OpenRaiser/Intern-Atlas huggingface dataset:
Parameterized Algorithms for Coordinated Motion Planning: Minimizing Energy
Venue: arXiv cs.DM 2026
Year: 2026

We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the total energy (i.e., the total length traveled). We develop novel techniques to push beyond previously-established results that were restricted to solid grids. We design a fixed-parameter additive approximation algorithm for this problem parameterized by $k$ alone. This result, which is of independent interest, allows us to prove the following two results pertaining to well-studied coordinated motion planning problems: (1) A fixed-parameter algorithm, parameterized by $k$, for routing a single robot to its destination while avoiding the other robots, which is related to the famous Rush-Hour Puzzle; and (2) a fixed-parameter algorithm, parameterized by $k$ plus the treewidth of the input graph, for the standard \textsc{Coordinated Motion Planning} (CMP) problem in which we need to route all the $k$ robots to their destinations. The latter of these results implies, among others, the fixed-parameter tractability of CMP parameterized by $k$ on graphs of bounded outerplanarity, which include bounded-height subgrids. We complement the above results with a lower bound which rules out the fixed-parameter tractability for CMP when parameterized by the total energy. This contrasts the recently-obtained tractability of the problem on solid grids under the same parameterization. As our final result, we strengthen the aforementioned fixed-parameter tractability to hold not only on solid grids but all graphs of bounded local treewidth -- a class including, among others, all graphs of bounded genus.
Implications of computer science theory for the simulation hypothesis
Venue: arXiv cs.LO 2026
Year: 2026

The simulation hypothesis has recently excited renewed interest in the physics and philosophy communities. However, the hypothesis specifically concerns {\textit{computers}} that simulate physical universes. So to formally investigate the hypothesis, we need to understand it in terms of computer science (CS) theory. In addition we need a formal way to couple CS theory with physics. Here I couple those fields by using the physical Church-Turing thesis. This allow me to exploit Kleene's second recursion, to prove that not only is it possible for {us} to be a simulation being run on a computer, but that we might be in a simulation being run a computer \emph{by us}. In such a ``self-simulation'', there would be two identical instances of us, both equally ``real''. I then use Rice's theorem to derive impossibility results concerning simulation and self-simulation; derive implications for (self-)simulation if we are being simulated in a program using fully homomorphic encryption; and briefly investigate the graphical structure of universes simulating other universes which contain computers running their own simulations. I end by describing some of the possible avenues for future research. While motivated in terms of the simulation hypothesis, the results in this paper are direct consequences of the Church-Turing thesis. So they apply far more broadly than the simulation hypothesis.
Changing the Training Data Distribution to Reduce Simplicity Bias Improves In-distribution Generalization
Venue: arXiv cs.LG 2026
Year: 2026

Can we modify the training data distribution to encourage the underlying optimization method toward finding solutions with superior generalization performance on in-distribution data? In this work, we approach this question for the first time by comparing the inductive bias of gradient descent (GD) with that of sharpness-aware minimization (SAM). By studying a two-layer CNN, we rigorously prove that SAM learns different features more uniformly, particularly in early epochs. That is, SAM is less susceptible to simplicity bias compared to GD. We also show that examples containing features that are learned early are separable from the rest based on the model's output. Based on this observation, we propose a method that (i) clusters examples based on the network output early in training, (ii) identifies a cluster of examples with similar network output, and (iii) upsamples the rest of examples only once to alleviate the simplicity bias. We show empirically that USEFUL effectively improves the generalization performance on the original data distribution when training with various gradient methods, including (S)GD and SAM. Notably, we demonstrate that our method can be combined with SAM variants and existing data augmentation strategies to achieve, to the best of our knowledge, state-of-the-art performance for training ResNet18 on CIFAR10, STL10, CINIC10, Tiny-ImageNet; ResNet34 on CIFAR100; and VGG19 and DenseNet121 on CIFAR10. Our code is available at https://github.com/BigML-CS-UCLA/TADA.
BiLO: Bilevel Local Operator Learning for PDE Inverse Problems
Venue: arXiv cs.LG 2026
Year: 2026

We propose a new neural network based method for solving inverse problems for partial differential equations (PDEs) by formulating the PDE inverse problem as a bilevel optimization problem. At the upper level, we minimize the data loss with respect to the PDE parameters. At the lower level, we train a neural network to locally approximate the PDE solution operator in the neighborhood of a given set of PDE parameters, which enables an accurate approximation of the descent direction for the upper level optimization problem. The lower level loss function includes the L2 norms of both the residual and its derivative with respect to the PDE parameters. We apply gradient descent simultaneously on both the upper and lower level optimization problems, leading to an effective and fast algorithm. The method, which we refer to as BiLO (Bilevel Local Operator learning), is also able to efficiently infer unknown functions in the PDEs through the introduction of an auxiliary variable. We provide a theoretical analysis that justifies our approach. Through extensive experiments over multiple PDE systems, we demonstrate that our method enforces strong PDE constraints, is robust to sparse and noisy data, and eliminates the need to balance the residual and the data loss, which is inherent to the soft PDE constraints in many existing methods.
Who Shares What? An Empirical Analysis of Security Conference Content Across Academia and Industry
Venue: arXiv cs.CR 2026
Year: 2026

Security conferences are important venues for information sharing, where academics and practitioners share knowledge about new attacks and state-of-the-art defenses. Despite their importance, researchers have not systematically examined who shares information and which security topics are discussed. To address this gap, our paper characterizes the speakers, sponsors, and topics presented at prestigious academic and industry security conferences. We compile a longitudinal dataset containing 9,728 abstracts and 1,686 sponsors across four academic and six industry conferences. Our findings show limited information sharing between industry and academia. Conferences vary significantly in how equitably talks and authorship are distributed across individuals. The topics of academic and industry abstracts display consistent coverage of techniques within the MITRE ATT&CK framework. Top-tier academic conferences, as well as DEFCON and Black Hat, address the governance, response, and recovery functions of the NIST Cybersecurity Framework inconsistently. Commercial information security and insurance conferences (RSA, Gartner, Advisen and NetDiligence) more consistently cover the framework. Prevention and detection were the most common topics in the sample period, with no clear temporal trends.
SeePerSea: Multi-modal Perception Dataset of In-water Objects for Autonomous Surface Vehicles
Venue: arXiv cs.RO 2026
Year: 2026

This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous Surface Vehicles (ASVs). This dataset, collected over 4 years and consisting of diverse objects encountered under varying environmental conditions, aims to bridge the research gap in ASVs by providing a multi-modal, annotated, and ego-centric perception dataset, for object detection and classification. We also show the applicability of the proposed dataset by training and testing current deep learning-based open-source perception algorithms that have shown success in the autonomous ground vehicle domain. With the training and testing results, we discuss open challenges for existing datasets and methods, identifying future research directions. We expect that our dataset will contribute to the development of future marine autonomy pipelines and marine (field) robotics. This dataset is open source and found at https://seepersea.github.io/.
Forecasting with Hyper-Trees
Venue: arXiv cs.LG 2026
Year: 2026

We introduce Hyper-Trees as a novel framework for modeling time series data using gradient boosted trees. Unlike conventional tree-based approaches that forecast time series directly, Hyper-Trees learn the parameters of a target time series model, such as ARIMA or Exponential Smoothing, as functions of features. These parameters are then used by the target model to generate the final forecasts. Our framework combines the effectiveness of decision trees on tabular data with classical forecasting models, thereby inducing a time series inductive bias into tree-based models. To resolve the scaling limitations of boosted trees when estimating a high-dimensional set of target model parameters, we combine decision trees and neural networks within a unified framework. In this hybrid approach, the trees generate informative representations from the input features, which a shallow network then uses as input to learn the parameters of a time series model. With our research, we explore the effectiveness of Hyper-Trees across a range of forecasting tasks and extend tree-based modeling beyond its conventional use in time series analysis.
Generative Enzyme Design Guided by Functionally Important Sites and Small-Molecule Substrates
Venue: arXiv cs.LG 2026
Year: 2026

Enzymes are genetically encoded biocatalysts capable of accelerating chemical reactions. How can we automatically design functional enzymes? In this paper, we propose EnzyGen, an approach to learn a unified model to design enzymes across all functional families. Our key idea is to generate an enzyme's amino acid sequence and their three-dimensional (3D) coordinates based on functionally important sites and substrates corresponding to a desired catalytic function. These sites are automatically mined from enzyme databases. EnzyGen consists of a novel interleaving network of attention and neighborhood equivariant layers, which captures both long-range correlation in an entire protein sequence and local influence from nearest amino acids in 3D space. To learn the generative model, we devise a joint training objective, including a sequence generation loss, a position prediction loss and an enzyme-substrate interaction loss. We further construct EnzyBench, a dataset with 3157 enzyme families, covering all available enzymes within the protein data bank (PDB). Experimental results show that our EnzyGen consistently achieves the best performance across all 323 testing families, surpassing the best baseline by 10.79% in terms of substrate binding affinity. These findings demonstrate EnzyGen's superior capability in designing well-folded and effective enzymes binding to specific substrates with high affinities.
Using weakest application conditions to rank graph transformations for graph repair
Venue: arXiv cs.SE 2026
Year: 2026

When using graphs and graph transformations to model systems, consistency is an important concern. While consistency has primarily been viewed as a binary property, i.e., a graph is consistent or inconsistent with respect to a set of constraints, recent work has presented an approach to consistency as a graduated property. This allows living with inconsistencies for a while and repairing them when necessary. For repairing inconsistencies in a graph, we use graph transformation rules with so-called {\em impairment-indicating and repair-indicating application conditions} to understand how much repair gain certain rule applications would bring. Both types of conditions can be derived from given graph constraints. Our main theorem shows that the difference between the number of actual constraint violations before and after a graph transformation step can be characterised by the difference between the numbers of violated impairment-indicating and repair-indicating application conditions. This theory forms the basis for algorithms with look-ahead that rank graph transformations according to their potential for graph repair. An evaluation shows that graph repair can be well-supported by rules with these new types of application conditions in terms of effectiveness and scalability.
HAAP: Vision-context Hierarchical Attention Autoregressive with Adaptive Permutation for Scene Text Recognition
Venue: arXiv cs.CV 2026
Year: 2026

Scene Text Recognition (STR) is challenging in extracting effective character representations from visual data when text is unreadable. Permutation language modeling (PLM) is introduced to refine character predictions by jointly capturing contextual and visual information. However, in PLM, the use of random permutations causes training fit oscillation, and the iterative refinement (IR) operation also introduces additional overhead. To address these issues, this paper proposes the Hierarchical Attention autoregressive Model with Adaptive Permutation (HAAP) to enhance position-context-image interaction capability, improving autoregressive LM generalization. First, we propose Implicit Permutation Neurons (IPN) to generate adaptive attention masks that dynamically exploit token dependencies, enhancing the correlation between visual information and context. Adaptive correlation representation helps the model avoid training fit oscillation. Second, the Cross-modal Hierarchical Attention mechanism (CHA) is introduced to capture the dependencies among position queries, contextual semantics and visual information. CHA enables position tokens to aggregate global semantic information, avoiding the need for IR. Extensive experimental results show that the proposed HAAP achieves state-of-the-art (SOTA) performance in terms of accuracy, complexity, and latency on several datasets.
Opportunistically Parallel Lambda Calculus
Venue: arXiv cs.PL 2026
Year: 2026

Scripting languages are widely used to compose external calls such as native libraries and network services. In such scripts, execution time is often dominated by waiting for these external calls, rendering traditional single-language optimizations ineffective. To address this, we propose a novel opportunistic evaluation strategy for scripting languages based on a core lambda calculus that automatically dispatches independent external calls in parallel and streams their results. We prove that our approach is confluent, ensuring that it preserves the programmer's original intent, and that it eventually executes every external call. We implement this approach in a scripting language called Opal. We demonstrate the versatility and performance of Opal, focusing on programs that invoke heavy external computation through the use of large language models (LLMs) and other APIs. Across five scripts, we compare to several state-of-the-art baselines and show that opportunistic evaluation improves total running time (up to $6.2\times$) and latency (up to $12.7\times$) compared to standard sequential Python, while performing very close (between $1.3\%$ and $18.5\%$ running time overhead) to hand-tuned manually optimized asynchronous Rust. For Tree-of-Thoughts, a prominent LLM reasoning approach, we achieve a $6.2\times$ performance improvement over the authors' own implementation.
A Memory-Efficient Distributed Algorithm for Approximate Nearest Neighbour Search with Arbitrary Distances
Venue: arXiv cs.IR 2026
Year: 2026

Approximate nearest neighbour (ANN) search has become a central task in modern data-intensive applications, particularly when operating on large, heterogeneous, or high-dimensional datasets. However, many existing ANN methods struggle in such scenarios, either because they rely on metric assumptions or because their indexing strategies are not well suited to distributed environments or to settings with constrained memory resources. This work introduces PDASC (Parametrizable Distributed Approximate Similarity Search with Clustering), a distributed ANN search algorithm whose index design simultaneously supports arbitrary dissimilarity functions and efficient deployment in distributed, storage-aware environments. PDASC builds a distributed hierarchical index based on clustering mechanisms that are agnostic to distance properties, thereby accommodating non-metric and domain-specific similarities while naturally partitioning indexing and search across multiple computing nodes, with a compact per-node memory footprint. By preserving locally informative neighbourhood structure, the proposed index mitigates practical manifestations of the curse of dimensionality in high-dimensional spaces. We analyse how the index structural parameters govern the trade-offs among recall, computational cost, and memory usage. Experimental evaluation across multiple benchmark datasets and distance functions shows that PDASC achieves competitive accuracy-efficiency trade-offs while consistently requiring lower per-node memory compared to state-of-the-art ANN methods. By avoiding reliance on specialised hardware acceleration, PDASC enables scalable and energy-efficient similarity search in heterogeneous and distributed settings where memory efficiency and distance-function flexibility are first-class constraints.
Leveraging Large Language Models for Semantic Query Processing in a Scholarly Knowledge Graph
Venue: arXiv cs.IR 2026
Year: 2026

The proposed research aims to develop an innovative semantic query processing system that enables users to obtain comprehensive information about research works produced by Computer Science (CS) researchers at the Australian National University (ANU). The system integrates Large Language Models (LLMs) with the ANU Scholarly Knowledge Graph (ASKG), a structured repository of all research-related artifacts produced at ANU in the CS field. Each artifact and its parts are represented as textual nodes stored in a Knowledge Graph (KG). To address the limitations of traditional scholarly KG construction and utilization methods, which often fail to capture fine-grained details, we propose a novel framework that integrates the Deep Document Model (DDM) for comprehensive document representation and the KG-enhanced Query Processing (KGQP) for optimized complex query handling. DDM enables a fine-grained representation of the hierarchical structure and semantic relationships within academic papers, while KGQP leverages the KG structure to improve query accuracy and efficiency with LLMs. By combining the ASKG with LLMs, our approach enhances knowledge utilization and natural language understanding capabilities. The proposed system employs an automatic LLM-SPARQL fusion to retrieve relevant facts and textual nodes from the ASKG. Initial experiments demonstrate that our framework is superior to baseline methods in terms of accuracy retrieval and query efficiency. We showcase the practical application of our framework in academic research scenarios, highlighting its potential to revolutionize scholarly knowledge management and discovery. This work empowers researchers to acquire and utilize knowledge from documents more effectively and provides a foundation for developing precise and reliable interactions with LLMs.
PanoNormal: Monocular Indoor 360° Surface Normal Estimation
Venue: arXiv cs.CV 2026
Year: 2026

The presence of spherical distortion in equirectangular projection (ERP) images presents a persistent challenge in dense regression tasks such as surface normal estimation. Although it may appear straightforward to repurpose architectures developed for 360° depth estimation, our empirical findings indicate that such models yield suboptimal performance when applied to surface normal prediction. This is largely attributed to their architectural bias toward capturing global scene layout, which comes at the expense of the fine-grained local geometric cues that are critical for accurate surface orientation estimation. While convolutional neural networks (CNNs) have been employed to mitigate spherical distortion, their fixed receptive fields limit their ability to capture holistic scene structure. Conversely, vision transformers (ViTs) are capable of modeling long-range dependencies via global self-attention, but often fail to preserve high-frequency local detail. To address these limitations, we propose \textit{PanoNormal}, a monocular surface normal estimation architecture for 360° images that integrates the complementary strengths of CNNs and ViTs. In particular, we design a multi-level global self-attention mechanism that explicitly accounts for the spherical feature distribution, enabling our model to recover both global contextual structure and local geometric details. Experimental results demonstrate that our method not only achieves state-of-the-art performance on several benchmark 360° datasets, but also significantly outperforms adapted depth estimation models on the task of surface normal prediction. The code and model are available at https://github.com/huangkun101230/PanoNormal.
Neural Green's Operators for Parametric Partial Differential Equations
Venue: arXiv cs.LG 2026
Year: 2026

This work introduces a paradigm for constructing parametric neural operators that are derived from finite-dimensional representations of Green's operators for linear partial differential equations (PDEs). We refer to such neural operators as Neural Green's Operators (NGOs). Our construction of NGOs preserves the linear action of Green's operators on the inhomogeneity fields, while approximating the nonlinear dependence of the Green's function on the coefficients of the PDE using neural networks. This construction reduces the complexity of the problem from learning the entire solution operator and its dependence on all parameters to only learning the Green's function and its dependence on the PDE coefficients. Furthermore, we show that our explicit representation of Green's functions enables the embedding of desirable mathematical attributes in our NGO architectures, such as symmetry, spectral, and conservation properties. Through numerical benchmarks on canonical PDEs, we demonstrate that NGOs achieve comparable or superior accuracy to Deep Operator Networks, Variationally Mimetic Operator Networks, and Fourier Neural Operators with similar parameter counts, while generalizing significantly better when tested on out-of-distribution data. For parametric time-dependent PDEs, we show that NGOs that are trained on a single time step can produce pointwise-accurate dynamics in an auto-regressive manner over arbitrarily large numbers of time steps. For parametric nonlinear PDEs, we demonstrate that NGOs trained exclusively on solutions of corresponding linear problems can be embedded within iterative solvers to yield accurate solutions, provided a suitable initial guess is available. Finally, we show that we can leverage the explicit representation of Green's functions returned by NGOs to construct effective matrix preconditioners that accelerate iterative solvers for PDEs.