OpenRaiser/Intern-Atlas huggingface dataset:
Deblur4DGS: 4D Gaussian Splatting from Blurry Monocular Video
Venue: arXiv cs.CV 2026
Year: 2026

Recent 4D reconstruction methods have yielded impressive results but rely on sharp videos as supervision. However, motion blur often occurs in videos due to camera shake and object movement, while existing methods render blurry results when using such videos for reconstructing 4D models. Although a few approaches attempted to address the problem, they struggled to produce high-quality results, due to the inaccuracy in estimating continuous dynamic representations within the exposure time. Encouraged by recent works in 3D motion trajectory modeling using 3D Gaussian Splatting (3DGS), we take 3DGS as the scene representation manner, and propose Deblur4DGS to reconstruct a high-quality 4D model from blurry monocular video. Specifically, we transform continuous dynamic representations estimation within an exposure time into the exposure time estimation. Moreover, we introduce the exposure regularization term, multi-frame, and multi-resolution consistency regularization term to avoid trivial solutions. Furthermore, to better represent objects with large motion, we suggest blur-aware variable canonical Gaussians. Beyond novel-view synthesis, Deblur4DGS can be applied to improve blurry video from multiple perspectives, including deblurring, frame interpolation, and video stabilization. Extensive experiments in both synthetic and real-world data on the above four tasks show that Deblur4DGS outperforms state-of-the-art 4D reconstruction methods. The codes are available at https://github.com/ZcsrenlongZ/Deblur4DGS.
The Narrow Gate: Localized Image-Text Communication in Native Multimodal Models
Venue: arXiv cs.CV 2026
Year: 2026

Recent advances in multimodal training have significantly improved the integration of image understanding and generation within a unified model. This study investigates how vision-language models (VLMs) handle image-understanding tasks, focusing on how visual information is processed and transferred to the textual domain. We compare native multimodal VLMs, models trained from scratch on multimodal data to generate both text and images, and non-native multimodal VLMs, models adapted from pre-trained large language models or capable of generating only text, highlighting key differences in information flow. We find that in native multimodal VLMs, image and text embeddings are more separated within the residual stream. Moreover, VLMs differ in how visual information reaches text: non-native multimodal VLMs exhibit a distributed communication pattern, where information is exchanged through multiple image tokens, whereas models trained natively for joint image and text generation tend to rely on a single post-image token that acts as a narrow gate for visual information. We show that ablating this single token significantly deteriorates image-understanding performance, whereas targeted, token-level interventions reliably steer image semantics and downstream text with fine-grained control.
Explaining and Mitigating the Modality Gap in Contrastive Multimodal Learning
Venue: arXiv cs.LG 2026
Year: 2026

Multimodal learning has recently gained significant popularity, demonstrating impressive performance across various zero-shot classification tasks and a range of perceptive and generative applications. Models such as Contrastive Language-Image Pretraining (CLIP) are designed to bridge different modalities, such as images and text, by learning a shared representation space through contrastive learning. Despite their success, the working mechanisms underlying multimodal learning are not yet well understood. Notably, these models often exhibit a modality gap, where different modalities occupy distinct regions within the shared representation space. In this work, we conduct an in-depth analysis of the emergence of modality gap by characterizing the gradient flow learning dynamics. Specifically, we identify the critical roles of mismatched data pairs and a learnable temperature parameter in causing and perpetuating the modality gap during training. Furthermore, our theoretical insights are validated through experiments on practical CLIP models. These findings provide principled guidance for mitigating the modality gap, including strategies such as appropriate temperature scheduling and modality swapping. Additionally, we demonstrate that closing the modality gap leads to improved performance on tasks such as image-text retrieval.
Unexpected but informative: What fixation-related potentials tell us about the processing of confusing program code
Venue: arXiv cs.SE 2026
Year: 2026

As software pervades more and more areas of our professional and personal lives, there is an ever-increasing need to maintain software and for programmers to efficiently write and understand program code. In the first study of its kind, we analyze fixation-related potentials (FRPs) to explore the online processing of program code patterns that are confusing to programmers, but not to the computer (so-called atoms of confusion), and their underlying neurocognitive mechanisms in an ecologically valid setting. Relative to clean counterparts in program code without an atom of confusion, confusing code elicits a late frontal positivity of about 400 to 700 ms after first looking at the atom of confusion. This frontal positivity resembles an event-related potential (ERP) component found during natural language processing that is elicited by unexpected but plausible words in sentence context. Thus, we suggest that the brain engages similar neurocognitive mechanisms in response to unexpected and informative inputs in program code and in natural language. In both domains, these inputs update a comprehender's situation model, which is essential for information extraction from a quickly unfolding input. Our results have far-reaching implications for programming and pave the way for interdisciplinary collaborations between software engineering and psycholinguistics.
Bayesian Flow Is All You Need to Sample Out-of-Distribution Chemical Spaces
Venue: arXiv cs.LG 2026
Year: 2026

Generating novel molecules with higher properties than the training space, namely the out-of-distribution generation, is important for de novo drug design. However, it is not easy for distribution learning-based models, for example diffusion models, to solve this challenge as these methods are designed to fit the distribution of training data as close as possible. In this paper, we show that Bayesian flow network, especially ChemBFN model, is capable of intrinsically generating high quality out-of-distribution samples that meet several scenarios. A reinforcement learning strategy is added to the ChemBFN and a controllable ordinary differential equation solver-like generating process is employed that accelerate the sampling processes. Most importantly, we introduce a semi-autoregressive strategy during training and inference that enhances the model performance and surpass the state-of-the-art models. A theoretical analysis of out-of-distribution generation in ChemBFN with semi-autoregressive approach is included as well.
TrapFlow: Controllable Website Fingerprinting Defense via Dynamic Backdoor Learning
Venue: arXiv cs.CR 2026
Year: 2026

Website fingerprinting (WF) attacks, which covertly monitor user communications to identify the web pages they visit, pose a serious threat to user privacy. Existing WF defenses attempt to reduce attack accuracy by disrupting traffic patterns, but attackers can retrain their models to adapt, making these defenses ineffective. Meanwhile, their high overhead limits deployability. To overcome these limitations, we introduce a novel controllable website fingerprinting defense called TrapFlow based on backdoor learning. TrapFlow exploits the tendency of neural networks to memorize subtle patterns by injecting crafted trigger sequences into targeted website traffic, causing the attacker model to build incorrect associations during training. If the attacker attempts to adapt by training on such noisy data, TrapFlow ensures that the model internalizes the trigger as a dominant feature, leading to widespread misclassification across unrelated websites. Conversely, if the attacker ignores these patterns and trains only on clean data, the trigger behaves as an adversarial patch at inference time, causing model misclassification. To achieve this dual effect, we optimize the trigger using a Fast Levenshtein like distance to maximize both its learnability and its distinctiveness from normal traffic. Experiments show that TrapFlow significantly reduces the accuracy of the RF attack from 99 percent to 6 percent with 74 percent data overhead. This compares favorably against two state of the art defenses: FRONT reduces accuracy by only 2 percent at a similar overhead, while Palette achieves 32 percent accuracy but with 48 percent more overhead. We further validate the practicality of our method in a real Tor network environment.
Singularity-Free Guiding Vector Field over Bézier's Curves Applied to Rovers Path Planning and Path Following
Venue: arXiv cs.RO 2026
Year: 2026

This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on Singularity-Free Guiding Vector Fields SF-GVF. This novel GVF approach expands the desired robot path and the Guiding vector field to a higher dimensional space, in which an angular control function can be found to ensure global asymptotic convergence to the desired parametric path while avoiding field singularities. In SF-GVF, paths should follow a parametric definition. This feature makes using Bezier's curves attractive to define the robot's desired patch. The curvature-varying speed setpoint, combined with the guidance algorithm, eases the convergence to the path when physical restrictions exist, such as minimal turning radius or maximal lateral acceleration. We provide theoretical results, simulations, and outdoor experiments using a WMR platform assembled with off-the-shelf components.
Language-guided Medical Image Segmentation with Target-informed Multi-level Contrastive Alignments
Venue: arXiv cs.CV 2026
Year: 2026

Medical image segmentation is a fundamental task in numerous medical engineering applications. Recently, language-guided segmentation has shown promise in medical scenarios where textual clinical reports are readily available as semantic guidance. Clinical reports contain diagnostic information provided by clinicians, which can provide auxiliary textual semantics to guide segmentation. However, existing language-guided segmentation methods neglect the inherent pattern gaps between image and text modalities, resulting in sub-optimal visual-language integration. Contrastive learning is a well-recognized approach to align image-text patterns, but it has not been optimized for bridging the pattern gaps in medical language-guided segmentation that relies primarily on medical image details to characterize the underlying disease/targets. Current contrastive alignment techniques typically align high-level global semantics without involving low-level localized target information, and thus cannot deliver fine-grained textual guidance on crucial image details. In this study, we propose a Target-informed Multi-level Contrastive Alignment framework (TMCA) to bridge image-text pattern gaps for medical language-guided segmentation. TMCA enables target-informed image-text alignments and fine-grained textual guidance by introducing: (i) a target-sensitive semantic distance module that utilizes target information for more granular image-text alignment modeling, (ii) a multi-level contrastive alignment strategy that directs fine-grained textual guidance to multi-scale image details, and (iii) a language-guided target enhancement module that reinforces attention to critical image regions based on the aligned image-text patterns. Extensive experiments on four public benchmark datasets demonstrate that TMCA enabled superior performance over state-of-the-art language-guided medical image segmentation methods.
Algebraic and Algorithmic Methods for Computing Polynomial Loop Invariants
Venue: arXiv cs.SC 2026
Year: 2026

Loop invariants are properties of a program loop that hold both before and after each iteration of the loop. They are often used to verify programs and ensure that algorithms consistently produce correct results during execution. Consequently, generating invariants becomes a crucial task for loops. We specifically focus on polynomial loops, where both the loop conditions and the assignments within the loop are expressed as polynomials. Although computing polynomial invariants for general loops is undecidable, efficient algorithms have been developed for certain classes of loops. For instance, when all assignments within a while loop involve linear polynomials, the loop becomes solvable. In this work, we study the more general case, where the polynomials can have arbitrary degrees. Using tools from algebraic geometry, we present two algorithms designed to generate all polynomial invariants within a given vector subspace, for a branching loop with nondeterministic conditional statements. These algorithms combine linear algebraic subroutines with computations on polynomial ideals. They differ depending on whether the initial values of the loop variables are specified or treated as parameters. Additionally, we present a much more efficient algorithm for generating polynomial invariants of a specific form, applicable to all initial values. This algorithm avoids expensive ideal computations.
What Matters in Building Vision-Language-Action Models for Generalist Robots
Venue: arXiv cs.RO 2026
Year: 2026

To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this work, we disclose the key factors that significantly influence the performance of VLA on robot manipulation problems and focus on answering three essential design choices: which backbone to select, how to formulate the VLA architectures, and when to add cross-embodiment data. The obtained results convince us firmly to explain why we prefer VLA and develop a new family of VLAs, RoboVLMs, which require very few manual designs and achieve a new state-of-the-art performance in three simulation tasks and real-world experiments. Through our extensive experiments, which include over 8 VLM backbones, 4 policy architectures, and over 600 distinct designed experiments, we provide a detailed guidebook for the future design of VLAs. In addition to the study, the highly flexible RoboVLMs framework, which supports easy integrations of new VLMs and free combinations of various design choices, is made public to facilitate future research. We open-source all details, including codes, models, datasets, and toolkits, along with detailed training and evaluation recipes at: robovlms.github.io.
Rethinking Uncertainty Estimation in LLMs: A Principled Single-Sequence Measure
Venue: arXiv cs.LG 2026
Year: 2026

Large Language Models (LLMs) are increasingly employed in real-world applications, driving the need to evaluate the trustworthiness of their generated text. To this end, reliable uncertainty estimation is essential. Leading uncertainty estimation methods generate and analyze multiple output sequences, which is computationally expensive and impractical at scale. In this work, we inspect the theoretical foundations of these methods and explore new directions to enhance computational efficiency. Building on the framework of proper scoring rules, we find that the negative log-likelihood of the most likely output sequence constitutes a theoretically principled uncertainty measure. To approximate this alternative measure, we propose G-NLL, obtained using a single output sequence from greedy decoding. This approach streamlines uncertainty estimation while preserving theoretical rigor. Empirical results demonstrate that G-NLL achieves state-of-the-art performance across various scenarios. Our work lays the theoretical foundation for efficient and reliable uncertainty estimation in natural language generation, challenging the necessity of the prevalent methods that are more complex and resource-intensive.
Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics
Venue: arXiv cs.RO 2026
Year: 2026

Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial, especially accounting for overactuation and actuator dynamics. We incrementally build and present three novel allocation methods for tilt-rotor aerial robots, comparing them to state-of-the-art methods on a real system performing dynamic maneuvers. We extend the state-of-the-art geometric allocation into a differential allocation, which uses the platform's redundancy and does not suffer from singularities. We expand it by incorporating actuator dynamics and propeller power dynamics. These allow us to model dynamic propeller acceleration limits, bringing two main advantages: balancing propeller speed without the need for nullspace goals and allowing the platform to selectively turn off propellers during flight, opening the door to new manipulation possibilities. We also use actuator dynamics and limits to normalize the allocation problem, making it easier to tune and allowing it to track 70% faster trajectories than a geometric allocation.
RoPE Attention Can Be Trained in Almost Linear Time
Venue: arXiv cs.LG 2026
Year: 2026

The Rotary Position Embedding (RoPE) mechanism has become a powerful enhancement to the Transformer architecture, which enables models to capture token relationships when encoding positional information. However, the RoPE mechanisms make the computations of attention mechanisms more complicated, which makes efficient algorithms challenging. Earlier research introduced almost linear time algorithms for the forward computation under specific parameter settings of bounded entries (i.e., in time $n^{1+o(1)}$ where $n$ is the number of input tokens), but has not addressed backward computation. In this work, we develop the first almost linear time algorithm for backward computations in the RoPE-based attention under bounded entries. Our approach builds on recent advancements in fast RoPE attention computations, utilizing a novel combination of the polynomial method and the Fast Fourier Transform. Furthermore, we show that with lower bounds derived from the Strong Exponential Time Hypothesis (SETH), the bounded entry condition is necessary for subquadratic performance.
Mitigating Label Noise using Prompt-Based Hyperbolic Meta-Learning in Open-Set Domain Generalization
Venue: arXiv cs.CV 2026
Year: 2026

Open-Set Domain Generalization (OSDG) is a challenging task requiring models to accurately predict familiar categories while minimizing confidence for unknown categories to effectively reject them in unseen domains. While the OSDG field has seen considerable advancements, the impact of label noise--a common issue in real-world datasets--has been largely overlooked. Label noise can mislead model optimization, thereby exacerbating the challenges of open-set recognition in novel domains. In this study, we take the first step towards addressing Open-Set Domain Generalization under Noisy Labels (OSDG-NL) by constructing dedicated benchmarks derived from widely used OSDG datasets, including PACS and DigitsDG. We evaluate baseline approaches by integrating techniques from both label denoising and OSDG methodologies, highlighting the limitations of existing strategies in handling label noise effectively. To address these limitations, we propose HyProMeta, a novel framework that integrates hyperbolic category prototypes for label noise-aware meta-learning alongside a learnable new-category agnostic prompt designed to enhance generalization to unseen classes. Our extensive experiments demonstrate the superior performance of HyProMeta compared to state-of-the-art methods across the newly established benchmarks. The source code of this work is released at https://github.com/KPeng9510/HyProMeta.
Efficient Aircraft Design Optimization Using Multi-Fidelity Models and Multi-fidelity Physics Informed Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

Aircraft design optimization traditionally relies on computationally expensive simulation techniques such as Finite Element Method (FEM) and Finite Volume Method (FVM), which, while accurate, can significantly slow down the design iteration process. The challenge lies in reducing the computational complexity while maintaining high accuracy for quick evaluations of multiple design alternatives. This research explores advanced methods, including surrogate models, reduced-order models (ROM), and multi-fidelity machine learning techniques, to achieve more efficient aircraft design evaluations. Specifically, the study investigates the application of Multi-fidelity Physics-Informed Neural Networks (MPINN) and autoencoders for manifold alignment, alongside the potential of Generative Adversarial Networks (GANs) for refining design geometries. Through a proof-of-concept task, the research demonstrates the ability to predict high-fidelity results from low-fidelity simulations, offering a path toward faster and more cost effective aircraft design iterations.
"Feeling that I was Collaborating with Them:" A 20-year Scoping Review of Social Virtual Reality Leveraging Collaboration
Venue: arXiv cs.HC 2026
Year: 2026

As more people meet, interact, and socialize online, Social Virtual Reality (VR) emerges as a technology that bridges the gap between traditional face-to-face and online communication. Unlike traditional screen-based applications, Social VR provides immersive, spatial, and three-dimensional social interactions, making it a potential tool for enhancing remote collaborations. Despite the growing interest in Social VR, research on its role in collaboration remains fragmented, calling for a synthesis to identify research gaps and future directions. We conducted a 20-year scoping review, screening 2,035 articles and identifying 62 articles that addressed how Social VR has supported collaboration. Our analysis shows three key levels of support: Social VR can enhance individual perceptions and experiences within their groups, foster team dynamics with virtual elements that enable realistic interactions, and employ the unique affordances of VR to augment users' spaces. We discuss how future research in Social VR should move beyond replicating physical-world interactions and explore how immersive environments can cultivate long-term collaboration, trust, and more diverse and inclusive participation. This review highlights the current practices and challenges, highlighting new opportunities for theorizing and designing Social VR systems that responsibly support remote collaborations.