OpenRaiser/Intern-Atlas huggingface dataset:
WHU-PCPR: A cross-platform heterogeneous point cloud dataset for place recognition in complex urban scenes
Venue: arXiv cs.CV 2026
Year: 2026

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition are often acquired from different platforms and LiDARs across varying scene. However, existing PCPR datasets lack diversity in scenes, platforms, and sensors, which limits the effective development of related research. To address this gap, we establish WHU-PCPR, a cross-platform heterogeneous point cloud dataset designed for place recognition. The dataset differentiates itself from existing datasets through its distinctive characteristics: 1) cross-platform heterogeneous point clouds: collected from survey-grade vehicle-mounted Mobile Laser Scanning (MLS) systems and low-cost Portable helmet-mounted Laser Scanning (PLS) systems, each equipped with distinct mechanical and solid-state LiDAR sensors. 2) Complex localization scenes: encompassing real-time and long-term changes in both urban and campus road scenes. 3) Large-scale spatial coverage: featuring 82.3 km of trajectory over a 60-month period and an unrepeated route of approximately 30 km. Based on WHU-PCPR, we conduct extensive evaluation and in-depth analysis of several representative PCPR methods, and provide a concise discussion of key challenges and future research directions. The dataset and benchmark code are available at https://github.com/zouxianghong/WHU-PCPR.
PRISP: Privacy-Safe Few-Shot Personalization via Lightweight Adaptation
Venue: arXiv cs.CL 2026
Year: 2026

Large language model (LLM) personalization aims to adapt general-purpose models to individual users. Most existing methods, however, are developed under data-rich and resource-abundant settings, often incurring privacy risks. In contrast, realistic personalization typically occurs after deployment under (i) extremely limited user data, (ii) constrained computational resources, and (iii) strict privacy requirements. We propose PRISP, a lightweight and privacy-safe personalization framework tailored to these constraints. PRISP leverages a Text-to-LoRA hypernetwork to generate task-aware LoRA parameters from task descriptions, and enables efficient user personalization by optimizing a small subset of task-aware LoRA parameters together with minimal additional modules using few-shot user data. Experiments on a few-shot variant of the LaMP benchmark demonstrate that PRISP achieves strong overall performance compared to prior approaches, while reducing computational overhead and eliminating privacy risks.
Coding for Fading Channels with Imperfect CSI at the Transmitter and Quantized Feedback
Venue: arXiv cs.IT 2026
Year: 2026

The classical Schalkwijk-Kailath (SK) scheme for the additive Gaussian noise channel with noiseless feedback is highly efficient since its coding complexity is extremely low and the decoding error doubly exponentially decays as the coding blocklength tends to infinity. However, how to extend the SK scheme to channel models with memory has yet to be solved. In this paper, we first investigate how to design SK-type scheme for the 2-path quasi-static fading channel with noiseless feedback. By viewing the signal of the second path as a relay and adopting an amplify-and-forward (AF) relay strategy, we show that the interference path signal can help to enhance the transmission rate. Besides this, for arbitrary multi-path fading channel with feedback, we also present an SK-type scheme for such a model, which transforms the time domain channel into a frequency domain MIMO channel.
MedRAGChecker: Claim-Level Verification for Biomedical Retrieval-Augmented Generation
Venue: arXiv cs.CL 2026
Year: 2026

Biomedical retrieval-augmented generation (RAG) can ground LLM answers in medical literature, yet long-form outputs often contain isolated unsupported or contradictory claims with safety implications. We introduce MedRAGChecker, a claim-level verification and diagnostic framework for biomedical RAG. Given a question, retrieved evidence, and a generated answer, MedRAGChecker decomposes the answer into atomic claims and estimates claim support by combining evidence-grounded natural language inference (NLI) with biomedical knowledge-graph (KG) consistency signals. Aggregating claim decisions yields answer-level diagnostics that help disentangle retrieval and generation failures, including faithfulness, under-evidence, contradiction, and safety-critical error rates. To enable scalable evaluation, we distill the pipeline into compact biomedical models and use an ensemble verifier with class-specific reliability weighting. Experiments on four biomedical QA benchmarks show that MedRAGChecker reliably flags unsupported and contradicted claims and reveals distinct risk profiles across generators, particularly on safety-critical biomedical relations.
BabyVision: Visual Reasoning Beyond Language
Venue: arXiv cs.CV 2026
Year: 2026

While humans develop core visual skills long before acquiring language, contemporary Multimodal LLMs (MLLMs) still rely heavily on linguistic priors to compensate for their fragile visual understanding. We uncovered a crucial fact: state-of-the-art MLLMs consistently fail on basic visual tasks that humans, even 3-year-olds, can solve effortlessly. To systematically investigate this gap, we introduce BabyVision, a benchmark designed to assess core visual abilities independent of linguistic knowledge for MLLMs. BabyVision spans a wide range of tasks, with 388 items divided into 22 subclasses across four key categories. Empirical results and human evaluation reveal that leading MLLMs perform significantly below human baselines. Gemini3-Pro-Preview scores 49.7, lagging behind 6-year-old humans and falling well behind the average adult score of 94.1. These results show despite excelling in knowledge-heavy evaluations, current MLLMs still lack fundamental visual primitives. Progress in BabyVision represents a step toward human-level visual perception and reasoning capabilities. We also explore solving visual reasoning with generation models by proposing BabyVision-Gen and automatic evaluation toolkit. Our code and benchmark data are released at https://github.com/UniPat-AI/BabyVision for reproduction.
Towards Egocentric 3D Hand Pose Estimation in Unseen Domains
Venue: arXiv cs.CV 2026
Year: 2026

We present V-HPOT, a novel approach for improving the cross-domain performance of 3D hand pose estimation from egocentric images across diverse, unseen domains. State-of-the-art methods demonstrate strong performance when trained and tested within the same domain. However, they struggle to generalise to new environments due to limited training data and depth perception -- overfitting to specific camera intrinsics. Our method addresses this by estimating keypoint z-coordinates in a virtual camera space, normalised by focal length and image size, enabling camera-agnostic depth prediction. We further leverage this invariance to camera intrinsics to propose a self-supervised test-time optimisation strategy that refines the model's depth perception during inference. This is achieved by applying a 3D consistency loss between predicted and in-space scale-transformed hand poses, allowing the model to adapt to target domain characteristics without requiring ground truth annotations. V-HPOT significantly improves 3D hand pose estimation performance in cross-domain scenarios, achieving a 71% reduction in mean pose error on the H2O dataset and a 41% reduction on the AssemblyHands dataset. Compared to state-of-the-art methods, V-HPOT outperforms all single-stage approaches across all datasets and competes closely with two-stage methods, despite needing approximately x3.5 to x14 less data.
Mosaic: Unlocking Long-Context Inference for Diffusion LLMs via Global Memory Planning and Dynamic Peak Taming
Venue: arXiv cs.LG 2026
Year: 2026

Diffusion-based large language models (dLLMs) have emerged as a promising paradigm, utilizing simultaneous denoising to enable global planning and iterative refinement. While these capabilities are particularly advantageous for long-context generation, deploying such models faces a prohibitive memory capacity barrier stemming from severe system inefficiencies. We identify that existing inference systems are ill-suited for this paradigm: unlike autoregressive models constrained by the cumulative KV-cache, dLLMs are bottlenecked by transient activations recomputed at every step. Furthermore, general-purpose memory reuse mechanisms lack the global visibility to adapt to dLLMs' dynamic memory peaks, which toggle between logits and FFNs. To address these mismatches, we propose Mosaic, a memory-efficient inference system that shifts from local, static management to a global, dynamic paradigm. Mosaic integrates a mask-only logits kernel to eliminate redundancy, a lazy chunking optimizer driven by an online heuristic search to adaptively mitigate dynamic peaks, and a global memory manager to resolve fragmentation via virtual addressing. Extensive evaluations demonstrate that Mosaic achieves an average 2.71$\times$ reduction in the memory peak-to-average ratio and increases the maximum inference sequence length supportable on identical hardware by 15.89-32.98$\times$. This scalability is achieved without compromising accuracy and speed, and in fact reducing latency by 4.12%-23.26%.
QCaption: Video Captioning and Q&A through Fusion of Large Multimodal Models
Venue: arXiv cs.CV 2026
Year: 2026

This paper introduces QCaption, a novel video captioning and Q&A pipeline that enhances video analytics by fusing three models: key frame extraction, a Large Multimodal Model (LMM) for image-text analysis, and a Large Language Model (LLM) for text analysis. This approach enables integrated analysis of text, images, and video, achieving performance improvements over existing video captioning and Q&A models; all while remaining fully self-contained, adept for on-premises deployment. Experimental results using QCaption demonstrated up to 44.2% and 48.9% improvements in video captioning and Q&A tasks, respectively. Ablation studies were also performed to assess the role of LLM on the fusion on the results. Moreover, the paper proposes and evaluates additional video captioning approaches, benchmarking them against QCaption and existing methodologies. QCaption demonstrate the potential of adopting a model fusion approach in advancing video analytics.
Stylistic Evolution and LLM Neutrality in Singlish Language
Venue: arXiv cs.CL 2026
Year: 2026

Singlish is a creole rooted in Singapore's multilingual environment and continues to evolve alongside social and technological change. This study investigates the evolution of Singlish over a decade of informal digital text messages. We propose a stylistic similarity framework that compares lexico-structural, pragmatic, psycholinguistic, and encoder-derived features across years to quantify temporal variation. Our analysis reveals notable diachronic changes in tone, expressivity and sentence construction over the years. Conversely, while some LLMs were able to generate superficially realistic Singlish messages, they do not produce temporally neutral outputs, and residual temporal signals remain detectable despite prompting and fine-tuning. Our findings highlight the dynamic evolution of Singlish, as well as the capabilities and limitations of current LLMs in modeling sociolectal and temporal variations in the colloquial language.
Softly Induced Functional Simplicity: Implications for Neural Network Generalisation, Robustness, and Distillation
Venue: arXiv cs.LG 2026
Year: 2026

Learning robust and generalisable abstractions from high-dimensional input data is a central challenge in machine learning and its applications to high-energy physics (HEP). Solutions of lower functional complexity are known to produce abstractions that generalise more effectively and are more robust to input perturbations. In complex hypothesis spaces, inductive biases make such solutions learnable by shaping the loss geometry during optimisation. In a HEP classification task, we show that a soft symmetry respecting inductive bias creates approximate degeneracies in the loss, which we identify as pseudo-Goldstone modes. We quantify functional complexity using metrics derived from first principles Hessian analysis and via compressibility. Our results demonstrate that solutions of lower complexity give rise to abstractions that are more generalisable, robust, and efficiently distillable.
Implicit bias as a Gauge correction: Theory and Inverse Design
Venue: arXiv cs.LG 2026
Year: 2026

A central problem in machine learning theory is to characterize how learning dynamics select particular solutions among the many compatible with the training objective, a phenomenon, called implicit bias, which remains only partially characterized. In the present work, we identify a general mechanism, in terms of an explicit geometric correction of the learning dynamics, for the emergence of implicit biases, arising from the interaction between continuous symmetries in the model's parametrization and stochasticity in the optimization process. Our viewpoint is constructive in two complementary directions: given model symmetries, one can derive the implicit bias they induce; conversely, one can inverse-design a wide class of different implicit biases by computing specific redundant parameterizations. More precisely, we show that, when the dynamics is expressed in the quotient space obtained by factoring out the symmetry group of the parameterization, the resulting stochastic differential equation gains a closed form geometric correction in the stationary distribution of the optimizer dynamics favoring orbits with small local volume. We compute the resulting symmetry induced bias for a range of architectures, showing how several well known results fit into a single unified framework. The approach also provides a practical methodology for deriving implicit biases in new settings, and it yields concrete, testable predictions that we confirm by numerical simulations on toy models trained on synthetic data, leaving more complex scenarios for future work. Finally, we test the implicit bias inverse-design procedure in notable cases, including biases toward sparsity in linear features or in spectral properties of the model parameters.
Industrial Semantics-Aware Digital Twins: A Hybrid Graph Matching Approach for Asset Administration Shells
Venue: arXiv cs.IR 2026
Year: 2026

Although the Asset Administration Shell (AAS) standard provides a structured and machine-readable representation of industrial assets, their semantic comparability remains a major challenge, particularly when different vocabularies and modeling practices are used. Engineering would benefit from retrieving existing AAS models that are similar to the target in order to reuse submodels, parameters, and metadata. In practice, however, heterogeneous vocabularies and divergent modeling conventions hinder automated, content-level comparison across AAS. This paper proposes a hybrid graph matching approach to enable semantics-aware comparison of Digital Twin representations. The method combines rule-based pre-filtering using SPARQL with embedding-based similarity calculation leveraging RDF2vec to capture both structural and semantic relationships between AAS models. This contribution provides a foundation for enhanced discovery, reuse, and automated configuration in Digital Twin networks.
Burn-After-Use for Preventing Data Leakage through a Secure Multi-Tenant Architecture in Enterprise LLM
Venue: arXiv cs.CR 2026
Year: 2026

This study presents a Secure Multi-Tenant Architecture (SMTA) combined with a novel concept Burn-After-Use (BAU) mechanism for enterprise LLM environments to effectively prevent data leakage. As institutions increasingly adopt LLMs across departments, the risks of data leakage have become a critical security and compliance concern. The proposed SMTA isolates LLM instances across departments and enforces rigorous context ownership boundaries within an internally deployed infrastructure. The BAU mechanism introduces data confidentiality by enforcing ephemeral conversational contexts that are automatically destroyed after use, preventing cross-session or cross-user inference. The evaluation to SMTA and BAU is through two sets of realistic and reproducible experiments comprising of 127 test iterations. One aspect of this experiment is to assess prompt-based and semantic leakage attacks in a multi-tenant architecture (Appendix A) across 55 infrastructure-level attack tests, including vector-database credential compromise and shared logging pipeline exposure. SMTA achieves 92% defense success rate, demonstrating strong semantic isolation while highlighting residual risks from credential misconfiguration and observability pipelines. Another aspect is to evaluate the robustness of BAU under realistic failure scenarios (Appendix B) using four empirical metrics: Local Residual Persistence Rate (LRPR), Remote Residual Persistence Rate (RRPR), Image Frame Exposure Rate (IFER), and Burn Timer Persistence Rate (BTPR). Across 72 test iterations, BAU achieves a 76.75% success rate in mitigating post-session leakage threats across the client, server, application, infrastructure, and cache layers. These results show that SMTA and BAU together enforce strict isolation, complete session ephemerality, strong confidentiality guarantees, non-persistence, and policy-aligned behavior for enterprise LLMs.
KASER: Knowledge-Aligned Student Error Simulator for Open-Ended Coding Tasks
Venue: arXiv cs.LG 2026
Year: 2026

Open-ended tasks, such as coding problems that are common in computer science education, provide detailed insights into student knowledge. However, training large language models (LLMs) to simulate and predict possible student errors in their responses to these problems can be challenging: they often suffer from mode collapse and fail to fully capture the diversity in syntax, style, and solution approach in student responses. In this work, we present KASER (Knowledge-Aligned Student Error Simulator), a novel approach that aligns errors with student knowledge. We propose a training method based on reinforcement learning using a hybrid reward that reflects three aspects of student code prediction: i) code similarity to the ground-truth, ii) error matching, and iii) code prediction diversity. On two real-world datasets, we perform two levels of evaluation and show that: At the per-student-problem pair level, our method outperforms baselines on code and error prediction; at the per-problem level, our method outperforms baselines on error coverage and simulated code diversity.
Quantification and Classification of Carbon Nanotubes in Electron Micrographs using Vision Foundation Models
Venue: arXiv cs.CV 2026
Year: 2026

Accurate characterization of carbon nanotube morphologies in electron microscopy images is vital for exposure assessment and toxicological studies, yet current workflows rely on slow, subjective manual segmentation. This work presents a unified framework leveraging vision foundation models to automate the quantification and classification of CNTs in electron microscopy images. First, we introduce an interactive quantification tool built on the Segment Anything Model (SAM) that segments particles with near-perfect accuracy using minimal user input. Second, we propose a novel classification pipeline that utilizes these segmentation masks to spatially constrain a DINOv2 vision transformer, extracting features exclusively from particle regions while suppressing background noise. Evaluated on a dataset of 1,800 TEM images, this architecture achieves 95.5% accuracy in distinguishing between four different CNT morphologies, significantly outperforming the current baseline despite using a fraction of the training data. Crucially, this instance-level processing allows the framework to resolve mixed samples, correctly classifying distinct particle types co-existing within a single field of view. These results demonstrate that integrating zero-shot segmentation with self-supervised feature learning enables high-throughput, reproducible nanomaterial analysis, transforming a labor-intensive bottleneck into a scalable, data-driven process.
Explainability of Complex AI Models with Correlation Impact Ratio
Venue: arXiv cs.LG 2026
Year: 2026

Complex AI systems make better predictions but often lack transparency, limiting trustworthiness, interpretability, and safe deployment. Common post hoc AI explainers, such as LIME, SHAP, HSIC, and SAGE, are model agnostic but are too restricted in one significant regard: they tend to misrank correlated features and require costly perturbations, which do not scale to high dimensional data. We introduce ExCIR (Explainability through Correlation Impact Ratio), a theoretically grounded, simple, and reliable metric for explaining the contribution of input features to model outputs, which remains stable and consistent under noise and sampling variations. We demonstrate that ExCIR captures dependencies arising from correlated features through a lightweight single pass formulation. Experimental evaluations on diverse datasets, including EEG, synthetic vehicular data, Digits, and Cats-Dogs, validate the effectiveness and stability of ExCIR across domains, achieving more interpretable feature explanations than existing methods while remaining computationally efficient. To this end, we further extend ExCIR with an information theoretic foundation that unifies the correlation ratio with Canonical Correlation Analysis under mutual information bounds, enabling multi output and class conditioned explainability at scale.
GRASP LoRA: GRPO Guided Adapter Sparsity Policy for Cross Lingual Transfer
Venue: arXiv cs.CL 2026
Year: 2026

Parameter efficient fine tuning is a way to adapt LLMs to new languages when compute or data are limited, yet adapter pipelines usually choose a global prune ratio by grid search. This practice is computationally expensive and development set intensive, since it repeats training, freezes sparsity, and misses fractional optima. We introduce GRASP LoRA (GRPO Guided Adapter Sparsity Policy), which treats global sparsity as a learnable control variable. A GRPO controller interleaves with training, periodically probing candidate prune ratios on a small micro development set and updating a single global prune ratio online from its reward signal. It operates on merged source and target LoRA adapters on a frozen backbone and replaces grid search with one controller run that learns a prune ratio, followed by a single final merge and prune fine tuning run with pruning fixed to that ratio. On cross lingual transfer from English into Arabic and Chinese, including XL-Sum summarization and MLQA extractive question answering with Llama 3 8B, GRASP LoRA improves semantic faithfulness, content coverage, and answer quality over strong target only and merge and prune baselines. It reduces end to end runtime by multiple times relative to grid search, lowers reliance on large development sets, and makes adapter reuse practical for low resource deployment.