OpenRaiser/Intern-Atlas huggingface dataset:
Refined Bayesian Optimization for Efficient Beam Alignment in Intelligent Indoor Wireless Environments
Venue: arXiv cs.NI 2026
Year: 2026

Future intelligent indoor wireless environments require fast and reliable beam alignment to sustain high-throughput links under mobility and blockage. Exhaustive beam training achieves optimal performance but is prohibitively costly. In indoor settings, dense scatterers and transceiver hardware imperfections introduce multipath and sidelobe leakage, producing measurable power across multiple angles and reducing the effectiveness of outdoor-oriented alignment algorithms. This paper presents a Refined Bayesian Optimization (R-BO) framework that exploits the inherent structure of mmWave transceiver patterns, where received power gradually increases as the transmit and receive beams converge toward the optimum. R-BO integrates a Gaussian Process (GP) surrogate with a Matern kernel and an Expected Improvement (EI) acquisition function, followed by a localized refinement around the predicted optimum. The GP hyperparameters are re-optimized online to adapt to irregular variations in the measured angular power field caused by reflections and sidelobe leakage. Experiments across 43 receiver positions in an indoor laboratory demonstrate 97.7% beam-alignment accuracy within 10 degrees, less than 0.3 dB average loss, and an 88% reduction in probing overhead compared to exhaustive search. These results establish R-BO as an efficient and adaptive beam-alignment solution for real-time intelligent indoor wireless environments.
The Global Orientation Barrier in Step-Duplicating Recursors: Impossibility, Modular Escape, and a Certified Witness
Venue: arXiv cs.LO 2026
Year: 2026

We identify a boundary between direct compositional measures (global aggregation over subterms) and projection-based methods (dependency pairs, subterm criterion) for terminating first-order rewrite systems with step-duplicating recursors. The impossibility and escape characterization are machine-checked in Lean 4; full-step termination is validated externally by TTT2, certified by CeTA. On a minimal witness calculus (KO7: 7 constructors, 8 rules, no binders, no sharing, no object-level axioms), we prove that no measure in either of two formalized compositional axiom classes can strictly orient the duplicating recursor for all term instantiations. The impossibility holds on a 4-constructor sub-signature. A ranking function corresponding to the DP subterm-criterion projection orients the same rule but violates the compositional axioms, identifying where projection-based methods escape the barrier. A mechanized ablation confirms causality: removing duplication immediately dissolves the barrier. Because the impossibility blocks direct compositional proofs for the full system, we isolate a guarded safe fragment (SafeStep) and deliver a complete certification chain: strong normalization via a computable triple-lexicographic measure with all eight per-rule decrease certificates machine-checked; root-step confluence via Newman's lemma with fully discharged local-join hypothesis; a certified normalizer; and ordinal calibration with mechanized upper bound below epsilon_0 and lower-bound surjectivity at omega^omega. Full-step termination of the unguarded kernel is confirmed by TTT2 using dependency pairs with subterm criterion. Of eight strategies tested, all three projection-based and subterm-property methods (DP, LPO) succeed; all five direct/global strategies fail to find a proof, consistent with the mechanized impossibility results.
Cross-Domain Federated Semantic Communication with Global Representation Alignment and Domain-Aware Aggregation
Venue: arXiv cs.IT 2026
Year: 2026

Semantic communication can significantly improve bandwidth utilization in wireless systems by exploiting the meaning behind raw data. However, the advancements achieved through semantic communication are closely dependent on the development of deep learning (DL) models for joint source-channel coding (JSCC) encoder/decoder techniques, which require a large amount of data for training. To address this data-intensive nature of DL models, federated learning (FL) has been proposed to train a model in a distributed manner, where the server broadcasts the DL model to clients in the network for training with their local data. However, the conventional FL approaches suffer from catastrophic degradation when client data are from different domains. In contrast, in this paper, a novel FL framework is proposed to address this domain shift by constructing the global representation, which aligns with the local features of the clients to preserve the semantics of different data domains. In addition, the dominance problem of client domains with a large number of samples is identified and, then, addressed with a domain-aware aggregation approach. This work is the first to consider the domain shift in training the semantic communication system for the image reconstruction task. Finally, simulation results demonstrate that the proposed approach outperforms the model-contrastive FL (MOON) framework by 0.5 for PSNR values under three domains at an SNR of 1 dB, and this gap continues to widen as the channel quality improves.
SimWorld: An Open-ended Realistic Simulator for Autonomous Agents in Physical and Social Worlds
Venue: arXiv cs.AI 2026
Year: 2026

While LLM/VLM-powered AI agents have advanced rapidly in math, coding, and computer use, their applications in complex physical and social environments remain challenging. Building agents that can survive and thrive in the real world (for example, by autonomously earning income or running a business) requires massive-scale interaction, reasoning, training, and evaluation across diverse embodied scenarios. However, existing world simulators for such development fall short: they often rely on limited hand-crafted environments, simulate simplified game-like physics and social rules, and lack native support for LLM/VLM agents. We introduce SimWorld, a new simulator built on Unreal Engine 5, designed for developing and evaluating LLM/VLM agents in rich, real-world-like settings. SimWorld offers three core capabilities: (1) realistic, open-ended world simulation, including accurate physical and social dynamics and language-driven procedural environment generation; (2) a rich interface for LLM/VLM agents, with multimodal world inputs and open-vocabulary actions at varying levels of abstraction; and (3) diverse and extensible physical and social reasoning scenarios that are easily customizable by users. We demonstrate SimWorld by deploying frontier LLM agents (e.g., GPT-4o, Gemini-2.5-Flash, Claude-3.5, and DeepSeek-Prover-V2) on long-horizon multi-agent delivery tasks involving strategic cooperation and competition. The results reveal distinct reasoning patterns and limitations across models. We open-source SimWorld and hope it becomes a foundational platform for advancing real-world agent intelligence across disciplines: https://simworld.org.
OntoMetric: An Ontology-Driven LLM-Assisted Framework for Automated ESG Metric Knowledge Graph Generation
Venue: arXiv cs.AI 2026
Year: 2026

Environmental, Social, and Governance (ESG) metric knowledge is inherently structured, connecting industries, reporting frameworks, metric categories, metrics, and calculation models through compositional dependencies, yet in practice this structure remains embedded implicitly in regulatory documents such as SASB, TCFD, and IFRS S2 and rarely exists as an explicit, governed, or machine-actionable artefact. Existing ESG ontologies define formal schemas but do not address scalable population and governance from authoritative regulatory sources, while unconstrained large language model (LLM) extraction frequently produces semantically incorrect entities, hallucinated relationships, and structurally invalid graphs. OntoMetric is an ontology-guided framework for the automated construction and governance of ESG metric knowledge graphs from regulatory documents that operationalises the ESG Metric Knowledge Graph (ESGMKG) ontology as a first-class constraint embedded directly into the extraction and population process. The framework integrates structure-aware segmentation, ontology-constrained LLM extraction enriched with semantic fields and deterministic identifiers, and two-phase validation combining semantic type verification with rule-based schema checking, while preserving segment-level and page-level provenance to ensure traceability to regulatory source text. Evaluation on five ESG regulatory standards shows that ontology-guided extraction achieves 65-90 percent semantic accuracy and over 80 percent schema compliance, compared with 3-10 percent for unconstrained baseline extraction, and yields stable cost efficiency with a cost per validated entity of 0.01-0.02 USD and a 48 times efficiency improvement over baseline.
CLAPS: Posterior-Aware Conformal Intervals via Last-Layer Laplace
Venue: arXiv cs.LG 2026
Year: 2026

We present CLAPS, a posterior-aware conformal regression method that pairs a Last-Layer Laplace Approximation with split-conformal calibration. From the resulting Gaussian posterior, CLAPS defines a simple two-sided posterior CDF score that aligns the conformity metric with the full predictive shape, not just a point estimate. This alignment can yield substantially narrower prediction intervals at a fixed target coverage, particularly on small to medium tabular datasets where data are scarce and uncertainty modeling is informative. We also provide a lightweight diagnostic suite that separates aleatoric and epistemic components and visualizes posterior behavior, helping practitioners assess when and why intervals shrink. Across multiple benchmarks using the same MLP backbone, CLAPS achieves nominal coverage and offers the most efficient intervals on small to medium datasets with mild heterogeneity, while remaining competitive and diagnostically transparent on large-scale heterogeneous data where Normalized-CP and CQR attain the tightest intervals.
Syndrome-Flow Consistency Model Achieves One-step Denoising Error Correction Codes
Venue: arXiv cs.LG 2026
Year: 2026

Error Correction Codes (ECC) are fundamental to reliable digital communication, yet designing neural decoders that are both accurate and computationally efficient remains challenging. Recent denoising diffusion decoders achieve state-of-the-art performance, but their iterative sampling limits practicality in low-latency settings. To bridge this gap, consistency models (CMs) offer a potential path to high-fidelity one-step decoding. However, applying CMs to ECC presents a significant challenge: the discrete nature of error correction means the decoding trajectory is highly non-smooth, making it incompatible with a simple continuous timestep parameterization. To address this, we re-parameterize the reverse Probability Flow Ordinary Differential Equation (PF-ODE) by soft-syndrome condition, providing a smooth trajectory of signal corruption. Building on this, we propose the Error Correction Syndrome-Flow Consistency Model (ECCFM), a model-agnostic framework designed specifically for ECC task, ensuring the model learns a smooth trajectory from any noisy signal directly to the original codeword in a single step. Across multiple benchmarks, ECCFM attains lower bit-error-rate (BER) and frame-error-rate (FER) than transformer-based decoders, while delivering inference speeds 30x to 100x faster than iterative denoising diffusion decoders.
A Unified Architecture for N-Dimensional Visualization and Simulation: 4D Implementation and Evaluation including Boolean Operations
Venue: arXiv cs.CG 2026
Year: 2026

This paper proposes a unified software architecture for visualization and simulation based on a design targeting an $N$-dimensional space. The contribution of this work lies in presenting an architectural configuration that integrates multiple processes into a single software architecture: Quickhull-based convex hull mesh generation, Boolean operations, coordinate transformations for high-dimensional exploration (including orientation and view transformations), and hyperplane slicing for visualization. The proposed approach adopts an approximate implementation that tolerates numerical errors and prioritizes implementation transparency over guarantees of numerical rigor. The experimental results and evaluations presented in this paper are limited to a 4D implementation; no evaluation is conducted for $N>4$, and the discussion is restricted to stating that the architecture itself has a dimension-independent structure. This paper also proposes an interaction design for high-dimensional exploration based on FPS navigation. As an input example involving shape changes over time, a non-rigid body simulation based on XPBD (Extended Position Based Dynamics) is integrated into the 4D implementation. Experimental results confirm that the 4D implementation runs on a single PC.
A Linear Expectation Constraint for Selective Prediction and Routing with False-Discovery Control
Venue: arXiv cs.AI 2026
Year: 2026

Foundation models often generate unreliable answers, while heuristic uncertainty estimators fail to fully distinguish correct from incorrect outputs, causing users to accept erroneous answers without statistical guarantees. We address this through the lens of false discovery rate (FDR) control, ensuring that among all accepted predictions, the proportion of errors does not exceed a target risk level. To this end, we propose LEC, a principled framework that reframes selective prediction as a decision problem governed by a linear expectation constraint over selection and error indicators. Under this formulation, we derive a finite-sample sufficient condition that relies only on a held-out set of exchangeable calibration data, enabling the computation of an FDR-constrained, retention-maximizing threshold. Furthermore, we extend LEC to two-model routing systems: if the primary model's uncertainty exceeds its calibrated threshold, the input is delegated to a subsequent model, while maintaining system-level FDR control. Experiments on both closed-ended and open-ended question answering (QA) and vision question answering (VQA) demonstrate that LEC achieves tighter FDR control and substantially improves sample retention compared to prior approaches.
Confidential, Attestable, and Efficient Inter-CVM Communication with Arm CCA
Venue: arXiv cs.CR 2026
Year: 2026

Confidential Virtual Machines (CVMs) are increasingly adopted to protect sensitive workloads from privileged adversaries such as the hypervisor. While they provide strong isolation guarantees, existing CVM architectures lack first-class mechanisms for inter-CVM data sharing due to their disjoint memory model, making inter-CVM data exchange a performance bottleneck in compartmentalized or collaborative multi-CVM systems. Under this model, a CVM's accessible memory is either shared with the hypervisor or protected from both the hypervisor and all other CVMs. This design simplifies reasoning about memory ownership; however, it fundamentally precludes plaintext data sharing between CVMs because all inter-CVM communication must pass through hypervisor-accessible memory, requiring costly encryption and decryption to preserve confidentiality and integrity. In this paper, we introduce CAEC, a system that enables protected memory sharing between CVMs. CAEC builds on Arm Confidential Compute Architecture (CCA) and extends its firmware to support Confidential Shared Memory (CSM), a memory region securely shared between multiple CVMs while remaining inaccessible to the hypervisor and all non-participating CVMs. CAEC's design is fully compatible with CCA hardware and introduces only a modest increase (4%) in CCA firmware code size. CAEC delivers substantial performance benefits across a range of workloads. For instance, inter-CVM communication over CAEC achieves up to 209$\times$ reduction in CPU cycles compared to encryption-based mechanisms over hypervisor-accessible shared memory. By combining high performance, strong isolation guarantees, and attestable sharing semantics, CAEC provides a practical and scalable foundation for the next generation of trusted multi-CVM services across both edge and cloud environments.
A unified framework for geometry-independent operator learning in cardiac electrophysiology simulations
Venue: arXiv cs.LG 2026
Year: 2026

Learning neural operators on heterogeneous and irregular geometries remains a fundamental challenge, as existing approaches typically rely on structured discretisations or explicit mappings to a shared reference domain. We propose a unified framework for geometry-independent operator learning that reformulates the learning problem in an intrinsic coordinate space defined on the underlying manifold. By expressing both inputs and outputs in this shared coordinate domain, the framework decouples operator learning from mesh discretisation and geometric variability, while preserving meaningful spatial organisation and enabling faithful reconstruction on the original geometry. We demonstrate the framework on cardiac electrophysiology, a particularly challenging setting due to extreme anatomical variability across heart geometries. Leveraging a GPU-accelerated simulation pipeline, we generate large-scale datasets of high-fidelity electrophysiology simulations across diverse patient-specific anatomies and train customised neural operators to predict full-field local activation time maps. The proposed approach outperforms established neural operators on both atrial and ventricular geometries. Beyond cardiac electrophysiology, we further show that the same representation enables operator learning in cardiac biomechanics, a distinct problem involving volumetric deformation, highlighting the generality of the proposed framework. Together, these results establish intrinsic coordinate representations as a principled and extensible pathway for neural operator learning on complex physical systems characterised by heterogeneous geometry.
The lonely runner conjecture holds for nine runners
Venue: arXiv cs.DM 2026
Year: 2026

We prove that the lonely runner conjecture holds for nine runners. Our proof is based on a couple of improvements of the method we used to prove the conjecture for eight runners.
Learning Dexterous Manipulation Skills from Imperfect Simulations
Venue: arXiv cs.RO 2026
Year: 2026

Reinforcement learning and sim-to-real transfer have made significant progress in dexterous manipulation. However, progress remains limited by the difficulty of simulating complex contact dynamics and multisensory signals, especially tactile feedback. In this work, we propose \ours, a sim-to-real framework that addresses these limitations and demonstrates its effectiveness on nut-bolt fastening and screwdriving with multi-fingered hands. The framework has three stages. First, we train reinforcement learning policies in simulation using simplified object models that lead to the emergence of correct finger gaits. We then use the learned policy as a skill primitive within a teleoperation system to collect real-world demonstrations that contain tactile and proprioceptive information. Finally, we train a behavior cloning policy that incorporates tactile sensing and show that it generalizes to nuts and screwdrivers with diverse geometries. Experiments across both tasks show high task progress ratios compared to direct sim-to-real transfer and robust performance even on unseen object shapes and under external perturbations. Videos and code are available on https://dexscrew.github.io.
Multi-Objective Agentic Rewrites for Unstructured Data Processing
Venue: arXiv cs.DB 2026
Year: 2026

One year ago, we open-sourced DocETL, a declarative system for LLM-powered data processing that, as of November 2025, has 3.2K GitHub stars and users across domains (e.g., journalism, law, medicine, policy, finance, and urban planning). In DocETL, users build pipelines by composing operators described in natural language, also known as semantic operators, with an LLM executing each operator's logic. However, due to complexity in the operator or the data it operates on, LLMs often give inaccurate results. To address this challenge, DocETL introduced rewrite directives, or abstract rules that guide LLM agents in rewriting pipelines by decomposing operators or data. For example, decomposing a single filter("is this email sent from an executive and discussing fraud?") into the conjunction of two separate semantic filters may improve accuracy. However, DocETL only optimizes for accuracy, not cost. How do we optimize for both? We present MOAR (Multi-Objective Agentic Rewrites), a new optimizer for DocETL. To target cost optimization, we introduce two new categories of directives and extend all three existing categories with new ones, bringing the total to over 30 directives -- more than doubling what DocETL originally had. Moreover, since operators can interact with each other unpredictably due to LLM behavior, optimizing operators or sub-pipelines individually can yield suboptimal overall plans. Recognizing this, we design a new global search algorithm that explores rewrites in the context of entire pipelines. Since the space of rewrites is infinite -- pipelines can be rewritten in many ways, and each rewritten pipeline can itself be rewritten -- our algorithm adapts a multi-armed bandit framework to prioritize which pipelines to rewrite. Across six workloads, MOAR achieves 27% higher accuracy than ABACUS, the next-best optimizer, while matching its best accuracy at 55% of its cost.
VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM
Venue: arXiv cs.RO 2026
Year: 2026

We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their purely visual design degrades under challenging conditions such as motion blur, low texture, and exposure variations. Our method tightly couples visual and inertial cues within a unified optimization framework, jointly optimizing camera poses, depths, and IMU states. It features robust IMU initialization, time-varying bias modeling, and loop closure with consistent Gaussian updates. Experiments on five challenging datasets demonstrate our superiority over state-of-the-art methods. Project page: https://vigs-slam.github.io