OpenRaiser/Intern-Atlas huggingface dataset:
Statistical-Neural Interaction Networks for Interpretable Mixed-Type Data Imputation
Venue: arXiv cs.LG 2026
Year: 2026

Real-world tabular databases routinely combine continuous measurements and categorical records, yet missing entries are pervasive and can distort downstream analysis. We propose Statistical-Neural Interaction (SNI), an interpretable mixed-type imputation framework that couples correlation-derived statistical priors with neural feature attention through a Controllable-Prior Feature Attention (CPFA) module. CPFA learns head-wise prior-strength coefficients $\{λ_h\}$ that softly regularize attention toward the prior while allowing data-driven deviations when nonlinear patterns appear to be present in the data. Beyond imputation, SNI aggregates attention maps into a directed feature-dependency matrix that summarizes which variables the imputer relied on, without requiring post-hoc explainers. We evaluate SNI against six baselines (Mean/Mode, MICE, KNN, MissForest, GAIN, MIWAE) on six datasets spanning ICU monitoring, population surveys, socio-economic statistics, and engineering applications. Under MCAR/strict-MAR at 30\% missingness, SNI is generally competitive on continuous metrics but is often outperformed by accuracy-first baselines (MissForest, MIWAE) on categorical variables; in return, it provides intrinsic dependency diagnostics and explicit statistical-neural trade-off parameters. We additionally report MNAR stress tests (with a mask-aware variant) and discuss computational cost, limitations -- particularly for severely imbalanced categorical targets -- and deployment scenarios where interpretability may justify the trade-off.
Learning Diverse Skills for Behavior Models with Mixture of Experts
Venue: arXiv cs.RO 2026
Year: 2026

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their performance degrades in the multi-task setting, where interference across tasks leads to an averaging effect. To address this issue, we propose to learn diverse skills for behavior models with Mixture of Experts, referred to as Di-BM. Di-BM associates each expert with a distinct observation distribution, enabling experts to specialize in sub-regions of the observation space. Specifically, we employ energy-based models to represent expert-specific observation distributions and jointly train them alongside the corresponding action models. Our approach is plug-and-play and can be seamlessly integrated into standard imitation learning methods. Extensive experiments on multiple real-world robotic manipulation tasks demonstrate that Di-BM significantly outperforms state-of-the-art baselines. Moreover, fine-tuning the pretrained Di-BM on novel tasks exhibits superior data efficiency and the reusable of expert-learned knowledge. Code is available at https://github.com/robotnav-bot/Di-BM.
Are LLMs Smarter Than Chimpanzees? An Evaluation on Perspective Taking and Knowledge State Estimation
Venue: arXiv cs.AI 2026
Year: 2026

Cognitive anthropology suggests that the distinction of human intelligence lies in the ability to infer other individuals' knowledge states and understand their intentions. In comparison, our closest animal relative, chimpanzees, lack the capacity to do so. With this paper, we aim to evaluate LLM performance in the area of knowledge state tracking and estimation. We design two tasks to test (1) if LLMs can detect when story characters, through their actions, demonstrate knowledge they should not possess, and (2) if LLMs can predict story characters' next actions based on their own knowledge vs. objective truths they do not know. Results reveal that most current state-of-the-art LLMs achieve near-random performance on both tasks, and are substantially inferior to humans. We argue future LLM research should place more weight on the abilities of knowledge estimation and intention understanding.
Legal experts disagree with rationale extraction techniques for explaining ECtHR case outcome classification
Venue: arXiv cs.CL 2026
Year: 2026

Interpretability is critical for applications of large language models in the legal domain which requires trust and transparency. While some studies develop task-specific approaches, other use the classification model's parameters to explain the decisions. However, which technique explains the legal outcome prediction best remains an open question. To address this challenge, we propose a comparative analysis framework for model-agnostic interpretability techniques. Among these, we employ two rationale extraction methods, which justify outcomes with human-interpretable and concise text fragments (i.e., rationales) from the given input text. We conduct comparison by evaluating faithfulness-via normalized sufficiency and comprehensiveness metrics along with plausibility-by asking legal experts to evaluate extracted rationales. We further assess the feasibility of LLM-as-a-Judge using legal expert evaluation results. We show that the model's "reasons" for predicting a violation differ substantially from those of legal experts, despite highly promising quantitative analysis results and reasonable downstream classification performance. The source code of our experiments is publicly available at https://github.com/trusthlt/IntEval.
Language-Based Swarm Perception: Decentralized Person Re-Identification via Natural Language Descriptions
Venue: arXiv cs.RO 2026
Year: 2026

We introduce a method for decentralized person re-identification in robot swarms that leverages natural language as the primary representational modality. Unlike traditional approaches that rely on opaque visual embeddings -- high-dimensional feature vectors extracted from images -- the proposed method uses human-readable language to represent observations. Each robot locally detects and describes individuals using a vision-language model (VLM), producing textual descriptions of appearance instead of feature vectors. These descriptions are compared and clustered across the swarm without centralized coordination, allowing robots to collaboratively group observations of the same individual. Each cluster is distilled into a representative description by a language model, providing an interpretable, concise summary of the swarm's collective perception. This approach enables natural-language querying, enhances transparency, and supports explainable swarm behavior. Preliminary experiments demonstrate competitive performance in identity consistency and interpretability compared to embedding-based methods, despite current limitations in text similarity and computational load. Ongoing work explores refined similarity metrics, semantic navigation, and the extension of language-based perception to environmental elements. This work prioritizes decentralized perception and communication, while active navigation remains an open direction for future study.
DoPE: Decoy Oriented Perturbation Encapsulation Human-Readable, AI-Hostile Documents for Academic Integrity
Venue: arXiv cs.CL 2026
Year: 2026

Multimodal Large Language Models (MLLMs) can directly consume exam documents, threatening conventional assessments and academic integrity. We present DoPE (Decoy-Oriented Perturbation Encapsulation), a document-layer defense framework that embeds semantic decoys into PDF/HTML assessments to exploit render-parse discrepancies in MLLM pipelines. By instrumenting exams at authoring time, DoPE provides model-agnostic prevention (stop or confound automated solving) and detection (flag blind AI reliance) without relying on conventional one-shot classifiers. We formalize prevention and detection tasks, and introduce FewSoRT-Q, an LLM-guided pipeline that generates question-level semantic decoys and FewSoRT-D to encapsulate them into watermarked documents. We evaluate on Integrity-Bench, a novel benchmark of 1826 exams (PDF+HTML) derived from public QA datasets and OpenCourseWare. Against black-box MLLMs from OpenAI and Anthropic, DoPE yields strong empirical gains: a 91.4% detection rate at an 8.7% false-positive rate using an LLM-as-Judge verifier, and prevents successful completion or induces decoy-aligned failures in 96.3% of attempts. We release Integrity-Bench, our toolkit, and evaluation code to enable reproducible study of document-layer defenses for academic integrity.
Improved Bug Localization with AI Agents Leveraging Hypothesis and Dynamic Cognition
Venue: arXiv cs.SE 2026
Year: 2026

Software bugs cost technology providers (e.g., AT&T) billions annually and cause developers to spend roughly 50% of their time on bug resolution. Traditional methods for bug localization often analyze the suspiciousness of code components (e.g., methods, documents) in isolation, overlooking their connections with other components in the codebase. Recent advances in Large Language Models (LLMs) and agentic AI techniques have shown strong potential for code understanding, but still lack causal reasoning during code exploration and struggle to manage growing context effectively, limiting their capability. In this paper, we present a novel agentic technique for bug localization -- CogniGent -- that overcomes the limitations above by leveraging multiple AI agents capable of causal reasoning, call-graph-based root cause analysis and context engineering. It emulates developers-inspired debugging practices (a.k.a., dynamic cognitive debugging) and conducts hypothesis testing to support bug localization. We evaluate CogniGent on a curated dataset of 591 bug reports using three widely adopted performance metrics and compare it against six established baselines from the literature. Experimental results show that our technique consistently outperformed existing traditional and LLM-based techniques, achieving MAP improvements of 23.33-38.57% at the document and method levels. Similar gains were observed in MRR, with increases of 25.14-53.74% at both granularity levels. Statistical significance tests also confirm the superiority of our technique. By addressing the reasoning, dependency, and context limitations, CogniGent advances the state of bug localization, bridging human-like cognition with agentic automation for improved performance.
Enabling High-Curvature Navigation in Eversion Robots through Buckle-Inducing Constrictive Bands
Venue: arXiv cs.RO 2026
Year: 2026

Tip-growing eversion robots are renowned for their ability to access remote spaces through narrow passages. However, achieving reliable navigation remains a significant challenge. Existing solutions often rely on artificial muscles integrated into the robot body or active tip-steering mechanisms. While effective, these additions introduce structural complexity and compromise the defining advantages of eversion robots: their inherent softness and compliance. In this paper, we propose a passive approach to reduce bending stiffness by purposefully introducing buckling points along the robot's outer wall. We achieve this by integrating inextensible diameter-reducing circumferential bands at regular intervals along the robot body facilitating forward motion through tortuous, obstacle cluttered paths. Rather than relying on active steering, our approach leverages the robot's natural interaction with the environment, allowing for smooth, compliant navigation. We present a Cosserat rod-based mathematical model to quantify this behavior, capturing the local stiffness reductions caused by the constricting bands and their impact on global bending mechanics. Experimental results demonstrate that these bands reduce the robot's stiffness when bent at the tip by up to 91 percent, enabling consistent traversal of 180 degree bends with a bending radius of as low as 25 mm-notably lower than the 35 mm achievable by standard eversion robots under identical conditions. The feasibility of the proposed method is further demonstrated through a case study in a colon phantom. By significantly improving maneuverability without sacrificing softness or increasing mechanical complexity, this approach expands the applicability of eversion robots in highly curved pathways, whether in relation to pipe inspection or medical procedures such as colonoscopy.
How to Get Close to the Median Shape
Venue: arXiv cs.CG 2026
Year: 2026

$\renewcommand{\Re}{\mathbb{R}}\newcommand{\eps}{\varepsilon}\newcommand{\poly}{\mathrm{poly}} $In this paper, we study the problem of $L_1$-fitting a shape to a set of $n$ points in $\Re^d$ (where $d$ is a fixed constant), where the target is to minimize the sum of distances of the points to the shape, or the sum of squared distances. We present a general technique for computing a $(1 + \eps ) $-approximation for such a problem, with running time $O(n + \poly( \log n, 1/\eps))$, where $\poly(\log n, 1/\eps)$ is a polynomial of constant degree of $\log n$ and $1/\eps$ (the power of the polynomial is a function of $d$). The new algorithm runs in linear time for a fixed $\eps>0$, and is the first subquadratic algorithm for this problem. Applications of the algorithm include best fitting either a circle, a sphere, or a cylinder to a set of points when minimizing the sum of distances (or squared distances) to the respective shape.
Press Start to Charge: Videogaming the Online Centralized Charging Scheduling Problem
Venue: arXiv cs.LG 2026
Year: 2026

We study the online centralized charging scheduling problem (OCCSP). In this problem, a central authority must decide, in real time, when to charge dynamically arriving electric vehicles (EVs), subject to capacity limits, with the objective of balancing load across a finite planning horizon. To solve the problem, we first gamify it; that is, we model it as a game where charging blocks are placed within temporal and capacity constraints on a grid. We design heuristic policies, train learning agents with expert demonstrations, and improve them using Dataset Aggregation (DAgger). From a theoretical standpoint, we show that gamification reduces model complexity and yields tighter generalization bounds than vector-based formulations. Experiments across multiple EV arrival patterns confirm that gamified learning enhances load balancing. In particular, the image-to-movement model trained with DAgger consistently outperforms heuristic baselines, vector-based approaches, and supervised learning agents, while also demonstrating robustness in sensitivity analyses. These operational gains translate into tangible economic value. In a real-world case study for the Greater Montréal Area (Québec, Canada) using utility cost data, the proposed methods lower system costs by tens of millions of dollars per year over the prevailing practice and show clear potential to delay costly grid upgrades.
Life, Machine Learning, and the Search for Habitability: Predicting Biosignature Fluxes for the Habitable Worlds Observatory
Venue: arXiv cs.LG 2026
Year: 2026

Future direct-imaging flagship missions, such as NASA's Habitable Worlds Observatory (HWO), face critical decisions in prioritizing observations due to extremely stringent time and resource constraints. In this paper, we introduce two advanced machine-learning architectures tailored for predicting biosignature species fluxes from exoplanetary reflected-light spectra: a Bayesian Convolutional Neural Network (BCNN) and our novel model architecture, the Spectral Query Adaptive Transformer (SQuAT). The BCNN robustly quantifies both epistemic and aleatoric uncertainties, offering reliable predictions under diverse observational conditions, whereas SQuAT employs query-driven attention mechanisms to enhance interpretability by explicitly associating spectral features with specific biosignature species. We demonstrate that both models achieve comparably high predictive accuracy on an augmented dataset spanning a wide range of exoplanetary conditions, while highlighting their distinct advantages in uncertainty quantification and spectral interpretability. These capabilities position our methods as promising tools for accelerating target triage, optimizing observation schedules, and maximizing scientific return for upcoming flagship missions such as HWO.
Objective Matters: Fine-Tuning Objectives Shape Safety, Robustness, and Persona Drift
Venue: arXiv cs.CL 2026
Year: 2026

Fine-tuning LLMs on benign data can still degrade alignment and adversarial robustness, yet direct analysis of the role of fine-tuning objectives in shaping these safety outcomes remain limited. We present a controlled comparison of six fine-tuning objectives -- Supervised Fine-Tuning, Direct Preference Optimization, Conditional Fine-Tuning, Inoculation Prompting, Odds Ratio Preference Optimization, and KL-regularized fine-tuning -- holding data, domain, architecture, and optimization fixed. Across closed-form reasoning and open-ended generation tasks, we find that objective choice induces systematic, scale-dependent shifts along the safety-capability frontier. At small training budgets, robustness is similar across objectives but capability differs. At larger budgets, objectives diverge sharply: supervised and preference-based tuning tightly couple capability gains to increased adversarial vulnerability and persona drift, while objectives that constrain learning signals -- especially ORPO and KL-regularization -- substantially mitigate both. Fine-tuning objectives therefore matter little for safety at small scales but become a primary driver of adversarial robustness and latent persona stability as training scale increases.
VILTA: A VLM-in-the-Loop Adversary for Enhancing Driving Policy Robustness
Venue: arXiv cs.CV 2026
Year: 2026

The safe deployment of autonomous driving (AD) systems is fundamentally hindered by the long-tail problem, where rare yet critical driving scenarios are severely underrepresented in real-world data. Existing solutions including safety-critical scenario generation and closed-loop learning often rely on rule-based heuristics, resampling methods and generative models learned from offline datasets, limiting their ability to produce diverse and novel challenges. While recent works leverage Vision Language Models (VLMs) to produce scene descriptions that guide a separate, downstream model in generating hazardous trajectories for agents, such two-stage framework constrains the generative potential of VLMs, as the diversity of the final trajectories is ultimately limited by the generalization ceiling of the downstream algorithm. To overcome these limitations, we introduce VILTA (VLM-In-the-Loop Trajectory Adversary), a novel framework that integrates a VLM into the closed-loop training of AD agents. Unlike prior works, VILTA actively participates in the training loop by comprehending the dynamic driving environment and strategically generating challenging scenarios through direct, fine-grained editing of surrounding agents' future trajectories. This direct-editing approach fully leverages the VLM's powerful generalization capabilities to create a diverse curriculum of plausible yet challenging scenarios that extend beyond the scope of traditional methods. We demonstrate that our approach substantially enhances the safety and robustness of the resulting AD policy, particularly in its ability to navigate critical long-tail events.
"Are we writing an advice column for Spock here?" Understanding Stereotypes in AI Advice for Autistic Users
Venue: arXiv cs.HC 2026
Year: 2026

Autistic individuals sometimes disclose autism when asking LLMs for social advice, hoping for more personalized responses. However, they also recognize that these systems may reproduce stereotypes, raising uncertainty about the risks and benefits of disclosure. We conducted a mixed-methods study combining a large-scale LLM audit experiment with interviews involving 11 autistic participants. We developed a six-step pipeline operationalizing 12 documented autism stereotypes into decision-making scenarios framed as users requesting advice (e.g., "Should I do A or B?"). We generated 345,000 responses from six LLMs and measured how advice shifted when prompts disclosed autism versus when they did not. When autism was disclosed, LLMs disproportionately recommended avoiding stereotypically stressful situations, including social events, confrontations, new experiences, and romantic relationships. While some participants viewed this as affirming, others criticized it as infantilizing or undermining opportunities for growth. Our study illuminates how the intermingling of affirmation and stereotyping complicates the personalization of LLMs.
Fusing in 3D: Free-Viewpoint Fusion Rendering with a 3D Infrared-Visible Scene Representation
Venue: arXiv cs.CV 2026
Year: 2026

Infrared-visible image fusion aims to integrate infrared and visible information into a single fused image. Existing 2D fusion methods focus on fusing images from fixed camera viewpoints, neglecting a comprehensive understanding of complex scenarios, which results in the loss of critical information about the scene. To address this limitation, we propose a novel Infrared-Visible Gaussian Fusion (IVGF) framework, which reconstructs scene geometry from multimodal 2D inputs and enables direct rendering of fused images. Specifically, we propose a cross-modal adjustment (CMA) module that modulates the opacity of Gaussians to solve the problem of cross-modal conflicts. Moreover, to preserve the distinctive features from both modalities, we introduce a fusion loss that guides the optimization of CMA, thus ensuring that the fused image retains the critical characteristics of each modality. Comprehensive qualitative and quantitative experiments demonstrate the effectiveness of the proposed method.
A Two-Stage GPU Kernel Tuner Combining Semantic Refactoring and Search-Based Optimization
Venue: arXiv cs.CL 2026
Year: 2026

GPU code optimization is a key performance bottleneck for HPC workloads as well as large-model training and inference. Although compiler optimizations and hand-written kernels can partially alleviate this issue, achieving near-hardware-limit performance still relies heavily on manual code refactoring and parameter tuning. Recent progress in LLM-agent-based kernel generation and optimization has been reported, yet many approaches primarily focus on direct code rewriting, where parameter choices are often implicit and hard to control, or require human intervention, leading to unstable performance gains. This paper introduces a template-based rewriting layer on top of an agent-driven iterative loop: kernels are semantically refactored into explicitly parameterizable templates, and template parameters are then optimized via search-based autotuning, yielding more stable and higher-quality speedups. Experiments on a set of real-world kernels demonstrate speedups exceeding 3x in the best case. We extract representative CUDA kernels from SGLang as evaluation targets; the proposed agentic tuner iteratively performs templating, testing, analysis, and planning, and leverages profiling feedback to execute constrained parameter search under hardware resource limits. Compared to agent-only direct rewriting, the template-plus-search design significantly reduces the randomness of iterative optimization, making the process more interpretable and enabling a more systematic approach toward high-performance configurations. The proposed method can be further extended to OpenCL, HIP, and other backends to deliver automated performance optimization for real production workloads.