OpenRaiser/Intern-Atlas huggingface dataset:
GaussianPOP: Principled Simplification Framework for Compact 3D Gaussian Splatting via Error Quantification
Venue: arXiv cs.CV 2026
Year: 2026

Existing 3D Gaussian Splatting simplification methods commonly use importance scores, such as blending weights or sensitivity, to identify redundant Gaussians. However, these scores are not driven by visual error metrics, often leading to suboptimal trade-offs between compactness and rendering fidelity. We present GaussianPOP, a principled simplification framework based on analytical Gaussian error quantification. Our key contribution is a novel error criterion, derived directly from the 3DGS rendering equation, that precisely measures each Gaussian's contribution to the rendered image. By introducing a highly efficient algorithm, our framework enables practical error calculation in a single forward pass. The framework is both accurate and flexible, supporting on-training pruning as well as post-training simplification via iterative error re-quantification for improved stability. Experimental results show that our method consistently outperforms existing state-of-the-art pruning methods across both application scenarios, achieving a superior trade-off between model compactness and high rendering quality.
T-STAR: A Context-Aware Transformer Framework for Short-Term Probabilistic Demand Forecasting in Dock-Based Shared Micro-Mobility
Venue: arXiv cs.LG 2026
Year: 2026

Reliable short-term demand forecasting is essential for managing shared micro-mobility services and ensuring responsive, user-centered operations. This study introduces T-STAR (Two-stage Spatial and Temporal Adaptive contextual Representation), a novel transformer-based probabilistic framework designed to forecast station-level bike-sharing demand at a 15-minute resolution. T-STAR addresses key challenges in high-resolution forecasting by disentangling consistent demand patterns from short-term fluctuations through a hierarchical two-stage structure. The first stage captures coarse-grained hourly demand patterns, while the second stage improves prediction accuracy by incorporating high-frequency, localized inputs, including recent fluctuations and real-time demand variations in connected metro services, to account for temporal shifts in short-term demand. Time series transformer models are employed in both stages to generate probabilistic predictions. Extensive experiments using Washington D.C.'s Capital Bikeshare data demonstrate that T-STAR outperforms existing methods in both deterministic and probabilistic accuracy. The model exhibits strong spatial and temporal robustness across stations and time periods. A zero-shot forecasting experiment further highlights T-STAR's ability to transfer to previously unseen service areas without retraining. These results underscore the framework's potential to deliver granular, reliable, and uncertainty-aware short-term demand forecasts, which enable seamless integration to support multimodal trip planning for travelers and enhance real-time operations in shared micro-mobility services.
Consensus-based optimization (CBO): Towards Global Optimality in Robotics
Venue: arXiv cs.RO 2026
Year: 2026

Zero-order optimization has recently received significant attention for designing optimal trajectories and policies for robotic systems. However, most existing methods (e.g., MPPI, CEM, and CMA-ES) are local in nature, as they rely on gradient estimation. In this paper, we introduce consensus-based optimization (CBO) to robotics, which is guaranteed to converge to a global optimum under mild assumptions. We provide theoretical analysis and illustrative examples that give intuition into the fundamental differences between CBO and existing methods. To demonstrate the scalability of CBO for robotics problems, we consider three challenging trajectory optimization scenarios: (1) a long-horizon problem for a simple system, (2) a dynamic balance problem for a highly underactuated system, and (3) a high-dimensional problem with only a terminal cost. Our results show that CBO is able to achieve lower costs with respect to existing methods on all three challenging settings. This opens a new framework to study global trajectory optimization in robotics.
Symbolic Integration in Weierstrass-like Extensions
Venue: arXiv cs.SC 2026
Year: 2026

This paper studies the integration problem in differential fields that may involve quantities reminiscent of the Weierstrass $\wp$ function, which are defined by a first-order nonlinear differential equation. We extend the classical notion of special polynomials to elements of Weierstrass-like extensions and present algorithms for reduction in such extensions. As an application of these results, we derive some new formulae for integrals of powers of $\wp$.
Plato's Form: Toward Backdoor Defense-as-a-Service for LLMs with Prototype Representations
Venue: arXiv cs.CR 2026
Year: 2026

Large language models (LLMs) are increasingly deployed in security-sensitive applications, yet remain vulnerable to backdoor attacks. However, existing backdoor defenses are difficult to operationalize for Backdoor Defense-as-a-Service (BDaaS), as they require unrealistic side information (e.g., downstream clean data, known triggers/targets, or task domain specifics), and lack reusable, scalable purification across diverse backdoored models. In this paper, we present PROTOPURIFY, a backdoor purification framework via parameter edits under minimal assumptions. PROTOPURIFY first builds a backdoor vector pool from clean and backdoored model pairs, aggregates vectors into candidate prototypes, and selects the most aligned candidate for the target model via similarity matching. PROTOPURIFY then identifies a boundary layer through layer-wise prototype alignment and performs targeted purification by suppressing prototype-aligned components in the affected layers, achieving fine-grained mitigation with minimal impact on benign utility. Designed as a BDaaS-ready primitive, PROTOPURIFY supports reusability, customizability, interpretability, and runtime efficiency. Experiments across various LLMs on both classification and generation tasks show that PROTOPURIFY consistently outperforms 6 representative defenses against 6 diverse attacks, including single-trigger, multi-trigger, and triggerless backdoor settings. PROTOPURIFY reduces ASR to below 10%, and even as low as 1.6% in some cases, while incurring less than a 3% drop in clean utility. PROTOPURIFY further demonstrates robustness against adaptive backdoor variants and stability on non-backdoored models.
Robustness Beyond Known Groups with Low-rank Adaptation
Venue: arXiv cs.LG 2026
Year: 2026

Deep learning models trained to optimize average accuracy often exhibit systematic failures on particular subpopulations. In real world settings, the subpopulations most affected by such disparities are frequently unlabeled or unknown, thereby motivating the development of methods that are performant on sensitive subgroups without being pre-specified. However, existing group-robust methods typically assume prior knowledge of relevant subgroups, using group annotations for training or model selection. We propose Low-rank Error Informed Adaptation (LEIA), a simple two-stage method that improves group robustness by identifying a low-dimensional subspace in the representation space where model errors concentrate. LEIA restricts adaptation to this error-informed subspace via a low-rank adjustment to the classifier logits, directly targeting latent failure modes without modifying the backbone or requiring group labels. Using five real-world datasets, we analyze group robustness under three settings: (1) truly no knowledge of subgroup relevance, (2) partial knowledge of subgroup relevance, and (3) full knowledge of subgroup relevance. Across all settings, LEIA consistently improves worst-group performance while remaining fast, parameter-efficient, and robust to hyperparameter choice.
Topological Semantics for Common Inductive Knowledge
Venue: arXiv cs.LO 2026
Year: 2026

Lewis' account of common knowledge in Convention describes the generation of higher-order expectations between agents as hinging upon agents' inductive standards and a shared witness. This paper attempts to draw from insights in learning theory to provide a formal account of common inductive knowledge and how it can be generated by a witness. Our language has a rather rich syntax in order to capture equally rich notions central to Lewis' account of common knowledge; for instance, we speak of an agent 'having some reason to believe' a proposition and one proposition 'indicating' to an agent that another proposition holds. A similar line of work was pursued by Cubitt & Sugden 2003; however, their account was left wanting for a corresponding semantics. Our syntax affords a novel topological semantics which, following Kelly 1996's approach in The Logic of Reliable Inquiry, takes as primitives agents' information bases. In particular, we endow each agent with a 'switching tolerance' meant to represent their personal inductive standards for learning. Curiously, when all agents are truly inductive learners (not choosing to believe only those propositions which are deductively verified), we show that the set of worlds where a proposition $P$ is common inductive knowledge is invariant of agents' switching tolerances. Contrarily, the question of whether a specific witness $W$ generates common inductive knowledge of $P$ is sensitive to changing agents' switching tolerances. After establishing soundness of our proof system with respect to this semantics, we conclude by applying our logic to solve an 'inductive' variant of the coordinated attack problem.
Continuous-time reinforcement learning: ellipticity enables model-free value function approximation
Venue: arXiv cs.LG 2026
Year: 2026

We study off-policy reinforcement learning for controlling continuous-time Markov diffusion processes with discrete-time observations and actions. We consider model-free algorithms with function approximation that learn value and advantage functions directly from data, without unrealistic structural assumptions on the dynamics. Leveraging the ellipticity of the diffusions, we establish a new class of Hilbert-space positive definiteness and boundedness properties for the Bellman operators. Based on these properties, we propose the Sobolev-prox fitted $q$-learning algorithm, which learns value and advantage functions by iteratively solving least-squares regression problems. We derive oracle inequalities for the estimation error, governed by (i) the best approximation error of the function classes, (ii) their localized complexity, (iii) exponentially decaying optimization error, and (iv) numerical discretization error. These results identify ellipticity as a key structural property that renders reinforcement learning with function approximation for Markov diffusions no harder than supervised learning.
On the Efficiency of Sequentially Aware Recommender Systems: Cotten4Rec
Venue: arXiv cs.IR 2026
Year: 2026

Sequential recommendation (SR) models predict a user's next interaction by modeling their historical behaviors. Transformer-based SR methods, notably BERT4Rec, effectively capture these patterns but incur significant computational overhead due to extensive intermediate computations associated with Softmax-based attention. We propose Cotten4Rec, a novel SR model utilizing linear-time cosine similarity attention, implemented through a single optimized compute unified device architecture (CUDA) kernel. By minimizing intermediate buffers and kernel-launch overhead, Cotten4Rec substantially reduces resource usage compared to BERT4Rec and the linear-attention baseline, LinRec, especially for datasets with moderate sequence lengths and vocabulary sizes. Evaluations across three benchmark datasets confirm that Cotten4Rec achieves considerable reductions in memory and runtime with minimal compromise in recommendation accuracy, demonstrating Cotten4Rec's viability as an efficient alternative for practical, large-scale sequential recommendation scenarios where computational resources are critical.
Reliable Mislabel Detection for Video Capsule Endoscopy Data
Venue: arXiv cs.CV 2026
Year: 2026

The classification performance of deep neural networks relies strongly on access to large, accurately annotated datasets. In medical imaging, however, obtaining such datasets is particularly challenging since annotations must be provided by specialized physicians, which severely limits the pool of annotators. Furthermore, class boundaries can often be ambiguous or difficult to define which further complicates machine learning-based classification. In this paper, we want to address this problem and introduce a framework for mislabel detection in medical datasets. This is validated on the two largest, publicly available datasets for Video Capsule Endoscopy, an important imaging procedure for examining the gastrointestinal tract based on a video stream of lowresolution images. In addition, potentially mislabeled samples identified by our pipeline were reviewed and re-annotated by three experienced gastroenterologists. Our results show that the proposed framework successfully detects incorrectly labeled data and results in an improved anomaly detection performance after cleaning the datasets compared to current baselines.
Endogenous Resistance to Activation Steering in Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Large language models can resist task-misaligned activation steering during inference, sometimes recovering mid-generation to produce improved responses even when steering remains active. We term this Endogenous Steering Resistance (ESR). Using sparse autoencoder (SAE) latents to steer model activations, we find that Llama-3.3-70B shows substantial ESR, while smaller models from the Llama-3 and Gemma-2 families exhibit the phenomenon less frequently. We identify 26 SAE latents that activate differentially during off-topic content and are causally linked to ESR in Llama-3.3-70B. Zero-ablating these latents reduces the multi-attempt rate by 25%, providing causal evidence for dedicated internal consistency-checking circuits. We demonstrate that ESR can be deliberately enhanced through both prompting and training: meta-prompts instructing the model to self-monitor increase the multi-attempt rate by 4x for Llama-3.3-70B, and fine-tuning on self-correction examples successfully induces ESR-like behavior in smaller models. These findings have dual implications: ESR could protect against adversarial manipulation but might also interfere with beneficial safety interventions that rely on activation steering. Understanding and controlling these resistance mechanisms is important for developing transparent and controllable AI systems. Code is available at github.com/agencyenterprise/endogenous-steering-resistance.
A Survey of Medical Drones from Flight Dynamics, Guidance, Navigation, and Control Perspectives
Venue: arXiv cs.RO 2026
Year: 2026

The integration of drones into the medical field has revolutionized healthcare delivery by enabling rapid transportation of medical supplies, organs, and even emergency assistance in remote or disaster-stricken areas. While other survey papers focus on the healthcare supply chain, operations, and medical emergency response aspects, this paper provides a comprehensive review of medical drones from the perspectives of flight dynamics and guidance, navigation, and control (GNC) systems. We first discuss the medical aerial delivery mission requirements and suitable uncrewed aerial system (UAS) configurations. We then address payload container design and optimization, and its effect on supplies and overall flight dynamics. We also explore the fundamental principles of GNC in the context of medical drone operations, highlighting key challenges arising from vibration, air temperature, pressure, and humidity, which affect the quality of medical supplies. The paper examines various GNC algorithms that can mitigate these challenges, as well as the algorithms' limitations. With these considerations, this survey aims to provide insights into optimizing GNC frameworks for medical drones, emphasizing research gaps and directions to improve real-world healthcare applications.
FeudalNav: A Simple Framework for Visual Navigation
Venue: arXiv cs.RO 2026
Year: 2026

Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods fall short, prompting a shift toward learning-based approaches with minimal exploration. In this work, we develop a hierarchical framework that decomposes the navigation decision-making process into multiple levels. Our method learns to select subgoals through a simple, transferable waypoint selection network. A key component of the approach is a latent-space memory module organized solely by visual similarity, as a proxy for distance. This alternative to graph-based topological representations proves sufficient for navigation tasks, providing a compact, light-weight, simple-to-train navigator that can find its way to the goal in novel locations. We show competitive results with a suite of SOTA methods in Habitat AI environments without using any odometry in training or inference. An additional contribution leverages the interpretablility of the framework for interactive navigation. We consider the question: how much direction intervention/interaction is needed to achieve success in all trials? We demonstrate that even minimal human involvement can significantly enhance overall navigation performance.
Bridging the Knowledge Void: Inference-time Acquisition of Unfamiliar Programming Languages for Coding Tasks
Venue: arXiv cs.CL 2026
Year: 2026

The proficiency of Large Language Models (LLMs) in coding tasks is often a reflection of their extensive pre-training corpora, which typically collapses when confronted with previously unfamiliar programming languages. Departing from data-intensive finetuning, we investigate the paradigm of Inference-time Language Acquisition (ILA), where an LLM masters an unfamiliar language through dynamic interaction with limited external resources. In this paper, we propose ILA-agent, a general ILA framework that equips LLMs with a set of behavioral primitives. By modeling essential human-like behaviors as a suite of tools, ILA-agent enables LLMs to incrementally explore, apply, and verify language knowledge through structured interactions with the official documentation and execution environment. To provide a rigorous evaluation in a low-resource setting, we construct Cangjie-bench, a multi-task benchmark based on the novel statically-typed language Cangjie. We instantiate ILA-agent for Cangjie and evaluate its performance across code generation, translation, and program repair tasks. Results using diverse LLMs demonstrate that ILA-agent significantly outperforms retrieval-augmented baselines. Further analysis of agent trajectories characterizes the emergent behavior patterns while highlighting persisting performance gaps.
LangGS-SLAM: Real-Time Language-Feature Gaussian Splatting SLAM
Venue: arXiv cs.RO 2026
Year: 2026

In this paper, we propose a RGB-D SLAM system that reconstructs a language-aligned dense feature field while sustaining low-latency tracking and mapping. First, we introduce a Top-K Rendering pipeline, a high-throughput and semantic-distortion-free method for efficiently rendering high-dimensional feature maps. To address the resulting semantic-geometric discrepancy and mitigate the memory consumption, we further design a multi-criteria map management strategy that prunes redundant or inconsistent Gaussians while preserving scene integrity. Finally, a hybrid field optimization framework jointly refines the geometric and semantic fields under real-time constraints by decoupling their optimization frequencies according to field characteristics. The proposed system achieves superior geometric fidelity compared to geometric-only baselines and comparable semantic fidelity to offline approaches while operating at 15 FPS. Our results demonstrate that online SLAM with dense, uncompressed language-aligned feature fields is both feasible and effective, bridging the gap between 3D perception and language-based reasoning.
When Simultaneous Localization and Mapping Meets Wireless Communications: A Survey
Venue: arXiv cs.RO 2026
Year: 2026

The availability of commercial wireless communication and sensing equipment combined with the advancements in intelligent autonomous systems paves the way towards robust joint communications and simultaneous localization and mapping (SLAM). This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to wireless signal propagation, geometric channel modeling, and radio frequency (RF)-based localization and sensing. In addition to this, we show image processing techniques that can detect landmarks, proactively predicting optimal paths for wireless channels. Several dimensions are considered, including the prerequisites, techniques, background, and future directions and challenges of the intersection between SLAM and wireless communications. We analyze mathematical approaches such as probabilistic models, and spatial methods for signal processing, as well as key technological aspects. We expose techniques and items towards enabling a highly effective retrieval of the autonomous robot state. Among other interesting findings, we observe that monocular V-SLAM would benefit from RF relevant information, as the latter can serve as a proxy for the scale ambiguity resolution. Conversely, we find that wireless communications in the context of 5G and beyond can potentially benefit from visual odometry that is central in SLAM. Moreover, we examine other sources besides the camera for SLAM and describe the twofold relation with wireless communications. Finally, integrated solutions performing joint communications and SLAM are still in their infancy: theoretical and practical advancements are required to add higher-level localization and semantic perception capabilities to RF and multi-antenna technologies.
Curriculum-Learned Vanishing Stacked Residual PINNs for Hyperbolic PDE State Reconstruction
Venue: arXiv cs.NE 2026
Year: 2026

Modeling distributed dynamical systems governed by hyperbolic partial differential equations (PDEs) remains challenging due to discontinuities and shocks that hinder the convergence of traditional physics-informed neural networks (PINNs). The recently proposed vanishing stacked residual PINN (VSR-PINN) embeds a vanishing-viscosity mechanism within stacked residual refinements to enable a smooth transition from the parabolic to hyperbolic regime. This paper integrates three curriculum-learning methods as primal-dual (PD) optimization, causality progression, and adaptive sampling into the VSR-PINN. The PD strategy balances physics and data losses, the causality scheme unlocks deeper stacks by respecting temporal and gradient evolution, and adaptive sampling targets high residuals. Numerical experiments on traffic reconstruction confirm that enforcing causality systematically reduces the median point-wise MSE and its variability across runs, yielding improvements of nearly one order of magnitude over non-causal training in both the baseline and PD variants.