OpenRaiser/Intern-Atlas huggingface dataset:
Private Blind Model Averaging - Distributed, Non-interactive, and Convergent
Venue: arXiv cs.CR 2026
Year: 2026

Distributed differentially private learning techniques enable a large number of users to jointly learn a model without having to first centrally collect the training data. At the same time, neither the communication between the users nor the resulting model shall leak information about the training data. This kind of learning technique can be deployed to edge devices if it can be scaled up to a large number of users, particularly if the communication is reduced to a minimum: no interaction, i.e., each party only sends a single message. The best previously known methods are based on gradient averaging, which inherently requires many synchronization rounds. A promising non-interactive alternative to gradient averaging relies on so-called output perturbation: each user first locally finishes training and then submits its model for secure averaging without further synchronization. We analyze this paradigm, which we coin blind model averaging (BlindAvg), in the setting of convex and smooth empirical risk minimization (ERM) like a support vector machine (SVM). While the required noise scale is asymptotically the same as in the centralized setting, it is not well understood how close BlindAvg comes to centralized learning, i.e., its utility cost. We characterize and boost the privacy-utility tradeoff of BlindAvg with two contributions: First, we prove that BlindAvg converges towards the centralized setting for a sufficiently strong L2-regularization for a non-smooth SVM learner. Second, we introduce the novel differentially private convex and smooth ERM learner SoftmaxReg that has a better privacy-utility tradeoff than an SVM in a multi-class setting. We evaluate our findings on three datasets (CIFAR-10, CIFAR-100, and Federated EMNIST) and provide an ablation in an artificially extreme non-IID scenario.
Sometimes Two Irrational Guards are Needed
Venue: arXiv cs.CG 2026
Year: 2026

In the art gallery problem, we are given a closed polygon $P$, with rational coordinates and an integer $k$. We are asked whether it is possible to find a set (of guards) $G$ of size $k$ such that any point $p\in P$ is seen by a point in $G$. We say two points $p$, $q$ see each other if the line segment $pq$ is contained inside $P$. It was shown by Abrahamsen, Adamaszek, and Miltzow that there is a polygon that can be guarded with three guards, but requires four guards if the guards are required to have rational coordinates. In other words, an optimal solution of size three might need to be irrational. We show that an optimal solution of size two might need to be irrational. Note that it is well-known that any polygon that can be guarded with one guard has an optimal guard placement with rational coordinates. Hence, our work closes the gap on when irrational guards are possible to occur.
Improving Stance Detection by Leveraging Measurement Knowledge from Social Sciences: A Case Study of Dutch Political Tweets and Traditional Gender Role Division
Venue: arXiv cs.CL 2026
Year: 2026

Stance detection concerns automatically determining the viewpoint (i.e., in favour of, against, or neutral) of a text's author towards a target. Stance detection has been applied to many research topics, among which the detection of stances behind political tweets is an important one. In this paper, we apply stance detection to a dataset of tweets from official party accounts in the Netherlands between 2017 and 2021, with a focus on stances towards traditional gender role division, a dividing issue between (some) Dutch political parties. To implement and improve stance detection of traditional gender role division, we propose to leverage an established survey instrument from social sciences, which has been validated for the purpose of measuring attitudes towards traditional gender role division. Based on our experiments, we show that using such a validated survey instrument helps to improve stance detection performance.
An Elementary Proof of the FMP for Kleene Algebra
Venue: arXiv cs.FL 2026
Year: 2026

Kleene Algebra (KA) is a useful tool for proving that two programs are equivalent. Because KA's equational theory is decidable, it integrates well with interactive theorem provers. This raises the question: which equations can we (not) prove using the laws of KA? Moreover, which models of KA are complete, in the sense that they satisfy exactly the provable equations? Kozen (1994) answered these questions by characterizing KA in terms of its language model. Concretely, equivalences provable in KA are exactly those that hold for regular expressions. Pratt (1980) observed that KA is complete w.r.t. relational models, i.e., that its provable equations are those that hold for any relational interpretation. A less known result due to Palka (2005) says that finite models are complete for KA, i.e., that provable equivalences coincide with equations satisfied by all finite KAs. Phrased contrapositively, the latter is a finite model property (FMP): any unprovable equation is falsified by a finite KA. Both results can be argued using Kozen's theorem, but the implication is mutual: given that KA is complete w.r.t. finite (resp. relational) models, Palka's (resp. Pratt's) arguments show that it is complete w.r.t. the language model. We embark on a study of the different complete models of KA, and the connections between them. This yields a novel result subsuming those of Palka and Pratt, namely that KA is complete w.r.t. finite relational models. Next, we put an algebraic spin on Palka's techniques, which yield a new elementary proof of the finite model property, and by extension, of Kozen's and Pratt's theorems. In contrast with earlier approaches, this proof relies not on minimality or bisimilarity of automata, but rather on representing the regular expressions involved in terms of transformation automata.
Lessons from Formally Verified Deployed Software Systems (Extended version)
Venue: arXiv cs.SE 2026
Year: 2026

The technology of formal software verification has made spectacular advances, but how much does it actually benefit the development of practical software? Considerable disagreement remains about the practicality of building systems with mechanically-checked proofs of correctness. Is this prospect confined to a few expensive, life-critical projects, or can the idea be applied to a wide segment of the software industry? To help answer this question, the present survey examines a range of projects, in various application areas, that have produced formally verified systems and deployed them for actual use. It considers the technologies used, the form of verification applied, the results obtained, and the lessons that the software industry should draw regarding its ability to benefit from formal verification techniques and tools. Note: this version is the extended article, covering all the systems identified as relevant. A shorter version, covering only a selection, is also available (see https://doi.org/10.1145/3785652).
On the Complexity of the Two-Stage Majoritarian Rule
Venue: arXiv cs.GT 2026
Year: 2026

Sequential voting rules have played a crucial role in shaping decisions within parliamentary and legislative frameworks. After observing that the existing sequential rules fail several fundamental axioms, Horan and Sprumont [2022] proposed a sequential rule named two-stage majoritarian rule (TSMR). This paper examines this rule by investigating the complexity of {\sc{Agenda Control}}, {\sc{Coalition Manipulation}}, {\sc{Possible Winner}}, {\sc{Necessary Winner}}, and eight standard election control problems. Our study offers a comprehensive insight into the complexity landscape of these problems.
Discrete Latent Structure in Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

Many types of data from fields including natural language processing, computer vision, and bioinformatics, are well represented by discrete, compositional structures such as trees, sequences, or matchings. Latent structure models are a powerful tool for learning to extract such representations, offering a way to incorporate structural bias, discover insight about the data, and interpret decisions. However, effective training is challenging, as neural networks are typically designed for continuous computation. This text explores three broad strategies for learning with discrete latent structure: continuous relaxation, surrogate gradients, and probabilistic estimation. Our presentation relies on consistent notations for a wide range of models. As such, we reveal many new connections between latent structure learning strategies, showing how most consist of the same small set of fundamental building blocks, but use them differently, leading to substantially different applicability and properties.
On an ordinary expansion of first-order Belnap-Dunn logic
Venue: arXiv cs.LO 2026
Year: 2026

This paper concerns an expansion of first-order Belnap-Dunn logic whose connectives and quantifiers all have a counterpart in classical logic. The language and logical consequence relation of this paradefinite logic are defined, a sequent calculus proof system for this logic is presented, and the soundness and completeness of this proof system is established. It is shown that the defined logic distinguishes itself from the many other paradefinite logics that are usually considered equally classical by the classical laws of logical equivalence that hold for it. It is further argued that the defined logic is the most natural paradefinite logic relative to the version of classical logic with the same language. Moreover, a simple embedding of the defined logic in that version of classical logic is presented and the potential of the logic for dealing with inconsistencies and incompletenesses in inductive machine learning is discussed.
SPARLING: Learning Latent Representations with Extremely Sparse Activations
Venue: arXiv cs.LG 2026
Year: 2026

Real-world processes often contain intermediate state that can be modeled as an extremely sparse activation tensor. In this work, we analyze the identifiability of such sparse and local latent intermediate variables, which we call motifs. We prove our Motif Identifiability Theorem, stating that under certain assumptions it is possible to precisely identify these motifs exclusively by reducing end-to-end error. Notably, we do not assume identifiability of parameters, but rather of a latent intermediate representation output by a local model, thus allowing these representations to be arbitrarily complex functions of the input. Additionally, we provide the Sparling algorithm, which uses a new kind of informational bottleneck that enforces levels of activation sparsity unachievable using other techniques. We confirm empirically that extreme sparsity is necessary to achieve good intermediate state modeling. On synthetic domains, we are able to precisely localize the intermediate states up to feature permutation with > 90% accuracy, even though we only train end-to-end.
Rewriting Modulo Traced Comonoid Structure
Venue: arXiv cs.LO 2026
Year: 2026

In this paper we adapt previous work on rewriting string diagrams using hypergraphs to the case where the underlying category has a traced comonoid structure, in which wires can be forked and the outputs of a morphism can be connected to its input. Such a structure is particularly interesting because any traced Cartesian (dataflow) category has an underlying traced comonoid structure. We show that certain subclasses of hypergraphs are fully complete for traced comonoid categories: that is to say, every term in such a category has a unique corresponding hypergraph up to isomorphism, and from every hypergraph with the desired properties, a unique term in the category can be retrieved up to the axioms of traced comonoid categories. We also show how the framework of double pushout rewriting (DPO) can be adapted for traced comonoid categories by characterising the valid pushout complements for rewriting in our setting. We conclude by presenting a case study in the form of recent work on an equational theory for sequential circuits: circuits built from primitive logic gates with delay and feedback. The graph rewriting framework allows for the definition of an operational semantics for sequential circuits.
Reinforcement Learning with Exogenous States and Rewards
Venue: arXiv cs.LG 2026
Year: 2026

Exogenous state variables and rewards can slow reinforcement learning by injecting uncontrolled variation into the reward signal. This paper formalizes exogenous state variables and rewards and shows that if the reward function decomposes additively into endogenous and exogenous components, the MDP can be decomposed into an exogenous Markov Reward Process (based on the exogenous reward) and an endogenous Markov Decision Process (optimizing the endogenous reward). Any optimal policy for the endogenous MDP is also an optimal policy for the original MDP, but because the endogenous reward typically has reduced variance, the endogenous MDP is easier to solve. We study settings where the decomposition of the state space into exogenous and endogenous state spaces is not given but must be discovered. The paper introduces and proves correctness of algorithms for discovering the exogenous and endogenous subspaces of the state space when they are mixed through linear combination. These algorithms can be applied during reinforcement learning to discover the exogenous subspace, remove the exogenous reward, and focus reinforcement learning on the endogenous MDP. Experiments on a variety of challenging synthetic MDPs show that these methods, applied online, discover large exogenous state spaces and produce substantial speedups in reinforcement learning.
CloSET: Modeling Clothed Humans on Continuous Surface with Explicit Template Decomposition
Venue: arXiv cs.CV 2026
Year: 2026

Creating animatable avatars from static scans requires the modeling of clothing deformations in different poses. Existing learning-based methods typically add pose-dependent deformations upon a minimally-clothed mesh template or a learned implicit template, which have limitations in capturing details or hinder end-to-end learning. In this paper, we revisit point-based solutions and propose to decompose explicit garment-related templates and then add pose-dependent wrinkles to them. In this way, the clothing deformations are disentangled such that the pose-dependent wrinkles can be better learned and applied to unseen poses. Additionally, to tackle the seam artifact issues in recent state-of-the-art point-based methods, we propose to learn point features on a body surface, which establishes a continuous and compact feature space to capture the fine-grained and pose-dependent clothing geometry. To facilitate the research in this field, we also introduce a high-quality scan dataset of humans in real-world clothing. Our approach is validated on two existing datasets and our newly introduced dataset, showing better clothing deformation results in unseen poses. The project page with code and dataset can be found at https://zhanghongwen.cn/closet.
Revisiting Linear Width: Rethinking the Relationship between Single Ideal and Linear Obstacle
Venue: arXiv cs.DM 2026
Year: 2026

Linear-width is a well-known and highly regarded graph parameter. The concept of Single Ideal and Linear obstacle serves as an obstruction to linear-width on a connectivity sysem. In this concise paper, we present an alternative proof for the equivalence between Single ideal and linear obstacle.
Structured Sentiment Analysis as Transition-based Dependency Graph Parsing
Venue: arXiv cs.CL 2026
Year: 2026

Structured sentiment analysis (SSA) aims to automatically extract people's opinions from a text in natural language and adequately represent that information in a graph structure. One of the most accurate methods for performing SSA was recently proposed and consists of approaching it as a dependency graph parsing task. Although we can find in the literature how transition-based algorithms excel in different dependency graph parsing tasks in terms of accuracy and efficiency, all proposed attempts to tackle SSA following that approach were based on graph-based models. In this article, we present the first transition-based method to address SSA as dependency graph parsing. Specifically, we design a transition system that processes the input text in a left-to-right pass, incrementally generating the graph structure containing all identified opinions. To effectively implement our final transition-based model, we resort to a Pointer Network architecture as a backbone. From an extensive evaluation, we demonstrate that our model offers the best performance to date in practically all cases among prior dependency-based methods, and surpasses recent task-specific techniques on the most challenging datasets. We additionally include an in-depth analysis and empirically prove that the average-case time complexity of our approach is quadratic in the sentence length, being more efficient than top-performing graph-based parsers.
Computing Universal Plans for Partially Observable Multi-Agent Routing Using Answer Set Programming
Venue: arXiv cs.MA 2026
Year: 2026

Multi-agent routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical planning problems. In this paper, we argue that it can be beneficial to formulate them as universal planning problems, particularly when the agents are autonomous entities and may encounter unforeseen situations. We therefore propose universal plans, also known as policies, as the solution concept, and implement a system based on Answer Set Programming (ASP) to compute them. Given an arbitrary two-dimensional map and a profile of goals for a group of partially observable agents, the system translates the problem configuration into logic programs and finds a feasible universal plan for each agent, mapping its observations to actions while ensuring that there are no collisions with other agents. We use the system to conduct experiments and obtain findings regarding the types of goal profiles and environments that lead to feasible policies, as well as how feasibility may depend on the agents' sensors. We also demonstrate how users can customize action preferences to compute more efficient policies, even (near-)optimal ones. The code is available at https://github.com/Fernadoo/MAPF_ASP.
The First and Second-Order Asymptotics of Covert Communication over AWGN Channels
Venue: arXiv cs.IT 2026
Year: 2026

This paper investigates the asymptotics of the maximal throughput of communication over AWGN channels by $n$ channel uses under a covert constraint in terms of an upper bound $δ$ of Kullback-Leibler divergence (KL divergence). It is shown that the first and second order asymptotics of the maximal throughput are $\sqrt{nδ\log e}$ and $(2)^{1/2}(nδ)^{1/4}(\log e)^{3/4}\cdot Q^{-1}(ε)$, respectively. The technique we use in the achievability is quasi-$\varepsilon$-neighborhood notion from information geometry. For finite blocklength $n$, the generating distributions are chosen to be a family of truncated Gaussian distributions with decreasing variances. The law of decreasing is carefully designed so that it maximizes the throughput at the main channel in the asymptotic sense under the condition that the output distributions satisfy the covert constraint. For the converse, the optimality of Gaussian distribution for minimizing KL divergence under the second order moment constraint is extended from dimension $1$ to dimension $n$. Based on that, we establish an upper bound on the average power of the code to satisfy the covert constraint, which further leads to the direct converse bound in terms of covert metric.
Representation-Driven Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

We present a representation-driven framework for reinforcement learning. By representing policies as estimates of their expected values, we leverage techniques from contextual bandits to guide exploration and exploitation. Particularly, embedding a policy network into a linear feature space allows us to reframe the exploration-exploitation problem as a representation-exploitation problem, where good policy representations enable optimal exploration. We demonstrate the effectiveness of this framework through its application to evolutionary and policy gradient-based approaches, leading to significantly improved performance compared to traditional methods. Our framework provides a new perspective on reinforcement learning, highlighting the importance of policy representation in determining optimal exploration-exploitation strategies.
A Simple Unified Uncertainty-Guided Framework for Offline-to-Online Reinforcement Learning
Venue: arXiv cs.LG 2026
Year: 2026

Offline reinforcement learning (RL) provides a promising solution to learning an agent fully relying on a data-driven paradigm. However, constrained by the limited quality of the offline dataset, its performance is often sub-optimal. Therefore, it is desired to further finetune the agent via extra online interactions before deployment. Unfortunately, offline-to-online RL can be challenging due to two main challenges: constrained exploratory behavior and state-action distribution shift. In view of this, we propose a Simple Unified uNcertainty-Guided (SUNG) framework, which naturally unifies the solution to both challenges with the tool of uncertainty. Specifically, SUNG quantifies uncertainty via a VAE-based state-action visitation density estimator. To facilitate efficient exploration, SUNG presents a practical optimistic exploration strategy to select informative actions with both high value and high uncertainty. Moreover, SUNG develops an adaptive exploitation method by applying conservative offline RL objectives to high-uncertainty samples and standard online RL objectives to low-uncertainty samples to smoothly bridge offline and online stages. SUNG achieves state-of-the-art online finetuning performance when combined with different offline RL methods, across various environments and datasets in D4RL benchmark. Codes are made publicly available in https://github.com/guosyjlu/SUNG.
Fusion of Visual-Inertial Odometry with LiDAR Relative Localization for Cooperative Guidance of a Micro-Scale Aerial Vehicle
Venue: arXiv cs.RO 2026
Year: 2026

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper. LiDAR-based localization is accurate and robust to challenging environmental conditions, but 3D LiDARs are relatively heavy and require large UAV platforms, in contrast to lightweight cameras. However, visual-based self-localization methods exhibit lower accuracy and can suffer from significant drift with respect to the global reference frame. To benefit from both sensory modalities, we focus on cooperative navigation in a heterogeneous team of a primary LiDAR-equipped UAV and a secondary micro-scale camera-equipped UAV. We propose a novel cooperative approach combining LiDAR relative localization data with VIO output on board the primary UAV to obtain an accurate pose of the secondary UAV. The pose estimate is used to precisely and reliably guide the secondary UAV along trajectories defined in the primary UAV reference frame. The experimental evaluation has shown the superior accuracy of our method to the raw VIO output, reaching the average 3D Absolute Trajectory Error (ATE) of 0.28 m, and demonstrated its capability to guide the secondary UAV along desired trajectories while mitigating VIO drift. Thus, such a heterogeneous system can explore large areas with LiDAR precision, as well as visit locations inaccessible to the large LiDAR-carrying UAV platforms, as was showcased in a real-world cooperative mapping scenario.