OpenRaiser/Intern-Atlas huggingface dataset:
When Do LLM Preferences Predict Downstream Behavior?
Venue: arXiv cs.AI 2026
Year: 2026

Preference-driven behavior in LLMs may be a necessary precondition for AI misalignment such as sandbagging: models cannot strategically pursue misaligned goals unless their behavior is influenced by their preferences. Yet prior work has typically prompted models explicitly to act in specific ways, leaving unclear whether observed behaviors reflect instruction-following capabilities vs underlying model preferences. Here we test whether this precondition for misalignment is present. Using entity preferences as a behavioral probe, we measure whether stated preferences predict downstream behavior in five frontier LLMs across three domains: donation advice, refusal behavior, and task performance. Conceptually replicating prior work, we first confirm that all five models show highly consistent preferences across two independent measurement methods. We then test behavioral consequences in a simulated user environment. We find that all five models give preference-aligned donation advice. All five models also show preference-correlated refusal patterns when asked to recommend donations, refusing more often for less-preferred entities. All preference-related behaviors that we observe here emerge without instructions to act on preferences. Results for task performance are mixed: on a question-answering benchmark (BoolQ), two models show small but significant accuracy differences favoring preferred entities; one model shows the opposite pattern; and two models show no significant relationship. On complex agentic tasks, we find no evidence of preference-driven performance differences. While LLMs have consistent preferences that reliably predict advice-giving behavior, these preferences do not consistently translate into downstream task performance.
Bumper Drone: Elastic Morphology Design for Aerial Physical Interaction
Venue: arXiv cs.RO 2026
Year: 2026

Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact forces on unknown targets, which typically demand accurate sensing and active control. We present a drone platform with elastic horns that enables touch-and-go manoeuvres - a self-regulated, consecutive bumping motion that allows the drone to maintain proximity to a wall without relying on active obstacle avoidance. It leverages environmental interaction as a form of embodied control, where low-level stabilisation and near-obstacle navigation emerge from the passive dynamic responses of the drone-obstacle system that resembles a mass-spring-damper system. Experiments show that the elastic horn can absorb impact energy while maintaining vehicle stability, reducing pitch oscillations by 38% compared to the rigid horn configuration. The lower horn arrangement was found to reduce pitch oscillations by approximately 54%. In addition to intermittent contact, the platform equipped with elastic horns also demonstrates stable, sustained contact with static objects, relying on a standard attitude PID controller.
IDSelect: A RL-Based Cost-Aware Selection Agent for Video-based Multi-Modal Person Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Video-based person recognition achieves robust identification by integrating face, body, and gait. However, current systems waste computational resources by processing all modalities with fixed heavyweight ensembles regardless of input complexity. To address these limitations, we propose IDSelect, a reinforcement learning-based cost-aware selector that chooses one pre-trained model per modality per-sequence to optimize the accuracy-efficiency trade-off. Our key insight is that an input-conditioned selector can discover complementary model choices that surpass fixed ensembles while using substantially fewer resources. IDSelect trains a lightweight agent end-to-end using actor-critic reinforcement learning with budget-aware optimization. The reward balances recognition accuracy with computational cost, while entropy regularization prevents premature convergence. At inference, the policy selects the most probable model per modality and fuses modality-specific similarities for the final score. Extensive experiments on challenging video-based datasets demonstrate IDSelect's superior efficiency: on CCVID, it achieves 95.9% Rank-1 accuracy with 92.4% less computation than strong baselines while improving accuracy by 1.8%; on MEVID, it reduces computation by 41.3% while maintaining competitive performance.
FruitTouch: A Perceptive Gripper for Gentle and Scalable Fruit Harvesting
Venue: arXiv cs.RO 2026
Year: 2026

The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp diverse fruits, and provide reliable feedback on fruit conditions for efficient harvesting. To address this need, we propose FruitTouch, a compact gripper that integrates high-resolution, vision-based tactile sensing through an optimized optical design. This configuration accommodates a wide range of fruit sizes while maintaining low cost and mechanical simplicity. Tactile images captured by an embedded camera provide rich information for real-time force estimation, slip detection, and softness prediction. We validate the gripper in real-world fruit harvesting experiments, demonstrating robust grasp stability and effective damage prevention.
Why ReLU? A Bit-Model Dichotomy for Deep Network Training
Venue: arXiv cs.LG 2026
Year: 2026

Theoretical analyses of Empirical Risk Minimization (ERM) are standardly framed within the Real-RAM model of computation. In this setting, training even simple neural networks is known to be $\exists \mathbb{R}$-complete -- a complexity class believed to be harder than NP, that characterizes the difficulty of solving systems of polynomial inequalities over the real numbers. However, this algebraic framework diverges from the reality of digital computation with finite-precision hardware. In this work, we analyze the theoretical complexity of ERM under a realistic bit-level model ($\mathsf{ERM}_{\text{bit}}$), where network parameters and inputs are constrained to be rational numbers with polynomially bounded bit-lengths. Under this model, we reveal a sharp dichotomy in tractability governed by the network's activation function. We prove that for deep networks with {\em any} polynomial activations with rational coefficients and degree at least $2$, the bit-complexity of training is severe: deciding $\mathsf{ERM}_{\text{bit}}$ is $\#P$-Hard, hence believed to be strictly harder than NP-complete problems. Furthermore, we show that determining the sign of a single partial derivative of the empirical loss function is intractable (unlikely in BPP), and deciding a specific bit in the gradient is $\#P$-Hard. This provides a complexity-theoretic perspective for the phenomenon of exploding and vanishing gradients. In contrast, we show that for piecewise-linear activations such as ReLU, the precision requirements remain manageable: $\mathsf{ERM}_{\text{bit}}$ is contained within NP (specifically NP-complete), and standard backpropagation runs in polynomial time. Our results demonstrate that finite-precision constraints are not merely implementation details but fundamental determinants of learnability.
IAPO: Information-Aware Policy Optimization for Token-Efficient Reasoning
Venue: arXiv cs.CL 2026
Year: 2026

Large language models increasingly rely on long chains of thought to improve accuracy, yet such gains come with substantial inference-time costs. We revisit token-efficient post-training and argue that existing sequence-level reward-shaping methods offer limited control over how reasoning effort is allocated across tokens. To bridge the gap, we propose IAPO, an information-theoretic post-training framework that assigns token-wise advantages based on each token's conditional mutual information (MI) with the final answer. This yields an explicit, principled mechanism for identifying informative reasoning steps and suppressing low-utility exploration. We provide a theoretical analysis showing that our IAPO can induce monotonic reductions in reasoning verbosity without harming correctness. Empirically, IAPO consistently improves reasoning accuracy while reducing reasoning length by up to 36%, outperforming existing token-efficient RL methods across various reasoning datasets. Extensive empirical evaluations demonstrate that information-aware advantage shaping is a powerful and general direction for token-efficient post-training. The code is available at https://github.com/YinhanHe123/IAPO.
Asking the Right Questions: Improving Reasoning with Generated Stepping Stones
Venue: arXiv cs.AI 2026
Year: 2026

Recent years have witnessed tremendous progress in enabling LLMs to solve complex reasoning tasks such as math and coding. As we start to apply LLMs to harder tasks that they may not be able to solve in one shot, it is worth paying attention to their ability to construct intermediate stepping stones that prepare them to better solve the tasks. Examples of stepping stones include simplifications, alternative framings, or subproblems. We study properties and benefits of stepping stones in the context of modern reasoning LLMs via ARQ (\textbf{A}king the \textbf{R}ight \textbf{Q}uestions), our simple framework which introduces a question generator to the default reasoning pipeline. We first show that good stepping stone questions exist and are transferrable, meaning that good questions can be generated, and they substantially help LLMs of various capabilities in solving the target tasks. We next frame stepping stone generation as a post-training task and show that we can fine-tune LLMs to generate more useful stepping stones by SFT and RL on synthetic data.
Restoration-Guided Kuzushiji Character Recognition Framework under Seal Interference
Venue: arXiv cs.CV 2026
Year: 2026

Kuzushiji was one of the most popular writing styles in pre-modern Japan and was widely used in both personal letters and official documents. However, due to its highly cursive forms and extensive glyph variations, most modern Japanese readers cannot directly interpret Kuzushiji characters. Therefore, recent research has focused on developing automated Kuzushiji character recognition methods, which have achieved satisfactory performance on relatively clean Kuzushiji document images. However, existing methods struggle to maintain recognition accuracy under seal interference (e.g., when seals overlap characters), despite the frequent occurrence of seals in pre-modern Japanese documents. To address this challenge, we propose a three-stage restoration-guided Kuzushiji character recognition (RG-KCR) framework specifically designed to mitigate seal interference. We construct datasets for evaluating Kuzushiji character detection (Stage 1) and classification (Stage 3). Experimental results show that the YOLOv12-medium model achieves a precision of 98.0% and a recall of 93.3% on the constructed test set. We quantitatively evaluate the restoration performance of Stage 2 using PSNR and SSIM. In addition, we conduct an ablation study to demonstrate that Stage 2 improves the Top-1 accuracy of Metom, a Vision Transformer (ViT)-based Kuzushiji classifier employed in Stage 3, from 93.45% to 95.33%. The implementation code of this work is available at https://ruiyangju.github.io/RG-KCR.
Ani3DHuman: Photorealistic 3D Human Animation with Self-guided Stochastic Sampling
Venue: arXiv cs.CV 2026
Year: 2026

Current 3D human animation methods struggle to achieve photorealism: kinematics-based approaches lack non-rigid dynamics (e.g., clothing dynamics), while methods that leverage video diffusion priors can synthesize non-rigid motion but suffer from quality artifacts and identity loss. To overcome these limitations, we present Ani3DHuman, a framework that marries kinematics-based animation with video diffusion priors. We first introduce a layered motion representation that disentangles rigid motion from residual non-rigid motion. Rigid motion is generated by a kinematic method, which then produces a coarse rendering to guide the video diffusion model in generating video sequences that restore the residual non-rigid motion. However, this restoration task, based on diffusion sampling, is highly challenging, as the initial renderings are out-of-distribution, causing standard deterministic ODE samplers to fail. Therefore, we propose a novel self-guided stochastic sampling method, which effectively addresses the out-of-distribution problem by combining stochastic sampling (for photorealistic quality) with self-guidance (for identity fidelity). These restored videos provide high-quality supervision, enabling the optimization of the residual non-rigid motion field. Extensive experiments demonstrate that \MethodName can generate photorealistic 3D human animation, outperforming existing methods. Code is available in https://github.com/qiisun/ani3dhuman.
RKHS Representation of Algebraic Convolutional Filters with Integral Operators
Venue: arXiv cs.LG 2026
Year: 2026

Integral operators play a central role in signal processing, underpinning classical convolution, and filtering on continuous network models such as graphons. While these operators are traditionally analyzed through spectral decompositions, their connection to reproducing kernel Hilbert spaces (RKHS) has not been systematically explored within the algebraic signal processing framework. In this paper, we develop a comprehensive theory showing that the range of integral operators naturally induces RKHS convolutional signal models whose reproducing kernels are determined by a box product of the operator symbols. We characterize the algebraic and spectral properties of these induced RKHS and show that polynomial filtering with integral operators corresponds to iterated box products, giving rise to a unital kernel algebra. This perspective yields pointwise RKHS representations of filters via the reproducing property, providing an alternative to operator-based implementations. Our results establish precise connections between eigendecompositions and RKHS representations in graphon signal processing, extend naturally to directed graphons, and enable novel spatial--spectral localization results. Furthermore, we show that when the spectral domain is a subset of the original domain of the signals, optimal filters for regularized learning problems admit finite-dimensional RKHS representations, providing a principled foundation for learnable filters in integral-operator-based neural architectures.
The Power of Decaying Steps: Enhancing Attack Stability and Transferability for Sign-based Optimizers
Venue: arXiv cs.LG 2026
Year: 2026

Crafting adversarial examples can be formulated as an optimization problem. While sign-based optimizers such as I-FGSM and MI-FGSM have become the de facto standard for the induced optimization problems, there still exist several unsolved problems in theoretical grounding and practical reliability especially in non-convergence and instability, which inevitably influences their transferability. Contrary to the expectation, we observe that the attack success rate may degrade sharply when more number of iterations are conducted. In this paper, we address these issues from an optimization perspective. By reformulating the sign-based optimizer as a specific coordinate-wise gradient descent, we argue that one cause for non-convergence and instability is their non-decaying step-size scheduling. Based upon this viewpoint, we propose a series of new attack algorithms that enforce Monotonically Decreasing Coordinate-wise Step-sizes (MDCS) within sign-based optimizers. Typically, we further provide theoretical guarantees proving that MDCS-MI attains an optimal convergence rate of $O(1/\sqrt{T})$, where $T$ is the number of iterations. Extensive experiments on image classification and cross-modal retrieval tasks demonstrate that our approach not only significantly improves transferability but also enhances attack stability compared to state-of-the-art sign-based methods.
Keep it SymPL: Symbolic Projective Layout for Allocentric Spatial Reasoning in Vision-Language Models
Venue: arXiv cs.CV 2026
Year: 2026

Perspective-aware spatial reasoning involves understanding spatial relationships from specific viewpoints-either egocentric (observer-centered) or allocentric (object-centered). While vision-language models (VLMs) perform well in egocentric settings, their performance deteriorates when reasoning from allocentric viewpoints, where spatial relations must be inferred from the perspective of objects within the scene. In this study, we address this underexplored challenge by introducing Symbolic Projective Layout (SymPL), a framework that reformulates allocentric reasoning into symbolic-layout forms that VLMs inherently handle well. By leveraging four key factors-projection, abstraction, bipartition, and localization-SymPL converts allocentric questions into structured symbolic-layout representations. Extensive experiments demonstrate that this reformulation substantially improves performance in both allocentric and egocentric tasks, enhances robustness under visual illusions and multi-view scenarios, and that each component contributes critically to these gains. These results show that SymPL provides an effective and principled approach for addressing complex perspective-aware spatial reasoning.
StreetTree: A Large-Scale Global Benchmark for Fine-Grained Tree Species Classification
Venue: arXiv cs.CV 2026
Year: 2026

The fine-grained classification of street trees is a crucial task for urban planning, streetscape management, and the assessment of urban ecosystem services. However, progress in this field has been significantly hindered by the lack of large-scale, geographically diverse, and publicly available benchmark datasets specifically designed for street trees. To address this critical gap, we introduce StreetTree, the world's first large-scale benchmark dataset dedicated to fine-grained street tree classification. The dataset contains over 12 million images covering more than 8,300 common street tree species, collected from urban streetscapes across 133 countries spanning five continents, and supplemented with expert-verified observational data. StreetTree poses substantial challenges for pretrained vision models under complex urban environments: high inter-species visual similarity, long-tailed natural distributions, significant intra-class variations caused by seasonal changes, and diverse imaging conditions such as lighting, occlusions from buildings, and varying camera angles. In addition, we provide a hierarchical taxonomy (order-family-genus-species) to support research in hierarchical classification and representation learning. Through extensive experiments with various visual models, we establish strong baselines and reveal the limitations of existing methods in handling such real-world complexities. We believe that StreetTree will serve as a key resource for the refined management and research of urban street trees, while also driving new advancements at the intersection of computer vision and urban science.
Dark and Bright Side of Participatory Red-Teaming with Targets of Stereotyping for Eliciting Harmful Behaviors from Large Language Models
Venue: arXiv cs.HC 2026
Year: 2026

Red-teaming, where adversarial prompts are crafted to expose harmful behaviors and assess risks, offers a dynamic approach to surfacing underlying stereotypical bias in large language models. Because such subtle harms are best recognized by those with lived experience, involving targets of stereotyping as red-teamers is essential. However, critical challenges remain in leveraging their lived experience for red-teaming while safeguarding psychological well-being. We conducted an empirical study of participatory red-teaming with 20 individuals stigmatized by stereotypes against nonprestigious college graduates in South Korea. Through mixed methods analysis, we found participants transformed experienced discrimination into strategic expertise for identifying biases, while facing psychological costs such as stress and negative reflections on group identity. Notably, red-team participation enhanced their sense of agency and empowerment through their role as guardians of the AI ecosystem. We discuss implications for designing participatory red-teaming that prioritizes both the ethical treatment and empowerment of stigmatized groups.
Sycophantic Chatbots Cause Delusional Spiraling, Even in Ideal Bayesians
Venue: arXiv cs.AI 2026
Year: 2026

"AI psychosis" or "delusional spiraling" is an emerging phenomenon where AI chatbot users find themselves dangerously confident in outlandish beliefs after extended chatbot conversations. This phenomenon is typically attributed to AI chatbots' well-documented bias towards validating users' claims, a property often called "sycophancy." In this paper, we probe the causal link between AI sycophancy and AI-induced psychosis through modeling and simulation. We propose a simple Bayesian model of a user conversing with a chatbot, and formalize notions of sycophancy and delusional spiraling in that model. We then show that in this model, even an idealized Bayes-rational user is vulnerable to delusional spiraling, and that sycophancy plays a causal role. Furthermore, this effect persists in the face of two candidate mitigations: preventing chatbots from hallucinating false claims, and informing users of the possibility of model sycophancy. We conclude by discussing the implications of these results for model developers and policymakers concerned with mitigating the problem of delusional spiraling.
Facet-Level Persona Control by Trait-Activated Routing with Contrastive SAE for Role-Playing LLMs
Venue: arXiv cs.CL 2026
Year: 2026

Personality control in Role-Playing Agents (RPAs) is commonly achieved via training-free methods that inject persona descriptions and memory through prompts or retrieval-augmented generation, or via supervised fine-tuning (SFT) on persona-specific corpora. While SFT can be effective, it requires persona-labeled data and retraining for new roles, limiting flexibility. In contrast, prompt- and RAG-based signals are easy to apply but can be diluted in long dialogues, leading to drifting and sometimes inconsistent persona behavior. To address this, we propose a contrastive Sparse AutoEncoder (SAE) framework that learns facet-level personality control vectors aligned with the Big Five 30-facet model. A new 15,000-sample leakage-controlled corpus is constructed to provide balanced supervision for each facet. The learned vectors are integrated into the model's residual space and dynamically selected by a trait-activated routing module, enabling precise and interpretable personality steering. Experiments on Large Language Models (LLMs) show that the proposed method maintains stable character fidelity and output quality across contextualized settings, outperforming Contrastive Activation Addition (CAA) and prompt-only baselines. The combined SAE+Prompt configuration achieves the best overall performance, confirming that contrastively trained latent vectors can enhance persona control while preserving dialogue coherence.