domain and for enabling accurate trajectory estimation and 3D reconstruction of complex shipwreck sites.
Can Vision-Language Models Understand Construction Workers? An Exploratory Study
Venue: arXiv cs.CV 2026
Year: 2026

As robotics become increasingly integrated into construction workflows, their ability to interpret and respond to human behavior will be essential for enabling safe and effective collaboration. Vision-Language Models (VLMs) have emerged as a promising tool for visual understanding tasks and offer the potential to recognize human behaviors without extensive domain-specific training. This capability makes them particularly appealing in the construction domain, where labeled data is scarce and monitoring worker actions and emotional states is critical for safety and productivity. In this study, we evaluate the performance of three leading VLMs, GPT-4o, Florence 2, and LLaVa-1.5, in detecting construction worker actions and emotions from static site images. Using a curated dataset of 1,000 images annotated across ten action and ten emotion categories, we assess each model's outputs through standardized inference pipelines and multiple evaluation metrics. GPT-4o consistently achieved the highest scores across both tasks, with an average F1-score of 0.756 and accuracy of 0.799 in action recognition, and an F1-score of 0.712 and accuracy of 0.773 in emotion recognition. Florence 2 performed moderately, with F1-scores of 0.497 for action and 0.414 for emotion, while LLaVa-1.5 showed the lowest overall performance, with F1-scores of 0.466 for action and 0.461 for emotion. Confusion matrix analyses revealed that all models struggled to distinguish semantically close categories, such as collaborating in teams versus communicating with supervisors. While the results indicate that general-purpose VLMs can offer a baseline capability for human behavior recognition in construction environments, further improvements, such as domain adaptation, temporal modeling, or multimodal sensing, may be needed for real-world reliability.
SecMLOps: A Comprehensive Framework for Integrating Security Throughout the MLOps Lifecycle
Venue: arXiv cs.CR 2026
Year: 2026

Machine Learning (ML) has emerged as a pivotal technology in the operation of large and complex systems, driving advancements in fields such as autonomous vehicles, healthcare diagnostics, and financial fraud detection. Despite its benefits, the deployment of ML models brings significant security challenges, such as adversarial attacks, which can compromise the integrity and reliability of these systems. To address these challenges, this paper builds upon the concept of Secure Machine Learning Operations (SecMLOps), providing a comprehensive framework designed to integrate robust security measures throughout the entire ML operations (MLOps) lifecycle. SecMLOps builds on the principles of MLOps by embedding security considerations from the initial design phase through to deployment and continuous monitoring. This framework is particularly focused on safeguarding against sophisticated attacks that target various stages of the MLOps lifecycle, thereby enhancing the resilience and trustworthiness of ML applications. A detailed advanced pedestrian detection system (PDS) use case demonstrates the practical application of SecMLOps in securing critical MLOps. Through extensive empirical evaluations, we highlight the trade-offs between security measures and system performance, providing critical insights into optimizing security without unduly impacting operational efficiency. Our findings underscore the importance of a balanced approach, offering valuable guidance for practitioners on how to achieve an optimal balance between security and performance in ML deployments across various domains.
Effects of Different Attention Mechanisms Applied on 3D Models in Video Classification
Venue: arXiv cs.CV 2026
Year: 2026

Human action recognition has become an important research focus in computer vision due to the wide range of applications where it is used. 3D Resnet-based CNN models, particularly MC3, R3D, and R(2+1)D, have different convolutional filters to extract spatiotemporal features. This paper investigates the impact of reducing the captured knowledge from temporal data, while increasing the resolution of the frames. To establish this experiment, we created similar designs to the three originals, but with a dropout layer added before the final classifier. Secondly, we then developed ten new versions for each one of these three designs. The variants include special attention blocks within their architecture, such as convolutional block attention module (CBAM), temporal convolution networks (TCN), in addition to multi-headed and channel attention mechanisms. The purpose behind that is to observe the extent of the influence each of these blocks has on performance for the restricted-temporal models. The results of testing all the models on UCF101 have shown accuracy of 88.98% for the variant with multiheaded attention added to the modified R(2+1)D. This paper concludes the significance of missing temporal features in the performance of the newly created increased resolution models. The variants had different behavior on class-level accuracy, despite the similarity of their enhancements to the overall performance.
Streaming Stochastic Submodular Maximization with On-Demand User Requests
Venue: arXiv cs.DS 2026
Year: 2026

We explore a novel problem in streaming submodular maximization, inspired by the dynamics of news-recommendation platforms. We consider a setting where users can visit a news website at any time, and upon each visit, the website must display up to $k$ news items. User interactions are inherently stochastic: each news item presented to the user is consumed with a certain acceptance probability by the user, and each news item covers certain topics. Our goal is to design a streaming algorithm that maximizes the expected total topic coverage. To address this problem, we establish a connection to submodular maximization subject to a matroid constraint. We show that we can effectively adapt previous methods to address our problem when the number of user visits is known in advance or linear-size memory in the stream length is available. However, in more realistic scenarios where only an upper bound on the visits and sublinear memory is available, the algorithms fail to guarantee any bounded performance. To overcome these limitations, we introduce a new online streaming algorithm that achieves a competitive ratio of $1/(8δ)$, where $δ$ controls the approximation quality. Moreover, it requires only a single pass over the stream, and uses memory independent of the stream length. Empirically, our algorithms consistently outperform the baselines.
FrankenMotion: Part-level Human Motion Generation and Composition
Venue: arXiv cs.CV 2026
Year: 2026

Human motion generation from text prompts has made remarkable progress in recent years. However, existing methods primarily rely on either sequence-level or action-level descriptions due to the absence of fine-grained, part-level motion annotations. This limits their controllability over individual body parts. In this work, we construct a high-quality motion dataset with atomic, temporally-aware part-level text annotations, leveraging the reasoning capabilities of large language models (LLMs). Unlike prior datasets that either provide synchronized part captions with fixed time segments or rely solely on global sequence labels, our dataset captures asynchronous and semantically distinct part movements at fine temporal resolution. Based on this dataset, we introduce a diffusion-based part-aware motion generation framework, namely FrankenMotion, where each body part is guided by its own temporally-structured textual prompt. This is, to our knowledge, the first work to provide atomic, temporally-aware part-level motion annotations and have a model that allows motion generation with both spatial (body part) and temporal (atomic action) control. Experiments demonstrate that FrankenMotion outperforms all previous baseline models adapted and retrained for our setting, and our model can compose motions unseen during training. Our code and dataset will be publicly available upon publication.