OpenRaiser/Intern-Atlas huggingface dataset:
MistyPilot: An Agentic Fast-Slow Thinking LLM Framework for Misty Social Robots
Venue: arXiv cs.RO 2026
Year: 2026

With the availability of open APIs in social robots, it has become easier to customize general-purpose tools to meet users' needs. However, interpreting high-level user instructions, selecting and configuring appropriate tools, and executing them reliably remain challenging for users without programming experience. To address these challenges, we introduce MistyPilot, an agentic LLM-driven framework for autonomous tool selection, orchestration, and parameter configuration. MistyPilot comprises two core components: a Physically Interactive Agent (PIA) and a Socially Intelligent Agent (SIA). The PIA enables robust sensor-triggered and tool-driven task execution, while the SIA generates socially intelligent and emotionally aligned dialogue. MistyPilot further integrates a fast-slow thinking paradigm to capture user preferences, reduce latency, and improve task efficiency. To comprehensively evaluate MistyPilot, we contribute five benchmark datasets. Extensive experiments demonstrate the effectiveness of our framework in routing correctness, task completeness, fast-slow thinking retrieval efficiency, tool scalability,and emotion alignment. All code, datasets, and experimental videos will be made publicly available on the project webpage.
InfinityStory: Unlimited Video Generation with World Consistency and Character-Aware Shot Transitions
Venue: arXiv cs.CV 2026
Year: 2026

Generating long-form storytelling videos with consistent visual narratives remains a significant challenge in video synthesis. We present a novel framework, dataset, and a model that address three critical limitations: background consistency across shots, seamless multi-subject shot-to-shot transitions, and scalability to hour-long narratives. Our approach introduces a background-consistent generation pipeline that maintains visual coherence across scenes while preserving character identity and spatial relationships. We further propose a transition-aware video synthesis module that generates smooth shot transitions for complex scenarios involving multiple subjects entering or exiting frames, going beyond the single-subject limitations of prior work. To support this, we contribute with a synthetic dataset of 10,000 multi-subject transition sequences covering underrepresented dynamic scene compositions. On VBench, InfinityStory achieves the highest Background Consistency (88.94), highest Subject Consistency (82.11), and the best overall average rank (2.80), showing improved stability, smoother transitions, and better temporal coherence.
Adaptive Sensing of Continuous Physical Systems for Machine Learning
Venue: arXiv cs.LG 2026
Year: 2026

Physical dynamical systems can be viewed as natural information processors: their systems preserve, transform, and disperse input information. This perspective motivates learning not only from data generated by such systems, but also how to measure them in a way that extracts the most useful information for a given task. We propose a general computing framework for adaptive information extraction from dynamical systems, in which a trainable attention module learns both where to probe the system state and how to combine these measurements to optimize prediction performance. As a concrete instantiation, we implement this idea using a spatiotemporal field governed by a partial differential equation as the underlying dynamics, though the framework applies equally to any system whose state can be sampled. Our results show that adaptive spatial sensing significantly improves prediction accuracy on canonical chaotic benchmarks. This work provides a perspective on attention-enhanced reservoir computing as a special case of a broader paradigm: neural networks as trainable measurement devices for extracting information from physical dynamical systems.
Error as Signal: Stiffness-Aware Diffusion Sampling via Embedded Runge-Kutta Guidance
Venue: arXiv cs.CV 2026
Year: 2026

Classifier-Free Guidance (CFG) has established the foundation for guidance mechanisms in diffusion models, showing that well-designed guidance proxies significantly improve conditional generation and sample quality. Autoguidance (AG) has extended this idea, but it relies on an auxiliary network and leaves solver-induced errors unaddressed. In stiff regions, the ODE trajectory changes sharply, where local truncation error (LTE) becomes a critical factor that deteriorates sample quality. Our key observation is that these errors align with the dominant eigenvector, motivating us to leverage the solver-induced error as a guidance signal. We propose Embedded Runge-Kutta Guidance (ERK-Guid), which exploits detected stiffness to reduce LTE and stabilize sampling. We theoretically and empirically analyze stiffness and eigenvector estimators with solver errors to motivate the design of ERK-Guid. Our experiments on both synthetic datasets and the popular benchmark dataset, ImageNet, demonstrate that ERK-Guid consistently outperforms state-of-the-art methods. Code is available at https://github.com/mlvlab/ERK-Guid.
GraphLake: A Purpose-Built Graph Compute Engine for Lakehouse
Venue: arXiv cs.DB 2026
Year: 2026

In this paper, we introduce GraphLake, a purpose-built graph compute engine for Lakehouse. GraphLake is built on top of the commercial graph database TigerGraph. It maps Lakehouse tables to vertex and edge types in a labeled property graph and supports graph analytics over Lakehouse tables using GSQL. To minimize startup time, it loads only the graph topology. Furthermore, it introduces a series of techniques to ensure query efficiency over Lakehouse tables, including a graph-aware caching mechanism and two Lakehouse-optimized parallel primitives. Extensive experiments demonstrate that GraphLake significantly outperforms PuppyGraph, the current state-of-the-art graph compute engine for Lakehouse, by achieving both lower startup and query time.
Characterization and Correlation of Robotic Snake Scale Friction and Locomotion Speed
Venue: arXiv cs.RO 2026
Year: 2026

Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy, which combines distinct gaits with a skin that exhibits frictional anisotropy. Designing soft robotic snakes with similar capabilities requires an understanding of how this underlying frictional anisotropy should be created in engineered systems, and how variances in the frictional anisotropy ratio affect locomotion speed and direction on different surfaces. While forward and backward frictional ratios have been characterized for previous scale designs, lateral friction and the associated ratios are often overlooked. In this paper, our contributions include: (i) the development of a novel articulated pseudo-skin design that is modular, easy to construct and has removable or replaceable scales; (ii) experimental measurement of the frictional characteristics of otherwise-identical scales at varying angles of attack (15°, 25°, 35°, 45°) on different surfaces of interest (grass, bark, smooth surface, carpet);(iii) separate measurements of locomotion speed for each angle and surface. Consequently, while we observed some consistent trends between frictional coefficients and scale angle, aligning with literature and intuition, we were not able to consistently identify expected correlations between frictional ratios and locomotion speed. We conclude that either frictional ratios alone are not sufficient to predict the observed speed of a snake robot, or that specific measurement approaches are required to accurately capture these ratios.
The Ghost in the Datacenter: Link Flapping, Topology Knowledge Failures, and the FITO Category Mistake
Venue: arXiv cs.DC 2026
Year: 2026

Every link disconnection or flap in a datacenter corrupts the network's self-knowledge -- its graph. We call this corruption a ghost: a node that appears reachable but is not, a link that reports "up" but silently drops traffic, or an IP address that resolves to a partitioned machine. Ghosts arise at every scale -- chiplet-to-chiplet (PCIe, UCIe), GPU-to-GPU (NVLink, NVSwitch), node-to-node (Ethernet, Thunderbolt), and cluster-to-cluster (IP, BGP) -- because all these protocols inherit Shannon's forward-in-time-only (FITO) channel model and use Timeout And Retry (TAR) as their failure detector. TAR cannot distinguish "slow" from "dead," which is precisely the ambiguity that Fischer--Lynch--Paterson proved unresolvable in asynchronous systems. We survey the problem using production data from Meta (419 interruptions in 54 days of LLaMA 3 training), ByteDance (38,236 explicit and 5,948 implicit failures in three months), Google (TPUv4 optical circuit switching), and Alibaba (0.057% NIC--ToR link failures per month). At 2025 cluster scale (${\sim}3$ million GPUs, ${>}10$ million optical links), a link flap occurs every 48 seconds. We show that every existing mitigation -- Phi Accrual failure detectors, SWIM, BFD, OSPF/ISIS fast convergence, SmartNIC offload, lossless Ethernet (RoCE/PFC), and Kubernetes pod eviction -- still creates ghosts because each is fundamentally timeout-based. We connect ghosts to gray failures (Huang et al., HotOS 2017) and metastable failures (Bronson et al., HotOS 2021; validated across 22 failures at 11 organizations, OSDI 2022). We argue that Open Atomic Ethernet eliminates ghosts at the link layer through a Reliable Link Failure Detector, Perfect Information Feedback, triangle failover, and atomic token transfer -- making topology knowledge transactional.
The Semantic Arrow of Time, Part II: The Semantics of Open Atomic Ethernet
Venue: arXiv cs.DC 2026
Year: 2026

This is the second of five papers comprising The Semantic Arrow of Time. Part I established that computing's arrow of time is semantic rather than thermodynamic, and that the Forward-In-Time-Only (FITO) assumption constitutes a category mistake. This paper develops the constructive alternative. We present the semantics of Open Atomic Ethernet (OAE) links as a concrete realization of a non-FITO protocol architecture. The key insight is that causal order is not assumed a priori but created through transaction structure: the link state machine progresses through TENTATIVE to REFLECTING to COMMITTED, with the option to abort at any point before commitment. Delivery does not imply commitment; commitment requires reflective acknowledgment -- proof that information has round-tripped and been semantically validated by both endpoints. We formalize this through three frameworks. First, the OAE link state machine, a six-state finite automaton whose normative invariants guarantee that semantic corruption cannot occur at the link level. Second, Indefinite Logical Timestamps (ILT), a four-valued causal structure that admits a genuinely indefinite relation between concurrent events, resolving only after symmetric link-level exchange. Third, the Slowdown Theorem applied to links, which establishes that round-trip measurement is the minimum interaction required to establish causal order. We show that ILT is strictly more expressive than Definite Causal Order systems for reversible link protocols. We connect these results to the Knowledge Balance Principle from quantum information theory. The paper concludes with a comparative analysis showing that OAE achieves infinite consensus number while RDMA, NVLink, and UALink remain limited to finite consensus numbers due to their FITO semantics.
JANUS: Structured Bidirectional Generation for Guaranteed Constraints and Analytical Uncertainty
Venue: arXiv cs.LG 2026
Year: 2026

High-stakes synthetic data generation faces a fundamental Quadrilemma: achieving Fidelity to the original distribution, Control over complex logical constraints, Reliability in uncertainty estimation, and Efficiency in computational cost -- simultaneously. State-of-the-art Deep Generative Models (CTGAN, TabDDPM) excel at fidelity but rely on inefficient rejection sampling for continuous range constraints. Conversely, Structural Causal Models offer logical control but struggle with high-dimensional fidelity and complex noise inversion. We introduce JANUS (Joint Ancestral Network for Uncertainty and Synthesis), a framework that unifies these capabilities using a DAG of Bayesian Decision Trees. Our key innovation is Reverse-Topological Back-filling, an algorithm that propagates constraints backwards through the causal graph, achieving 100% constraint satisfaction on feasible constraint sets without rejection sampling. This is paired with an Analytical Uncertainty Decomposition derived from Dirichlet priors, enabling 128x faster uncertainty estimation than Monte Carlo methods. Across 15 datasets and 523 constrained scenarios, JANUS achieves state-of-the-art fidelity (Detection Score 0.497), eliminates mode collapse on imbalanced data, and provides exact handling of complex inter-column constraints (e.g., Salary_offered >= Salary_requested) where baselines fail entirely.
Learning Approximate Nash Equilibria in Cooperative Multi-Agent Reinforcement Learning via Mean-Field Subsampling
Venue: arXiv cs.MA 2026
Year: 2026

Many large-scale platforms and networked control systems have a centralized decision maker interacting with a massive population of agents under strict observability constraints. Motivated by such applications, we study a cooperative Markov game with a global agent and $n$ homogeneous local agents in a communication-constrained regime, where the global agent only observes a subset of $k$ local agent states per time step. We propose an alternating learning framework $(\texttt{ALTERNATING-MARL})$, where the global agent performs subsampled mean-field $Q$-learning against a fixed local policy, and local agents update by optimizing in an induced MDP. We prove that these approximate best-response dynamics converge to an $\widetilde{O}(1/\sqrt{k})$-approximate Nash Equilibrium, while yielding a separation in the sample complexities between the joint state space and action space. Finally, we validate our results in numerical simulations for multi-robot control and federated optimization.
LiDAR Prompted Spatio-Temporal Multi-View Stereo for Autonomous Driving
Venue: arXiv cs.CV 2026
Year: 2026

Accurate metric depth is critical for autonomous driving perception and simulation, yet current approaches struggle to achieve high metric accuracy, multi-view and temporal consistency, and cross-domain generalization. To address these challenges, we present DriveMVS, a novel multi-view stereo framework that reconciles these competing objectives through two key insights: (1) Sparse but metrically accurate LiDAR observations can serve as geometric prompts to anchor depth estimation in absolute scale, and (2) deep fusion of diverse cues is essential for resolving ambiguities and enhancing robustness, while a spatio-temporal decoder ensures consistency across frames. Built upon these principles, DriveMVS embeds the LiDAR prompt in two ways: as a hard geometric prior that anchors the cost volume, and as soft feature-wise guidance fused by a triple-cue combiner. Regarding temporal consistency, DriveMVS employs a spatio-temporal decoder that jointly leverages geometric cues from the MVS cost volume and temporal context from neighboring frames. Experiments show that DriveMVS achieves state-of-the-art performance on multiple benchmarks, excelling in metric accuracy, temporal stability, and zero-shot cross-domain transfer, demonstrating its practical value for scalable, reliable autonomous driving systems.
Inverse Contextual Bandits without Rewards: Learning from a Non-Stationary Learner via Suffix Imitation
Venue: arXiv cs.LG 2026
Year: 2026

We study the Inverse Contextual Bandit (ICB) problem, in which a learner seeks to optimize a policy while an observer, who cannot access the learner's rewards and only observes actions, aims to recover the underlying problem parameters. During the learning process, the learner's behavior naturally transitions from exploration to exploitation, resulting in non-stationary action data that poses significant challenges for the observer. To address this issue, we propose a simple and effective framework called Two-Phase Suffix Imitation. The framework discards data from an initial burn-in phase and performs empirical risk minimization using only data from a subsequent imitation phase. We derive a predictive decision loss bound that explicitly characterizes the bias-variance trade-off induced by the choice of burn-in length. Despite the severe information deficit, we show that a reward-free observer can achieve a convergence rate of $\tilde O(1/\sqrt{N})$, matching the asymptotic efficiency of a fully reward-aware learner. This result demonstrates that a passive observer can effectively uncover the optimal policy from actions alone, attaining performance comparable to that of the learner itself.
MACC: Multi-Agent Collaborative Competition for Scientific Exploration
Venue: arXiv cs.MA 2026
Year: 2026

Scientific discovery still relies heavily on the manual efforts of individual researchers, leading to limited exploration, redundant trials, and reduced reproducibility. Human-participant data analysis competitions generate diverse approaches, yet fluctuations in participation and the lack of independent repetitions show that parallel exploration alone is insufficient for achieving reliable scientific inquiry. As advanced AI agents based on large language models (LLMs) increasingly perform analytical tasks, relying on a single highly capable agent is unlikely to overcome these structural limitations. Recent work has begun to explore how multiple LLM-based agents can collaborate or compete in scientific workflows-a growing trend we refer to as MA4Science. However, most existing MA4Science studies assume that all agents are controlled by a single organizational entity, limiting their ability to examine how institutional mechanisms-such as incentives, information sharing, and reproducibility-shape collective exploration among independently managed agents. To address this gap, we introduce MACC (Multi-Agent Collaborative Competition), an institutional architecture that integrates a blackboard-style shared scientific workspace with incentive mechanisms designed to encourage transparency, reproducibility, and exploration efficiency. MACC provides a testbed for studying how institutional design influences scalable and reliable multi-agent scientific exploration.
TAP: A Token-Adaptive Predictor Framework for Training-Free Diffusion Acceleration
Venue: arXiv cs.CV 2026
Year: 2026

Diffusion models achieve strong generative performance but remain slow at inference due to the need for repeated full-model denoising passes. We present Token-Adaptive Predictor (TAP), a training-free, probe-driven framework that adaptively selects a predictor for each token at every sampling step. TAP uses a single full evaluation of the model's first layer as a low-cost probe to compute proxy losses for a compact family of candidate predictors (instantiated primarily with Taylor expansions of varying order and horizon), then assigns each token the predictor with the smallest proxy error. This per-token "probe-then-select" strategy exploits heterogeneous temporal dynamics, requires no additional training, and is compatible with various predictor designs. TAP incurs negligible overhead while enabling large speedups with little or no perceptual quality loss. Extensive experiments across multiple diffusion architectures and generation tasks show that TAP substantially improves the accuracy-efficiency frontier compared to fixed global predictors and caching-only baselines.
Zero-Knowledge Proof (ZKP) Authentication for Offline CBDC Payment System Using IoT Devices
Venue: arXiv cs.CR 2026
Year: 2026

Central Bank Digital Currency (CBDCs) are becoming a new digital financial tool aimed at financial inclusion, increased monetary stability, and improved efficiency of payment systems, as they are issued by central banks. One of the most important aspects is that the CBDC must offer secure offline payment methods to users, allowing them to retain cash-like access without violating Anti-Money Laundering and Counter-terrorism Financing (AML/CFT) rules. The offline CBDC ecosystems will provide financial inclusion, empower underserved communities, and ensure equitable access to digital payments, even in connectivity-poor remote locations. With the rapid growth of Internet of Things (IoT) devices in our everyday lives, they are capable of performing secure digital transactions. Integrating offline CBDC payment with IoT devices enables seamless, automated payment without internet connectivity. However, IoT devices face special challenges due to their resource-constrained nature. This makes it difficult to include features such as double-spending prevention, privacy preservation, low-computation operation, and digital identity management. The work proposes a privacy-preserving offline CBDC model with integrated secure elements (SEs), zero-knowledge proofs (ZKPs), and intermittent synchronisation to conduct offline payments on IoT hardware. The proposed model is based on recent improvements in offline CBDC prototypes, regulations and cryptographic design choices such as hybrid architecture that involves using combination of online and offline payment in IoT devices using secure hardware with lightweight zero-knowledge proof cryptographic algorithm.
Universal Pansharpening Foundation Model
Venue: arXiv cs.CV 2026
Year: 2026

Pansharpening generates the high-resolution multi-spectral (MS) image by integrating spatial details from a texture-rich panchromatic (PAN) image and spectral attributes from a low-resolution MS image. Existing methods are predominantly satellite-specific and scene-dependent, which severely limits their generalization across heterogeneous sensors and varied scenes, thereby reducing their real-world practicality. To address these challenges, we present FoundPS, a universal pansharpening foundation model for satellite-agnostic and scene-robust fusion. Specifically, we introduce a modality-interleaved transformer that learns band-wise modal specializations to form reversible spectral affine bases, mapping arbitrary-band MS into a unified latent space via tensor multiplication. Building upon this, we construct a latent diffusion bridge model to progressively evolve latent representations, and incorporate bridge posterior sampling to couple latent diffusion with pixel-space observations, enabling stable and controllable fusion. Furthermore, we devise infinite-dimensional pixel-to-latent interaction mechanisms to comprehensively capture the cross-domain dependencies between PAN observations and MS representations, thereby facilitating complementary information fusion. In addition, to support large-scale training and evaluation, we construct a comprehensive pansharpening benchmark, termed PSBench, consisting of worldwide MS and PAN image pairs from multiple satellites across diverse scenes. Extensive experiments demonstrate that FoundPS consistently outperforms state-of-the-art methods, exhibiting superior generalization and robustness across a wide range of pansharpening tasks.